diff --git a/cflib2/__init__.py b/cflib2/__init__.py
index ec86bea..5fa176a 100644
--- a/cflib2/__init__.py
+++ b/cflib2/__init__.py
@@ -22,51 +22,6 @@
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
 """Crazyflie Python Library"""
 
-from cflib2._rust import (
-    Crazyflie,
-    LinkContext,
-    # TOC cache classes (passed to Crazyflie.connect_from_uri)
-    NoTocCache,
-    InMemoryTocCache,
-    FileTocCache,
-    # Exceptions
-    CrazyflieError,
-    ProtocolVersionNotSupportedError,
-    ProtocolError,
-    ParamError,
-    LogError,
-    ConversionError,
-    LinkError,
-    DisconnectedError,
-    VariableNotFoundError,
-    SystemError,
-    AppchannelPacketTooLargeError,
-    InvalidArgumentError,
-    TimeoutError,
-    MemoryError,
-    InvalidParameterError,
-)
+from cflib2._rust import Crazyflie, LinkContext
 
-__all__ = [
-    "Crazyflie",
-    "LinkContext",
-    "NoTocCache",
-    "InMemoryTocCache",
-    "FileTocCache",
-    # Exceptions
-    "CrazyflieError",
-    "ProtocolVersionNotSupportedError",
-    "ProtocolError",
-    "ParamError",
-    "LogError",
-    "ConversionError",
-    "LinkError",
-    "DisconnectedError",
-    "VariableNotFoundError",
-    "SystemError",
-    "AppchannelPacketTooLargeError",
-    "InvalidArgumentError",
-    "TimeoutError",
-    "MemoryError",
-    "InvalidParameterError",
-]
+__all__ = ["Crazyflie", "LinkContext"]
diff --git a/cflib2/trajectory.py b/cflib2/commander.py
similarity index 82%
rename from cflib2/trajectory.py
rename to cflib2/commander.py
index cc13cf8..03d06b2 100644
--- a/cflib2/trajectory.py
+++ b/cflib2/commander.py
@@ -1,3 +1,5 @@
+# -*- coding: utf-8 -*-
+#
 # ,---------,       ____  _ __
 # |  ,-^-,  |      / __ )(_) /_______________ _____  ___
 # | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
@@ -18,8 +20,8 @@
 #
 # You should have received a copy of the GNU General Public License
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
-"""Trajectory building primitives for the Crazyflie"""
+"""Commander subsystem types"""
 
-from cflib2._rust import Poly, Poly4D, CompressedStart, CompressedSegment
+from cflib2._rust import Commander
 
-__all__ = ["Poly", "Poly4D", "CompressedStart", "CompressedSegment"]
+__all__ = ["Commander"]
diff --git a/cflib2/console.py b/cflib2/console.py
new file mode 100644
index 0000000..59f7781
--- /dev/null
+++ b/cflib2/console.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Console subsystem types"""
+
+from cflib2._rust import Console
+
+__all__ = ["Console"]
diff --git a/cflib2/error.py b/cflib2/error.py
new file mode 100644
index 0000000..0706496
--- /dev/null
+++ b/cflib2/error.py
@@ -0,0 +1,59 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Crazyflie exception types"""
+
+from cflib2._rust import (
+    AppchannelPacketTooLargeError,
+    ConversionError,
+    CrazyflieError,
+    DisconnectedError,
+    InvalidArgumentError,
+    InvalidParameterError,
+    LinkError,
+    LogError,
+    MemoryError,
+    ParamError,
+    ProtocolError,
+    ProtocolVersionNotSupportedError,
+    SystemError,
+    TimeoutError,
+    VariableNotFoundError,
+)
+
+__all__ = [
+    "AppchannelPacketTooLargeError",
+    "ConversionError",
+    "CrazyflieError",
+    "DisconnectedError",
+    "InvalidArgumentError",
+    "InvalidParameterError",
+    "LinkError",
+    "LogError",
+    "MemoryError",
+    "ParamError",
+    "ProtocolError",
+    "ProtocolVersionNotSupportedError",
+    "SystemError",
+    "TimeoutError",
+    "VariableNotFoundError",
+]
diff --git a/cflib2/high_level_commander.py b/cflib2/high_level_commander.py
new file mode 100644
index 0000000..25462e7
--- /dev/null
+++ b/cflib2/high_level_commander.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""High-level commander subsystem types"""
+
+from cflib2._rust import HighLevelCommander
+
+__all__ = ["HighLevelCommander"]
diff --git a/cflib2/localization.py b/cflib2/localization.py
new file mode 100644
index 0000000..a8a41d3
--- /dev/null
+++ b/cflib2/localization.py
@@ -0,0 +1,43 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Localization subsystem types"""
+
+from cflib2._rust import (
+    EmergencyControl,
+    ExternalPose,
+    Lighthouse,
+    LighthouseAngleData,
+    LighthouseAngles,
+    Localization,
+    LocoPositioning,
+)
+
+__all__ = [
+    "EmergencyControl",
+    "ExternalPose",
+    "Lighthouse",
+    "LighthouseAngleData",
+    "LighthouseAngles",
+    "Localization",
+    "LocoPositioning",
+]
diff --git a/cflib2/log.py b/cflib2/log.py
new file mode 100644
index 0000000..c30100f
--- /dev/null
+++ b/cflib2/log.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Log subsystem types"""
+
+from cflib2._rust import Log, LogBlock, LogData, LogStream
+
+__all__ = ["Log", "LogBlock", "LogData", "LogStream"]
diff --git a/cflib2/memory.py b/cflib2/memory.py
new file mode 100644
index 0000000..5d4b1a4
--- /dev/null
+++ b/cflib2/memory.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Memory subsystem types"""
+
+from cflib2._rust import CompressedSegment, CompressedStart, Memory, Poly, Poly4D
+
+__all__ = ["CompressedSegment", "CompressedStart", "Memory", "Poly", "Poly4D"]
diff --git a/cflib2/param.py b/cflib2/param.py
new file mode 100644
index 0000000..e7f0874
--- /dev/null
+++ b/cflib2/param.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Parameter subsystem types"""
+
+from cflib2._rust import Param, PersistentParamState
+
+__all__ = ["Param", "PersistentParamState"]
diff --git a/cflib2/platform.py b/cflib2/platform.py
new file mode 100644
index 0000000..6e1fa33
--- /dev/null
+++ b/cflib2/platform.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""Platform subsystem types"""
+
+from cflib2._rust import AppChannel, Platform
+
+__all__ = ["AppChannel", "Platform"]
diff --git a/cflib2/toc_cache.py b/cflib2/toc_cache.py
new file mode 100644
index 0000000..88b0585
--- /dev/null
+++ b/cflib2/toc_cache.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+#
+# ,---------,       ____  _ __
+# |  ,-^-,  |      / __ )(_) /_______________ _____  ___
+# | (  O  ) |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+# | / ,--'  |    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+#    +------`   /_____/_/\__/\___/_/   \__,_/ /___/\___/
+#
+# Copyright (C) 2025 Bitcraze AB
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+"""TOC cache types"""
+
+from cflib2._rust import FileTocCache, InMemoryTocCache, NoTocCache
+
+__all__ = ["FileTocCache", "InMemoryTocCache", "NoTocCache"]
diff --git a/examples/swarm.py b/examples/swarm.py
index b705bd7..20e7c7b 100644
--- a/examples/swarm.py
+++ b/examples/swarm.py
@@ -40,7 +40,8 @@
 
 import tyro
 
-from cflib2 import Crazyflie, LinkContext, FileTocCache, NoTocCache
+from cflib2 import Crazyflie, LinkContext
+from cflib2.toc_cache import FileTocCache, NoTocCache
 
 
 @dataclass
diff --git a/examples/toc_cache.py b/examples/toc_cache.py
index 5515cfc..6c5a93a 100644
--- a/examples/toc_cache.py
+++ b/examples/toc_cache.py
@@ -49,7 +49,8 @@
 
 import tyro
 
-from cflib2 import Crazyflie, LinkContext, NoTocCache, InMemoryTocCache, FileTocCache
+from cflib2 import Crazyflie, LinkContext
+from cflib2.toc_cache import FileTocCache, InMemoryTocCache, NoTocCache
 
 
 @dataclass
diff --git a/examples/trajectory.py b/examples/trajectory.py
index fa75f78..5c4b18d 100644
--- a/examples/trajectory.py
+++ b/examples/trajectory.py
@@ -41,7 +41,7 @@
 import tyro
 
 from cflib2 import Crazyflie, LinkContext
-from cflib2.trajectory import Poly, Poly4D
+from cflib2.memory import Poly, Poly4D
 
 # The trajectory to fly
 # See https://github.com/whoenig/uav_trajectories for a tool to generate
diff --git a/tests/test_exceptions.py b/tests/test_exceptions.py
index bf861c9..54be729 100644
--- a/tests/test_exceptions.py
+++ b/tests/test_exceptions.py
@@ -20,10 +20,10 @@
 # along with this program. If not, see <http://www.gnu.org/licenses/>.
 import pytest
 
-import cflib2
+from cflib2 import error
 
 
-EXCEPTION_NAMES = [name for name in cflib2.__all__ if name.endswith("Error")]
+EXCEPTION_NAMES = [name for name in error.__all__ if name.endswith("Error")]
 
 
 class TestExceptionHierarchy:
@@ -31,5 +31,5 @@ class TestExceptionHierarchy:
 
     @pytest.mark.parametrize("name", EXCEPTION_NAMES)
     def test_exception_is_subclass_of_crazyflie_error(self, name: str) -> None:
-        exc_class = getattr(cflib2, name)
-        assert issubclass(exc_class, cflib2.CrazyflieError)
+        exc_class = getattr(error, name)
+        assert issubclass(exc_class, error.CrazyflieError)