diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
old mode 100644
new mode 100755
index a8c8befc30..056a9e0daf
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -56,13 +56,19 @@ then
      echo "Created APM directory"
 fi
 
-if [ -f /bin/lsm303d ]
+if [ -f /bin/px4io ]
 then
+  if [ -f /bin/lsm303d ]
+  then
      echo "Detected FMUv2 board"
      set BOARD FMUv2
-else
+  else
      echo "Detected FMUv1 board"
      set BOARD FMUv1
+  fi
+else
+  echo "Detected FMUv4 board"
+  set BOARD FMUv4   
 fi
 
 if [ $BOARD == FMUv1 ]
@@ -108,16 +114,17 @@ then
     mkblctrl -mkmode x -d /dev/pwm_output
 fi
 
-
-echo "Trying PX4IO board"
-
-# try the px4io start twice. Some FMUv2 board don't
-# come up the first time
-set HAVE_PX4IO false
-if px4io start norc
+if [ -f /bin/px4io ]
 then
+  echo "Trying PX4IO board"
+
+  # try the px4io start twice. Some FMUv2 board don't
+  # come up the first time
+  set HAVE_PX4IO false
+  if px4io start norc
+  then
     set HAVE_PX4IO true
-else
+  else
     # it may be in bootloader mode
     echo Loading /etc/px4io/px4io.bin
     tone_alarm MBABGP
@@ -136,6 +143,10 @@ else
         # play happy tune again
 	tone_alarm 1
     fi
+  fi
+else
+    set HAVE_PX4IO false
+    echo "No PX4IO support"
 fi
 
 if [ $HAVE_PX4IO == true ]
@@ -222,13 +233,17 @@ fi
 if [ $BOARD == FMUv1 ]
 then
     echo "Starting FMUv1 sensors"
-    if hmc5883 -C -T start
+    if hmc5883 -C -T -X start
     then
-        echo "hmc5883 started OK"
+        echo "Have external hmc5883"
     else
-        echo "hmc5883 start failed"
-        echo "hmc5883 start failed" >> $logfile
-        sh /etc/init.d/rc.error
+        echo "No external hmc5883"
+    fi
+    if hmc5883 -C -T -I  start
+    then
+        echo "Have internal hmc5883"
+    else
+        echo "No internal hmc5883"
     fi
     if mpu6000 start
     then
@@ -243,7 +258,10 @@ then
        echo "No l3gd20"
        echo "No l3gd20" >> $logfile
     fi
-else
+fi
+
+if [ $BOARD == FMUv2 ]
+then
     echo "Starting FMUv2 sensors"
     if hmc5883 -C -T -X start
     then
@@ -337,6 +355,34 @@ else
     fi
 fi
 
+
+if [ $BOARD == FMUv4 ]
+then
+    echo "Starting FMUv4 sensors"
+    if hmc5883 -C -T -X start
+    then
+        echo "Have external hmc5883"
+    else
+        echo "No external hmc5883"
+    fi
+    if hmc5883 -C -T -S -R 2 start
+    then
+        echo "Have SPI hmc5883"
+    else
+        echo "No SPI hmc5883"
+    fi
+
+    if mpu6000 -R 2 -T 20608 start
+    then
+       echo "Found ICM-20608 internal"
+    fi
+
+    if mpu9250 -R 2 start
+    then
+       echo "Found mpu9250 internal"
+    fi
+fi
+
 # optional ETS airspeed sensor
 if ets_airspeed start
 then
@@ -346,6 +392,11 @@ fi
 if meas_airspeed start
 then
     echo "Found MEAS airspeed sensor"
+else
+    if meas_airspeed start -b 2
+    then
+        echo "Found MEAS airspeed sensor (bus2)"
+    fi
 fi
 
 # optional Range Finder sensor
@@ -370,9 +421,12 @@ then
 fi
 
 # optional PX4Flow sensor
-if px4flow start
+if [ -f /bin/px4flow ]
 then
+  if px4flow start
+  then
     echo "Found px4flow sensor"
+  fi
 fi
 
 # optional PWM input driver
@@ -381,8 +435,6 @@ then
     echo "started pwm_input driver"
 fi
 
-echo "Trying PX4IO board"
-
 if mtd start /fs/mtd
 then
     echo "started mtd driver OK"
@@ -401,14 +453,13 @@ else
     sh /etc/init.d/rc.error           
 fi
 
-if [ -f /bin/uavcan ]
+# optional oreo leds
+if [ -f /bin/oreoled ]
 then
-    if uavcan start 1
-    then
-        echo "started uavcan OK"
-    else
-        echo "failed to start uavcan"
-    fi
+  if oreoled start autoupdate
+  then
+    echo "oreoled started OK"
+  fi
 fi
 
 # optional smbus battery monitor
@@ -417,13 +468,13 @@ then
     echo "Found batt_smbus"
 fi
 
-# optional oreo leds
-if oreoled start
+# optional irlock
+if irlock start
 then
-    echo "oreoled started OK"
+    echo "irlock started"
 fi
 
-if [ $BOARD == FMUv2 ]
+if [ $BOARD == FMUv2 -o $BOARD == FMUv4 ]
 then
   # the ramtron on FMUv2 is very fast and can handle trillions of
   # writes. This full rw test on each boot ensures it is working
diff --git a/mk/PX4/bootloader/README.txt b/mk/PX4/bootloader/README.txt
index cc1fcaec89..e6c65a6aad 100644
--- a/mk/PX4/bootloader/README.txt
+++ b/mk/PX4/bootloader/README.txt
@@ -10,3 +10,4 @@ bootloaders using:
 from a nsh prompt. Users can get a nsh prompt either via the CLI in
 test -> shell, or by booting with no SD card installed
 
+to use NSH to do this, please see the Wiki http://dev.ardupilot.com/wiki/interfacing-with-pixhawk-using-the-nsh
diff --git a/mk/PX4/bootloader/px4fmuv2_bl.bin b/mk/PX4/bootloader/px4fmuv2_bl.bin
index 269ad5cc36..ef89310d18 100755
Binary files a/mk/PX4/bootloader/px4fmuv2_bl.bin and b/mk/PX4/bootloader/px4fmuv2_bl.bin differ
diff --git a/mk/PX4/config_px4fmu-v1_APM.mk b/mk/PX4/config_px4fmu-v1_APM.mk
index 6f17f693a2..3b8a813fcf 100644
--- a/mk/PX4/config_px4fmu-v1_APM.mk
+++ b/mk/PX4/config_px4fmu-v1_APM.mk
@@ -4,4 +4,5 @@
 include $(SKETCHBOOK)/mk/PX4/px4_common.mk
 
 MODULES		+= drivers/boards/px4fmu-v1
-
+MODULES		+= drivers/px4io
+MODULES		+= drivers/px4flow
diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index fc62e72b9a..e6fa5e256d 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -10,3 +10,6 @@ MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/pwm_input
 MODULES         += modules/uavcan
 MODULES         += lib/mathlib
+MODULES		+= drivers/px4io
+MODULES		+= drivers/px4flow
+MODULES		+= drivers/oreoled
diff --git a/mk/PX4/config_px4fmu-v4_APM.mk b/mk/PX4/config_px4fmu-v4_APM.mk
new file mode 100644
index 0000000000..007b709c5a
--- /dev/null
+++ b/mk/PX4/config_px4fmu-v4_APM.mk
@@ -0,0 +1,10 @@
+#
+# Makefile for the px4fmu-v4_APM configuration
+#
+include $(SKETCHBOOK)/mk/PX4/px4_common.mk
+
+MODULES		+= drivers/mpu9250
+MODULES		+= drivers/boards/px4fmu-v4
+MODULES		+= drivers/pwm_input
+MODULES         += modules/uavcan
+MODULES         += lib/mathlib
diff --git a/mk/PX4/px4_common.mk b/mk/PX4/px4_common.mk
index 77b85d0777..3fdeba1f43 100644
--- a/mk/PX4/px4_common.mk
+++ b/mk/PX4/px4_common.mk
@@ -17,10 +17,7 @@ MODULES		+= drivers/stm32/adc
 MODULES		+= drivers/stm32/tone_alarm
 MODULES		+= drivers/led
 MODULES		+= drivers/px4fmu
-MODULES		+= drivers/px4io
-MODULES		+= drivers/px4flow
 MODULES		+= drivers/rgbled
-MODULES		+= drivers/oreoled
 MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
@@ -37,6 +34,7 @@ MODULES		+= drivers/ets_airspeed
 MODULES		+= drivers/meas_airspeed
 MODULES		+= drivers/mkblctrl
 MODULES		+= drivers/batt_smbus
+MODULES		+= drivers/irlock
 
 #
 # System commands
diff --git a/mk/apm.mk b/mk/apm.mk
index 532a4c9aee..164c766a90 100644
--- a/mk/apm.mk
+++ b/mk/apm.mk
@@ -24,15 +24,8 @@ include $(MK_DIR)/targets.mk
 include $(MK_DIR)/sketch_sources.mk
 
 ifneq ($(MAKECMDGOALS),clean)
+
 # board specific includes
-ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
-include $(MK_DIR)/board_avr.mk
-endif
-
-ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
-include $(MK_DIR)/board_avr.mk
-endif
-
 ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
 include $(MK_DIR)/board_native.mk
 endif
@@ -53,6 +46,10 @@ ifeq ($(HAL_BOARD),HAL_BOARD_FLYMAPLE)
 include $(MK_DIR)/board_flymaple.mk
 endif
 
+ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
+include $(MK_DIR)/board_qurt.mk
+endif
+
 endif
 
 endif
diff --git a/mk/board_flymaple.mk b/mk/board_flymaple.mk
index 9e9c3f9485..74c8649e00 100644
--- a/mk/board_flymaple.mk
+++ b/mk/board_flymaple.mk
@@ -35,7 +35,7 @@ DEFINES        +=   -DSKETCH=\"$(SKETCH)\" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKE
 DEFINES        +=   $(EXTRAFLAGS)
 DEFINES        +=   -DCONFIG_HAL_BOARD=$(HAL_BOARD)
 WARNFLAGS       =   -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-psabi
-WARNFLAGS      +=   -Wwrite-strings -Wformat=2 
+WARNFLAGS      +=   -Wwrite-strings -Wformat=2 -Wno-unused-parameter
 WARNFLAGSCXX    =   -Wno-reorder
 DEPFLAGS        =   -MD -MT $@
 
@@ -73,14 +73,6 @@ LDFLAGS         =   $(CPUFLAGS) $(OPTFLAGS) $(WARNFLAGS) -mcpu=cortex-m3 -mthumb
            -Xassembler --march=armv7-m -Wall 
 LDFLAGS        +=   -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP) $(CPULDFLAGS)
 
-# under certain situations with certain avr-gcc versions the --relax flag causes
-# a bug. Give the user a way to disable this flag per-sketch.
-# I know this is a rotten hack but we're really close to sunset on AVR.
-EXCLUDE_RELAX := $(wildcard $(SRCROOT)/norelax.inoflag)
-ifeq ($(EXCLUDE_RELAX),)
-#  LDFLAGS      +=   -Wl,--relax
-endif
-
 LIBS = -lm
 
 ifeq ($(VERBOSE),)
diff --git a/mk/board_linux.mk b/mk/board_linux.mk
index 9f4df37d6b..44ce53c898 100644
--- a/mk/board_linux.mk
+++ b/mk/board_linux.mk
@@ -3,5 +3,6 @@ TOOLCHAIN = NATIVE
 include $(MK_DIR)/find_tools.mk
 
 # Linux build is just the same as SITL for now
-LIBS = -lm -lpthread -lrt
+LIBS = -lm -pthread -lrt
 include $(MK_DIR)/board_native.mk
+include $(MK_DIR)/upload_firmware.mk
diff --git a/mk/board_native.mk b/mk/board_native.mk
index 217a056ad7..a686ebff1b 100644
--- a/mk/board_native.mk
+++ b/mk/board_native.mk
@@ -12,7 +12,6 @@ DEFINES        +=   -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$
 WARNFLAGS       =   -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-unused-parameter -Wno-missing-field-initializers
 WARNFLAGS      +=   -Wwrite-strings -Wformat=2
 WARNFLAGSCXX    = -Wno-reorder \
-	-Werror=unused-but-set-variable
 	-Werror=format-security \
 	-Werror=array-bounds \
 	-Wfatal-errors \
@@ -20,13 +19,21 @@ WARNFLAGSCXX    = -Wno-reorder \
 	-Werror=uninitialized \
 	-Werror=init-self \
 	-Wno-missing-field-initializers
-DEPFLAGS        =   -MD -MT $@
+DEPFLAGS        =   -MD -MP -MT $@
 
 CXXOPTS         =   -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char
 COPTS           =   -ffunction-sections -fdata-sections -fsigned-char
 
 ASOPTS          =   -x assembler-with-cpp 
 
+# features: TODO detect dependecy and make them optional
+HAVE_LTTNG=
+
+ifeq ($(HAVE_LTTNG),1)
+DEFINES        += -DPERF_LTTNG=1
+LIBS           += -llttng-ust -ldl
+endif
+
 # disable as this breaks distcc
 #ifneq ($(SYSTYPE),Darwin)
 #LISTOPTS        =   -adhlns=$(@:.o=.lst)
@@ -48,7 +55,7 @@ ifneq ($(SYSTYPE),Darwin)
 LDFLAGS        +=   -Wl,--gc-sections -Wl,-Map -Wl,$(SKETCHMAP)
 endif
 
-LIBS ?= -lm -lpthread
+LIBS ?= -lm -pthread
 ifneq ($(findstring CYGWIN, $(SYSTYPE)),)
 LIBS += -lwinmm
 endif
@@ -102,6 +109,9 @@ print-%:
 # fetch dependency info from a previous build if any of it exists
 -include $(ALLDEPS)
 
+ifeq ($(HAL_BOARD_SUBTYPE),HAL_BOARD_SUBTYPE_LINUX_QFLIGHT)
+include $(MK_DIR)/board_qflight.mk
+else
 # Link the final object
 $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
 	@echo "Building $(SKETCHELF)"
@@ -109,6 +119,7 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
 	$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
 	$(v)cp $(SKETCHELF) .
 	@echo "Firmware is in $(BUILDELF)"
+endif
 
 SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES)
 SLIB_INCLUDES	=	-I$(dir $<)/utility $(SKETCHLIBINCLUDES)
diff --git a/mk/board_qflight.mk b/mk/board_qflight.mk
new file mode 100644
index 0000000000..24ab280213
--- /dev/null
+++ b/mk/board_qflight.mk
@@ -0,0 +1,108 @@
+# extra rules for qualcomm flight linux build
+
+FLIGHT_BOARD		 ?= flight4
+
+HEXAGON_TOOLS_ROOT	 ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
+HEXAGON_SDK_ROOT	 ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
+HEXAGON_FC_ADDON	 ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
+V_ARCH			 = v5
+CROSSDEV		 = hexagon-
+HEXAGON_BIN		 = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
+HEXAGON_CLANG_BIN	 = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
+
+QURT_CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
+QURT_CXX		 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
+HEXAGON_GCC_BIN		 = $(HEXAGON_TOOLS_ROOT)/gnu/bin
+
+LINUX_QAIC		 = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
+
+QURT_ARM_GCC_ROOT	 = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
+QURT_ARM_CC		 = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
+QURT_ARM_CXX		 = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
+
+HEXAGON_LINK		 = $(QURT_CC)
+LIBSTDCXX		 = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
+
+QFLIGHT_CC	= $(QURT_ARM_CC)
+QFLIGHT_CXX	= $(QURT_ARM_CXX)
+QFLIGHT_LD	= $(QURT_ARM_CXX)
+
+QFLIGHT_SRC	 = $(SKETCHBOOK)/libraries/AP_HAL_Linux/qflight
+QFLIGHT_BUILD	 = $(BUILDROOT)/libraries/AP_HAL_Linux/qflight
+
+GENERATE_DSP_C = $(QFLIGHT_BUILD)/qflight_skel.c
+GENERATE_ARM_C = $(QFLIGHT_BUILD)/qflight_stub.c
+GENERATE_TARGETS = $(GENERATE_DSP_C) $(GENERATE_ARM_C) $(QFLIGHT_BUILD)/qflight_dsp.h
+
+LIBOBJS += $(QFLIGHT_BUILD)/qflight_stub.o
+
+# DSP build flags
+DSP_INC=$(SHARED_INC) -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_ReleaseG -I$(QFLIGHT_BUILD) -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(SKETCHBOOK)/libraries
+DSP_FLAGS=-mv5 -G0 -g -O3 -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__  $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
+
+$(GENERATE_TARGETS): $(QFLIGHT_SRC)/qflight_dsp.idl
+	@echo Generating DSP IDL sources for $^
+	$(v)mkdir -p $(QFLIGHT_BUILD)
+	$(v)$(LINUX_QAIC) -mdll -o $(QFLIGHT_BUILD) -I$(QFLIGHT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
+
+DSP_LINK_FLAGS = -mv5 -O3 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=libqflight_skel.so 
+
+ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(BUILDROOT)/libraries -I$(HEXAGON_SDK_ROOT)/inc/stddef
+ARM_CFLAGS=-fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC)
+
+ARM_LINK_LIBS1  = -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a
+ARM_LINK_LIBS2  = -lm -lc -lsupc++ -lgcc_eh -lgcc
+ARM_LINK_FLAGS = -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl
+
+LIBS += $(ARM_LINK_FLAGS) $(ARM_LINK_LIBS1) $(ARM_LINK_LIBS2)
+
+CXXOPTS += $(ARM_CFLAGS)
+COPTS += $(ARM_CFLAGS)
+
+LIBSKETCH_SKEL_SO	=	$(BUILDROOT)/libqflight_skel.so
+
+.SUFFIXES: .o .c .cpp .so .do
+
+# build DSP object from C file
+$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.c $(MAVLINK_HEADERS)
+	$(RULEHDR)
+	$(v)$(QURT_CC) $(DSP_FLAGS) -c -o $@ $<
+
+$(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.o: $(BUILDROOT)/libraries/AP_HAL_Linux/qflight/%.c
+	$(RULEHDR)
+	$(v)$(CC) -c -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O3 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG -std=gnu99 -o $@ $<
+
+$(BUILDROOT)/libraries/%.do: $(SKETCHBOOK)/libraries/%.cpp
+	$(RULEHDR)
+	$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
+
+.c.do:
+	$(RULEHDR)
+	$(v)$(QURT_CC) $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
+
+.cpp.do:
+	$(RULEHDR)
+	$(v)$(QURT_CXX) -std=gnu++11 $(DSP_FLAGS) -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
+
+DSPSKELOBJS=$(QFLIGHT_BUILD)/qflight_skel.do $(QFLIGHT_BUILD)/dsp_functions.do $(BUILDROOT)/libraries/AP_HAL/utility/RingBuffer.do
+
+$(SKETCHELF): $(LIBSKETCH_SKEL_SO)
+
+$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS)
+	@echo Linking $@
+	$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -g -mv5 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -lc -lm -Wl,-soname=libqflight_skel.so  -o $@ -Wl,--whole-archive  $^ -Wl,--no-whole-archive -Wl,$(LIBSTDCXX)
+	$(v)cp $(LIBSKETCH_SKEL_SO) .
+	@echo "DSP skel firmware is in libqflight_skel.so"
+
+# Link the final object
+$(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
+	@echo "Building $(SKETCHELF)"
+	$(RULEHDR)
+	$(v)$(QFLIGHT_CC) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(SKETCHOBJS) $(LIBOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
+#$(v)$(LD) $(LDFLAGS) -o $@ $(SKETCHOBJS) $(LIBOBJS) $(LIBS)
+	$(v)cp $(SKETCHELF) .
+	@echo "Firmware is in $(BUILDELF)"
+
+qflight_send: qflight
+	rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
+	rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
diff --git a/mk/board_qurt.mk b/mk/board_qurt.mk
new file mode 100644
index 0000000000..761bab6ff6
--- /dev/null
+++ b/mk/board_qurt.mk
@@ -0,0 +1,168 @@
+# extra rules for qualcomm flight build targetting the DSPs
+
+# host name of flight board for "qurt_send" target
+FLIGHT_BOARD		 ?= flight4
+
+HEXAGON_TOOLS_ROOT	 ?= $(HOME)/Qualcomm/HEXAGON_Tools/7.2.11
+HEXAGON_SDK_ROOT	 ?= $(HOME)/Qualcomm/Hexagon_SDK/2.0
+HEXAGON_FC_ADDON	 ?= $(HOME)/Qualcomm/HexagonFCAddon/flight_controller
+V_ARCH			 = v5
+CROSSDEV		 = hexagon-
+HEXAGON_BIN		 = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
+HEXAGON_CLANG_BIN	 = $(addsuffix /Tools/bin,$(HEXAGON_TOOLS_ROOT))
+
+QURT_CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
+QURT_CXX		 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
+
+LINUX_QAIC		 = $(HEXAGON_SDK_ROOT)/tools/qaic/Linux/qaic
+
+QURT_ARM_GCC_ROOT	 = $(HEXAGON_SDK_ROOT)/gcc-linaro-arm-linux-gnueabihf-4.8-2013.08_linux
+QURT_ARM_CC		 = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-gcc
+QURT_ARM_CXX		 = $(QURT_ARM_GCC_ROOT)/bin/arm-linux-gnueabihf-g++
+
+HEXAGON_LINK		 = $(QURT_CC)
+LIBSTDCXX		 = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libstdc++.a
+
+LIBQCC			 = $(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libqcc.a
+
+QFLIGHT_CC	= $(QURT_ARM_CC)
+QFLIGHT_CXX	= $(QURT_ARM_CXX)
+
+OPT		= -O3
+
+include $(MK_DIR)/find_tools.mk
+
+DEFINES        +=   -DSKETCH=\"$(SKETCH)\" -DSKETCHNAME="\"$(SKETCH)\"" -DSKETCHBOOK="\"$(SKETCHBOOK)\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
+DEFINES        +=   $(EXTRAFLAGS)
+DEFINES        +=   -DCONFIG_HAL_BOARD=$(HAL_BOARD) -DCONFIG_HAL_BOARD_SUBTYPE=$(HAL_BOARD_SUBTYPE) -DAP_MAIN=ArduPilot_main
+
+DEPFLAGS        =   -MD -MP -MT $@
+
+CXXOPTS         =   -ffunction-sections -fdata-sections -fno-exceptions -fsigned-char $(DSP_CFLAGS) $(WARNFLAGSCXX)
+COPTS           =   -ffunction-sections -fdata-sections -fsigned-char $(DSP_CFLAGS)
+
+# DSP build flags
+DSP_INC=-I$(HEXAGON_SDK_ROOT)/gnu/hexagon/include -I$(HEXAGON_FC_ADDON)/hexagon/inc -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/sys/sys -I$(HEXAGON_FC_ADDON)/hexagon/inc/dspal/include -I$(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSPv5MP/include -I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/hexagon_Debug_dynamic -I$(HEXAGON_SDK_ROOT)/inc/stddef -I$(HAL_QURT_BUILD)
+DSP_WARN=-Wno-unused-parameter
+DSP_FLAGS=-mv5 -G0 -g $(OPT) $(DSP_WARN) -fno-exceptions -fno-strict-aliasing -fno-zero-initialized-in-bss -fdata-sections -fpic -D__V_DYNAMIC__ -D_DEBUG $(DSP_INC) -D_PID_T -D_UID_T -D_TIMER_T -D_HAS_C9X
+
+DSP_LINK_FLAGS = -mv5 -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -Wl,-soname=lib$(SKETCHNAME)_skel.so 
+
+CXXFLAGS       +=   -std=gnu++11 $(WARNFLAGS) $(WARNFLAGSCXX) $(DEPFLAGS) $(CXXOPTS) $(DEFINES) $(DSP_FLAGS)
+CFLAGS         +=   $(WARNFLAGS) $(DEPFLAGS) $(COPTS) $(DEFINES) $(DSP_FLAGS)
+
+ARM_INC=-I$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_Debug -I$(SKETCHBOOK)/libraries/
+ARM_WARN=-Wno-unused-parameter
+ARM_CFLAGS=$(ARM_WARN) -fPIC -mword-relocations -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -march=armv7-a -g -O0 -fno-strict-aliasing -DARM_ARCH_7A -DUSE_SYSLOG $(ARM_INC) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
+
+ifeq ($(VERBOSE),)
+v = @
+else
+v =
+endif
+
+# Library object files
+LIBOBJS			:=	$(SKETCHLIBOBJS)
+
+# The ELF file
+SKETCHELF		=	$(BUILDROOT)/$(SKETCH).elf
+LIBSKETCH_SKEL_SO	=	$(BUILDROOT)/libardupilot_skel.so
+BUILDELF                =       $(notdir $(SKETCHELF))
+
+# All of the objects that may be built
+ALLOBJS			=	$(SKETCHOBJS) $(LIBOBJS)
+
+# All of the dependency files that may be generated
+ALLDEPS			=	$(ALLOBJS:%.o=%.d)
+
+HAL_QURT_SRC	 = $(SKETCHBOOK)/libraries/AP_HAL_QURT
+HAL_QURT_BUILD	 = $(BUILDROOT)/libraries/AP_HAL_QURT
+
+# main app sources
+MAINAPP_SRC		=  $(wildcard $(HAL_QURT_SRC)/mainapp/*.cpp) $(wildcard $(SKETCHBOOK)/libraries/AP_HAL/utility/*.cpp)
+MAINAPPOBJS		=  $(subst $(SKETCHBOOK)/,$(BUILDROOT)/,$(MAINAPP_SRC:%.cpp=%.ao)) $(HAL_QURT_BUILD)/ardupilot_stub.ao
+
+
+.SUFFIXES: .ao .o .c .so .do
+
+# build arm object
+$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.c
+	$(RULEHDR)
+	$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
+
+# build arm C++ object
+$(BUILDROOT)/libraries/%.ao: $(SKETCHBOOK)/libraries/%.cpp $(HAL_QURT_BUILD)/qurt_dsp.h
+	$(RULEHDR)
+	$(v)$(QURT_ARM_CXX) -std=gnu++11 -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
+
+$(BUILDROOT)/libraries/%.ao: $(BUILDROOT)/libraries/%.c
+	$(RULEHDR)
+	$(v)$(QURT_ARM_CC) -c $(ARM_CFLAGS) -I$(HAL_QURT_BUILD) -o $@ $< -DSKETCHNAME="\"$(SKETCH)\""
+
+# build DSP object from C file
+$(BUILDROOT)/libraries/%.do: $(BUILDROOT)/libraries/%.c
+	$(RULEHDR)
+	$(v)$(QURT_CC) $(CFLAGS) -I$(HEXAGON_SDK_ROOT)/inc/stddef -DSKEL_INVOKE=$(SKETCH)_skel_invoke -c -o $@ $<
+
+################################################################################
+# Targets
+#
+all: $(SKETCHELF)
+
+print-%:
+	echo "$*=$($*)"
+
+################################################################################
+# Rules
+#
+
+SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES)
+SLIB_INCLUDES	=	$(SKETCHLIBINCLUDES)
+
+# fetch dependency info from a previous build if any of it exists
+-include $(ALLDEPS)
+
+GENERATE_DSP_C = $(HAL_QURT_BUILD)/ardupilot_skel.c
+GENERATE_ARM_C = $(HAL_QURT_BUILD)/ardupilot_stub.c
+GENERATE_TARGETS = $(HAL_QURT_BUILD)/qurt_dsp.h $(GENERATE_DSP_C) $(GENERATE_ARM_C)
+
+$(GENERATE_TARGETS): $(HAL_QURT_SRC)/qurt_dsp.idl
+	@echo Generating DSP IDL sources for $^
+	$(v)mkdir -p $(HAL_QURT_BUILD)
+	$(v)$(LINUX_QAIC) -mdll -o $(HAL_QURT_BUILD) -I$(HAL_QURT_SRC) -I$(HEXAGON_SDK_ROOT)/inc/stddef $<
+
+# Link the final object
+$(SKETCHELF): $(MAINAPPOBJS) $(LIBSKETCH_SKEL_SO) $(GENERATE_TARGETS)
+	@echo "Building $(SKETCHELF)"
+	$(RULEHDR)
+	$(v)$(QFLIGHT_CXX) -march=armv7-a -mthumb-interwork -mfloat-abi=hard -mfpu=neon -mtune=cortex-a8 -Wl,-unresolved-symbols=ignore-in-shared-libs -Wl,-ldl -o $@ -Wl,"-(" $(MAINAPPOBJS) -L$(HEXAGON_SDK_ROOT)/lib/common/remote/ship/UbuntuARM_ReleaseG/ -ladsprpc $(HEXAGON_SDK_ROOT)/lib/common/rpcmem/UbuntuARM_ReleaseG/ship/rpcmem.a $(HEXAGON_SDK_ROOT)/lib/common/adspmsgd/ship/UbuntuARM_ReleaseG/adspmsgd.a -Wl,"-)" -lm -lc -lsupc++ -lgcc_eh -lgcc -lpthread -lstdc++
+	$(v)cp $(SKETCHELF) .
+	@echo "Firmware is in $(BUILDELF)"
+
+DSPSKELOBJS=$(HAL_QURT_BUILD)/ardupilot_skel.do
+
+# this is quite bizarre. The provided libc mixes PIC and non-PIC code,
+# which seems to confuse the linker. In order to link to some critical
+# system objects we need to extract them from libc into a new library
+LIBC_SRC=$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/pic/libc.a
+LIBC_EXTRACTDIR=$(BUILDROOT)/libc_extracted
+LIBC_OBJECTS=xfdtest.o xdtest.o feclearexcept.o fegetenv.o fesetenv.o
+LIBC_EXTRACTED=$(LIBC_EXTRACTDIR)/libc_extracted.a
+
+$(LIBC_EXTRACTED): $(LIBC_SRC)
+	$(v)echo Extracting libc objects into $@
+	$(v)mkdir -p $(LIBC_EXTRACTDIR)
+	$(v)(cd $(LIBC_EXTRACTDIR) && ar x $(LIBC_SRC) $(LIBC_OBJECTS) && ar crs libc_extracted.a $(LIBC_OBJECTS))
+
+$(LIBSKETCH_SKEL_SO): $(DSPSKELOBJS) $(ALLOBJS) $(GENERATE_TARGETS) $(LIBC_EXTRACTED)
+	@echo Linking $@
+	$(v)$(HEXAGON_LINK) -L$(HEXAGON_FC_ADDON)/hexagon/libs -lmpu9x50 -lbmp280 -lcsr_gps -g -mv5 -mG0lib -G0 -fpic -shared -Wl,-Bsymbolic -Wl,--wrap=malloc -Wl,--wrap=calloc -Wl,--wrap=free -Wl,--wrap=realloc -Wl,--wrap=memalign -Wl,--wrap=__stack_chk_fail -lc -lm -Wl,-soname=libqflight_skel.so  -o $@ -Wl,--whole-archive $(DSPSKELOBJS) $(ALLOBJS) $(LIBC_EXTRACTED) -Wl,--no-whole-archive -Wl,$(LIBSTDCXX) -Wl,$(LIBQCC) -Wl,$(HEXAGON_TOOLS_ROOT)/Tools/target/hexagon/lib/v5/G0/libdl.a 
+	$(v)cp $(LIBSKETCH_SKEL_SO) .
+	@echo "DSP skel firmware is in $(BUILDELF)"
+
+include $(MK_DIR)/build_rules.mk
+
+qurt_send: qurt
+	rsync -av $(LIBSKETCH_SKEL_SO) root@$(FLIGHT_BOARD):/usr/share/data/adsp
+	rsync -av $(SKETCHELF) root@$(FLIGHT_BOARD):
+
diff --git a/mk/build_rules.mk b/mk/build_rules.mk
index c53bbd1530..52a51ae837 100644
--- a/mk/build_rules.mk
+++ b/mk/build_rules.mk
@@ -3,11 +3,11 @@
 # Build sketch objects
 #
 
-$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp
+$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
 
-$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp 
+$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
 
@@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
 # Build library objects from sources in the sketchbook
 #
 
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp
+$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
 
diff --git a/mk/check_modules.sh b/mk/check_modules.sh
index 0c070f20cc..ff25668b66 100755
--- a/mk/check_modules.sh
+++ b/mk/check_modules.sh
@@ -2,7 +2,7 @@
 
 echo "Checking modules"
 
-MODULE_LIST="PX4Firmware PX4NuttX uavcan"
+MODULE_LIST="PX4Firmware PX4NuttX uavcan mavlink"
 
 NEED_INIT=0
 
@@ -10,12 +10,12 @@ cd $(dirname "$0")/.. || exit 1
 
 for m in $MODULE_LIST; do
     [ -d modules/$m ] || {
-        echo "module/$m missing - need module init"
+        echo "modules/$m missing - need module init"
         NEED_INIT=1
         break
     }
     [ -f modules/$m/.git ] || {
-        echo "module/$m/.git missing - need module init"
+        echo "modules/$m/.git missing - need module init"
         NEED_INIT=1
         break
     }
@@ -25,10 +25,12 @@ done
     set -x
     git submodule init || {
         echo "git submodule init failed"
+        git submodule status
         exit 1
     }
     git submodule update || {
         echo "git submodule update failed"        
+        git submodule status
         exit 1
     }
 cat <<EOF
diff --git a/mk/environ.mk b/mk/environ.mk
index a011dd9af8..195cbd7255 100644
--- a/mk/environ.mk
+++ b/mk/environ.mk
@@ -137,9 +137,9 @@ HAL_BOARD = HAL_BOARD_LINUX
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_NONE
 endif
 
-ifneq ($(findstring erle, $(MAKECMDGOALS)),)
+ifneq ($(findstring erleboard, $(MAKECMDGOALS)),)
 HAL_BOARD = HAL_BOARD_LINUX
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLE
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
 endif
 
 ifneq ($(findstring zynq, $(MAKECMDGOALS)),)
@@ -163,11 +163,26 @@ HAL_BOARD = HAL_BOARD_LINUX
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_NAVIO
 endif
 
+ifneq ($(findstring raspilot, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_RASPILOT
+endif
+
+ifneq ($(findstring erlebrain2, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
+endif
+
 ifneq ($(findstring bbbmini, $(MAKECMDGOALS)),)
 HAL_BOARD = HAL_BOARD_LINUX
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 endif
 
+ifneq ($(findstring minlure, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_MINLURE
+endif
+
 ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
 HAL_BOARD = HAL_BOARD_VRBRAIN
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
@@ -183,23 +198,32 @@ HAL_BOARD = HAL_BOARD_VRBRAIN
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
 endif
 
-ifneq ($(findstring apm1, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_APM1
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_AVR_APM1
-endif
-
-ifneq ($(findstring apm2, $(MAKECMDGOALS)),)
-HAL_BOARD = HAL_BOARD_APM2
-HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_AVR_APM2
-endif
-
 ifneq ($(findstring flymaple, $(MAKECMDGOALS)),)
 HAL_BOARD = HAL_BOARD_FLYMAPLE
 endif
 
+ifneq ($(findstring bhat, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BH
+endif
+
+ifneq ($(findstring qflight, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
+endif
+
+ifneq ($(findstring qurt, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_QURT
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
+endif
+
+ifneq ($(findstring pxfmini, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_PXFMINI
+endif
+
 # default to SITL
 ifeq ($(HAL_BOARD),)
 HAL_BOARD = HAL_BOARD_SITL
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
 endif
-
diff --git a/mk/find_tools.mk b/mk/find_tools.mk
index 5be93efd36..0862807885 100644
--- a/mk/find_tools.mk
+++ b/mk/find_tools.mk
@@ -7,7 +7,6 @@
 #
 ifeq ($(SYSTYPE),Darwin)
   # use the tools that come with Arduino
-  TOOLPATH :=  $(ARDUINO)/hardware/tools/avr/bin
   # use BWK awk
   AWK =  awk
   FIND_TOOL    =  $(firstword $(wildcard $(addsuffix /$(1),$(TOOLPATH))))
@@ -35,15 +34,6 @@ NATIVE_LD      :=  g++
 NATIVE_GDB     :=  gdb
 NATIVE_OBJCOPY :=  objcopy
 
-AVR_CXX     :=  $(call FIND_TOOL,avr-g++)
-AVR_CC      :=  $(call FIND_TOOL,avr-gcc)
-AVR_AS      :=  $(call FIND_TOOL,avr-gcc)
-AVR_AR      :=  $(call FIND_TOOL,avr-ar)
-AVR_LD      :=  $(call FIND_TOOL,avr-gcc)
-AVR_GDB     :=  $(call FIND_TOOL,avr-gdb)
-AVR_OBJCOPY :=  $(call FIND_TOOL,avr-objcopy)
-
-AVRDUDE      :=  $(call FIND_TOOL,avrdude)
 AVARICE      :=  $(call FIND_TOOL,avarice)
 
 # Tools for Maple/Flymaple
diff --git a/mk/help.mk b/mk/help.mk
index f24335ec20..390778d9e6 100644
--- a/mk/help.mk
+++ b/mk/help.mk
@@ -20,10 +20,9 @@ help:
 	@echo " Targets"
 	@echo " -------"
 	@echo ""
-	@echo "  apm1 - the APM1 board"
-	@echo "  apm2 - the APM2 board"
 	@echo "  px4-v1 - the PX4v1 board"
 	@echo "  px4-v2 - the Pixhawk"
+	@echo "  px4-v4 - the XRacer"
 	@echo "  pxf - the Beagle Bone Black (BBB) + PXF cape combination"
 	@echo "  navio - the RaspberryPi + NavIO cape combination"
 	@echo "  linux - a generic Linux build"
@@ -32,3 +31,10 @@ help:
 	@echo "  sitl - the SITL Software In The Loop simulation"
 	@echo "  bbbmini - the Beagle Bone Black mini"
 	@echo "  bebop - the Parrot Bebop"
+	@echo "  raspilot - the RaspberryPi + pilot cape combination"
+	@echo "  erleboard - the ErleBoard legacy design"
+	@echo "  minlure - the drone lure for MinnowBoard and others"
+	@echo "  qflight - qualcomm flight board"
+	@echo "  erlebrain2 - the Erle-Brain 2 board"
+	@echo "  bhat - the RaspberryPi + BH HAT combination"
+	@echo "  pxfmini - the RaspberryPi Zero + PXFmini cape combination"
diff --git a/mk/mavgen.mk b/mk/mavgen.mk
new file mode 100644
index 0000000000..013ccc2e58
--- /dev/null
+++ b/mk/mavgen.mk
@@ -0,0 +1,12 @@
+
+# mavlink header generation
+MAVLINK_DIR := $(SKETCHBOOK)/modules/mavlink/
+MESSAGE_DEFINITIONS := $(SKETCHBOOK)/modules/mavlink/message_definitions/v1.0
+MAVLINK_HEADERS := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink.h $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/,*.h) $(wildcard $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega,*.h)
+MAVLINK_OUTPUT_DIR := $(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink/v1.0
+
+$(MAVLINK_HEADERS): $(MESSAGE_DEFINITIONS)/ardupilotmega.xml $(MESSAGE_DEFINITIONS)/common.xml
+	echo "Generating MAVLink headers..."
+	#goto mavlink module directory and run the most recent generator script
+	echo "Generating C code using mavgen.py located at" $(SKETCHBOOK)/modules/mavlink/
+	PYTHONPATH=$(MAVLINK_DIR) python $(MAVLINK_DIR)/pymavlink/tools/mavgen.py --lang=C --wire-protocol=1.0 --output=$(MAVLINK_OUTPUT_DIR) $(MAVLINK_DIR)/message_definitions/v1.0/ardupilotmega.xml
diff --git a/mk/module_clean.sh b/mk/module_clean.sh
new file mode 100644
index 0000000000..0fed64ab12
--- /dev/null
+++ b/mk/module_clean.sh
@@ -0,0 +1,41 @@
+#!/bin/sh
+
+echo "cleaning modules"
+
+MODULE_LIST="PX4Firmware PX4NuttX uavcan"
+
+NEED_INIT=0
+
+cd $(dirname "$0")/.. || exit 1
+
+for m in $MODULE_LIST; do
+    [ -d modules/$m ] || {
+        echo "module/$m missing - need module init"
+        NEED_INIT=1
+        break
+    }
+done
+
+[ $NEED_INIT = 1 ] && {
+    set -x
+    git submodule init || {
+        echo "git submodule init failed"
+        exit 1
+    }
+    git submodule update || {
+        echo "git submodule update failed"        
+        exit 1
+    }
+}
+
+for m in $MODULE_LIST; do
+	RET=$(git submodule summary modules/$m | egrep "^..<")
+	[ -z "$RET" ] || {
+            echo "Module modules/$m out of date"
+            git submodule summary modules/$m
+            echo "Please run 'git submodule update'"
+            exit 1
+        }
+done
+
+exit 0
diff --git a/mk/modules.mk b/mk/modules.mk
index 6d653aff43..29d26d8fd5 100644
--- a/mk/modules.mk
+++ b/mk/modules.mk
@@ -2,9 +2,7 @@
 # git submodule support
 
 .PHONY: CHECK_MODULES
-
-# PX4 build needs submodules
-px4-%: CHECK_MODULES
+all: CHECK_MODULES
 
 CHECK_MODULES:
 	$(v)$(MK_DIR)/check_modules.sh
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index 1eb25eec9e..83fa207d62 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -43,10 +43,12 @@ EXTRAFLAGS += -DUAVCAN=1
 # we have different config files for V1 and V2
 PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
 PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
+PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
 
 SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
 
 WARNFLAGS = -Werror -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function
+OPTFLAGS = -fsingle-precision-constant
 
 # avoid PX4 submodules
 export GIT_SUBMODULES_ARE_EVIL = 1
@@ -54,8 +56,8 @@ export GIT_SUBMODULES_ARE_EVIL = 1
 PYTHONPATH=$(SKETCHBOOK)/mk/PX4/Tools/genmsg/src:$(SKETCHBOOK)/mk/PX4/Tools/gencpp/src
 export PYTHONPATH
 
-PX4_MAKE = $(v) GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 make -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
-PX4_MAKE_ARCHIVES = make -C $(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
+PX4_MAKE = $(v)+ GIT_SUBMODULES_ARE_EVIL=1 ARDUPILOT_BUILD=1 $(MAKE) -C $(SKETCHBOOK) -f $(PX4_ROOT)/Makefile.make EXTRADEFINES="$(SKETCHFLAGS) $(WARNFLAGS) $(OPTFLAGS) "'$(EXTRAFLAGS)' APM_MODULE_DIR=$(SKETCHBOOK) SKETCHBOOK=$(SKETCHBOOK) CCACHE=$(CCACHE) PX4_ROOT=$(PX4_ROOT) NUTTX_SRC=$(NUTTX_SRC) MAXOPTIMIZATION="-Os" UAVCAN_DIR=$(UAVCAN_DIR)
+PX4_MAKE_ARCHIVES = $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make NUTTX_SRC=$(NUTTX_SRC) CCACHE=$(CCACHE) archives MAXOPTIMIZATION="-Os"
 
 HASHADDER_FLAGS += --ardupilot "$(SKETCHBOOK)"
 
@@ -75,39 +77,59 @@ module_mk:
 	$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1200" >> $(SKETCHBOOK)/module.mk.new
+	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
 	$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
 	$(v) rm -f $(SKETCHBOOK)/module.mk.new
 
-px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
+px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
 	$(RULEHDR)
 	$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V1_CONFIG_FILE)
 	$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
 	$(v) $(PX4_MAKE) px4fmu-v1_APM
 	$(v) /bin/rm -f $(SKETCH)-v1.px4
+	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v1_APM.build/firmware.elf
 	$(v) cp $(PX4_ROOT)/Images/px4fmu-v1_APM.px4 $(SKETCH)-v1.px4
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
 
-px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
+px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
 	$(RULEHDR)
 	$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V2_CONFIG_FILE)
 	$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
 	$(PX4_MAKE) px4fmu-v2_APM
 	$(v) /bin/rm -f $(SKETCH)-v2.px4
+	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v2_APM.build/firmware.elf
 	$(v) cp $(PX4_ROOT)/Images/px4fmu-v2_APM.px4 $(SKETCH)-v2.px4
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
 
-px4: px4-v1 px4-v2
+px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
+	$(RULEHDR)
+	$(v) rm -f $(PX4_ROOT)/makefiles/$(PX4_V4_CONFIG_FILE)
+	$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
+	$(PX4_MAKE) px4fmu-v4_APM
+	$(v) /bin/rm -f $(SKETCH)-v4.px4
+	$(v) arm-none-eabi-size $(PX4_ROOT)/Build/px4fmu-v4_APM.build/firmware.elf
+	$(v) cp $(PX4_ROOT)/Images/px4fmu-v4_APM.px4 $(SKETCH)-v4.px4
+	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v4.px4" "$(SKETCH)-v4.px4"
+	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v4.px4"
+
+px4: px4-v1 px4-v2 px4-v4
 
 px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
-	$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build
+	$(v) /bin/rm -rf $(PX4_ROOT)/makefiles/build $(PX4_ROOT)/Build $(PX4_ROOT)/Images/*.px4 $(PX4_ROOT)/Images/*.bin
+	$(v) /bin/rm -rf $(PX4_ROOT)/src/modules/uORB/topics $(PX4_ROOT)/src/platforms/nuttx/px4_messages
 
 px4-cleandep: clean
 	$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
+	$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
 	$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
 
+px4-v2-upload-solo: px4-v2
+	scp $(SKETCH)-v2.px4 root@10.1.1.10:/tmp/
+	ssh root@10.1.1.10 PYTHONUNBUFFERED=1 loadPixhawk.py /tmp/ArduCopter-v2.px4
+	ssh root@10.1.1.10 rm /tmp/ArduCopter-v2.px4;
+
 px4-v1-upload: px4-v1
 	$(RULEHDR)
 	$(v) $(PX4_MAKE) px4fmu-v1_APM upload
@@ -116,13 +138,17 @@ px4-v2-upload: px4-v2
 	$(RULEHDR)
 	$(v) $(PX4_MAKE) px4fmu-v2_APM upload
 
+px4-v4-upload: px4-v4
+	$(RULEHDR)
+	$(v) $(PX4_MAKE) px4fmu-v4_APM upload
+
 px4-upload: px4-v1-upload
 
 px4-archives-clean:
 	$(v) /bin/rm -rf $(PX4_ROOT)/Archives
 
 px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
-	$(v) make -C $(PX4_ROOT) px4io-v1_default
+	$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v1_default
 	$(v) /bin/rm -f px4io-v1.bin
 	$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
 	$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
@@ -136,7 +162,7 @@ px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
 
 
 px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
-	$(v) make -C $(PX4_ROOT) px4io-v2_default
+	$(v)+ $(MAKE) -C $(PX4_ROOT) -f $(PX4_ROOT)/Makefile.make px4io-v2_default
 	$(v) /bin/rm -f px4io-v2.bin
 	$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin
 	$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
@@ -151,6 +177,20 @@ px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
 
 px4-io: px4-io-v1 px4-io-v2
 
+# These targets can't run in parallel because they all need to generate a tool
+# to generate the config.h inside them. This could trigger races if done in
+# parallel, trying to generate the tool and replacing it while the header is already
+# being generated
+#
+# We could serialize inside PX4Firmware, but it's easier to serialize here
+# while maintaining the rest of the build parallelized
+
+.NOTPARALLEL: \
+	$(PX4_ROOT)/Archives/px4fmu-v1.export \
+	$(PX4_ROOT)/Archives/px4fmu-v2.export \
+	$(PX4_ROOT)/Archives/px4fmu-v4.export \
+	$(PX4_ROOT)/Archives/px4io-v1.export \
+	$(PX4_ROOT)/Archives/px4io-v2.export
 
 $(PX4_ROOT)/Archives/px4fmu-v1.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v1"
@@ -158,6 +198,9 @@ $(PX4_ROOT)/Archives/px4fmu-v1.export:
 $(PX4_ROOT)/Archives/px4fmu-v2.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v2"
 
+$(PX4_ROOT)/Archives/px4fmu-v4.export:
+	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4fmu-v4"
+
 $(PX4_ROOT)/Archives/px4io-v1.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1"
 
@@ -165,4 +208,4 @@ $(PX4_ROOT)/Archives/px4io-v2.export:
 	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v2"
 
 px4-archives:
-	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2"
+	$(v) $(PX4_MAKE_ARCHIVES) BOARDS="px4io-v1 px4io-v2 px4fmu-v1 px4fmu-v2 px4fmu-v4"
diff --git a/mk/sketch_sources.mk b/mk/sketch_sources.mk
index 28b3155607..07d64f9ea4 100644
--- a/mk/sketch_sources.mk
+++ b/mk/sketch_sources.mk
@@ -2,7 +2,7 @@
 # Sketch
 #
 
-SRCSUFFIXES = *.cpp *.c *.S
+SRCSUFFIXES = *.cpp
 
 MAKE_INC=$(wildcard $(SRCROOT)/make.inc)
 ifeq (,$(MAKE_INC))
@@ -21,6 +21,53 @@ SKETCHOBJS := $(addsuffix .o,$(basename $(SKETCHOBJS)))
 include $(MAKE_INC)
 LIBTOKENS := $(LIBRARIES)
 
+
+# HAL and board specific libraries are included here.
+LIBTOKENS += \
+	AP_HAL \
+	AP_HAL_Empty
+
+ifeq ($(HAL_BOARD),HAL_BOARD_APM1)
+LIBTOKENS += \
+	AP_HAL_APM
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_APM2)
+LIBTOKENS += \
+	AP_HAL_APM
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_SITL)
+LIBTOKENS += \
+	AP_HAL_SITL \
+	SITL
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_LINUX)
+LIBTOKENS += \
+	AP_HAL_Linux
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
+LIBTOKENS += \
+	AP_HAL_PX4
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
+LIBTOKENS += \
+	AP_HAL_VRBRAIN
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_FLYMAPLE)
+LIBTOKENS += \
+	AP_HAL_FLYMAPLE
+endif
+
+ifeq ($(HAL_BOARD),HAL_BOARD_QURT)
+LIBTOKENS += \
+	AP_HAL_QURT
+endif
+
 #
 # Find sketchbook libraries referenced by the sketch.
 #
@@ -31,7 +78,7 @@ SKETCHLIBNAMES		:=	$(notdir $(SKETCHLIBS))
 SKETCHLIBSRCDIRS	:=	$(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
 SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
 SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
-SKETCHLIBINCLUDES	:=	-I$(SKETCHBOOK)/libraries/
+SKETCHLIBINCLUDES	:=	-I$(SKETCHBOOK)/libraries/ -I$(BUILDROOT)/libraries/ -I$(BUILDROOT)/libraries/GCS_MAVLink/
 SKETCHLIBSRCSRELATIVE	:=	$(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
 
 ifeq ($(VERBOSE),)
diff --git a/mk/targets.mk b/mk/targets.mk
index 5b0a64ad6e..b6b97b650f 100644
--- a/mk/targets.mk
+++ b/mk/targets.mk
@@ -9,18 +9,8 @@ sitl-arm: HAL_BOARD = HAL_BOARD_SITL
 sitl-arm: TOOLCHAIN = RPI
 sitl-arm: all
 
-apm1: HAL_BOARD = HAL_BOARD_APM1
-apm1: TOOLCHAIN = AVR
-apm1: all
-
-apm1-1280: HAL_BOARD = HAL_BOARD_APM1
-apm1-1280: TOOLCHAIN = AVR
-apm1-1280: all
-apm1-1280: BOARD = mega
-
-apm2: HAL_BOARD = HAL_BOARD_APM2
-apm2: TOOLCHAIN = AVR
-apm2: all
+apm1 apm1-1280 apm2 apm2beta:
+	$(error $@ is deprecated on master branch; use master-AVR)
 
 flymaple: HAL_BOARD = HAL_BOARD_FLYMAPLE
 flymaple: TOOLCHAIN = ARM
@@ -32,9 +22,9 @@ linux: HAL_BOARD = HAL_BOARD_LINUX
 linux: TOOLCHAIN = NATIVE
 linux: all
 
-erle: HAL_BOARD = HAL_BOARD_LINUX
-erle: TOOLCHAIN = BBONE
-erle: all
+erleboard: HAL_BOARD = HAL_BOARD_LINUX
+erleboard: TOOLCHAIN = BBONE
+erleboard: all
 
 zynq: HAL_BOARD = HAL_BOARD_LINUX
 zynq: TOOLCHAIN = ZYNQ
@@ -48,20 +38,49 @@ pxf: all
 
 bebop: HAL_BOARD = HAL_BOARD_LINUX
 bebop: TOOLCHAIN = BBONE
+bebop: LDFLAGS += "-static"
 bebop: all
 
+minlure: HAL_BOARD = HAL_BOARD_LINUX
+minlure: TOOLCHAIN = NATIVE
+minlure: all
+
 navio: HAL_BOARD = HAL_BOARD_LINUX
 navio: TOOLCHAIN = RPI
 navio: all
 
+raspilot: HAL_BOARD = HAL_BOARD_LINUX
+raspilot: TOOLCHAIN = RPI
+raspilot: all
+
+erlebrain2: HAL_BOARD = HAL_BOARD_LINUX
+erlebrain2: TOOLCHAIN = RPI
+erlebrain2: all
+
 bbbmini: HAL_BOARD = HAL_BOARD_LINUX
 bbbmini: TOOLCHAIN = BBONE
 bbbmini: all
 
+bhat: HAL_BOARD = HAL_BOARD_LINUX
+bhat: TOOLCHAIN = RPI
+bhat: all
+
+qflight: HAL_BOARD = HAL_BOARD_LINUX
+qflight: TOOLCHAIN = QFLIGHT
+qflight: all
+
 empty: HAL_BOARD = HAL_BOARD_EMPTY
 empty: TOOLCHAIN = AVR
 empty: all
 
+qurt: HAL_BOARD = HAL_BOARD_QURT
+qurt: TOOLCHAIN = QURT
+qurt: all
+
+pxfmini: HAL_BOARD = HAL_BOARD_LINUX
+pxfmini: TOOLCHAIN = RPI
+pxfmini: all
+
 # cope with HIL targets
 %-hil: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
 %-hilsensors: EXTRAFLAGS += "-DHIL_MODE=HIL_MODE_SENSORS "
@@ -72,12 +91,16 @@ empty: all
 # support debug build
 %-debug: OPTFLAGS = -g -O0
 
+# support address sanitiser
+%-asan: OPTFLAGS = -g -O0 -fsanitize=address -fno-omit-frame-pointer
+%-asan: LDFLAGS += -fsanitize=address
+
 # cope with -nologging
 %-nologging: EXTRAFLAGS += "-DLOGGING_ENABLED=DISABLED "
 
 # cope with copter and hil targets
 FRAMES = quad tri hexa y6 octa octa-quad heli single coax obc nologging
-BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio bbbmini
+BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 px4-v4 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini minlure erlebrain2 bhat qflight pxfmini
 
 define frame_template
 $(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "
@@ -92,6 +115,7 @@ endef
 define board_template
 $(1)-hil : $(1)
 $(1)-debug : $(1)
+$(1)-asan : $(1)
 $(1)-hilsensors : $(1)
 endef
 
@@ -103,9 +127,6 @@ USED_FRAMES := $(foreach frame,$(FRAMES), $(findstring $(frame), $(MAKECMDGOALS)
 $(foreach board,$(USED_BOARDS),$(eval $(call board_template,$(board))))
 $(foreach board,$(USED_BOARDS),$(foreach frame,$(USED_FRAMES),$(eval $(call frame_template,$(board),$(frame)))))
 
-apm2beta: EXTRAFLAGS += "-DAPM2_BETA_HARDWARE "
-apm2beta: apm2
-
 sitl-mount: EXTRAFLAGS += "-DMOUNT=ENABLED"
 sitl-mount: sitl
 
@@ -119,3 +140,4 @@ clean:
 	@rm -fr $(BUILDROOT)
 
 include $(MK_DIR)/modules.mk
+include $(MK_DIR)/mavgen.mk
diff --git a/mk/upload_firmware.mk b/mk/upload_firmware.mk
new file mode 100644
index 0000000000..dd2409621c
--- /dev/null
+++ b/mk/upload_firmware.mk
@@ -0,0 +1,11 @@
+ifneq ($(BOARD_LINUX_HOST),)
+upload: $(SKETCHELF).timestamp-upload
+
+$(SKETCHELF).timestamp-upload: $(SKETCHELF)
+	scp $(SKETCHELF) $(BOARD_LINUX_HOST):
+	touch $@
+else
+upload:
+	@echo Check your config.mk: BOARD_LINUX_HOST should be defined to upload firmware
+	exit 1
+endif