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File: /var/www/my_phalcon_project/app/config/loader.php
<?php

$loader = new \Phalcon\Loader();

/**
 * We're a registering a set of directories taken from the configuration file
 */
$loader->registerDirs(
    [
        $config->application->controllersDir,
        $config->application->modelsDir
    ]
)->register();