diff --git a/makefiles/toolchain_hexagon.mk b/makefiles/toolchain_hexagon.mk
index 57c5d1a3c8..e250f12b37 100644
--- a/makefiles/toolchain_hexagon.mk
+++ b/makefiles/toolchain_hexagon.mk
@@ -90,6 +90,7 @@ ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
 			    -I$(PX4_BASE)/src/platforms/qurt/include \
 			    -I$(PX4_BASE)/../dspal/include \
 			    -I$(PX4_BASE)/../dspal/sys \
+			    -I$(PX4_BASE)/mavlink/include/mavlink \
 			    -Wno-error=shadow
 
 # optimisation flags
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index f7aace7753..44b5a43e87 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -128,6 +128,7 @@
 #include "commander_helper.h"
 
 #include <px4_posix.h>
+#include <px4_time.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index cecf22a0c3..68e094f7c4 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -528,11 +528,11 @@ static void calibrate_answer_command(int mavlink_fd, struct vehicle_command_s &c
 
 bool calibrate_cancel_check(int mavlink_fd, int cancel_sub)
 {
-	struct pollfd fds[1];
+	px4_pollfd_struct_t fds[1];
 	fds[0].fd = cancel_sub;
 	fds[0].events = POLLIN;
 
-	if (poll(&fds[0], 1, 0) > 0) {
+	if (px4_poll(&fds[0], 1, 0) > 0) {
 		struct vehicle_command_s cmd;
 		memset(&cmd, 0, sizeof(cmd));
 		
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp
index 541aca0531..2e8f1e6f34 100644
--- a/src/modules/commander/esc_calibration.cpp
+++ b/src/modules/commander/esc_calibration.cpp
@@ -48,7 +48,8 @@
 #include <sys/ioctl.h>
 #include <systemlib/err.h>
 #include <fcntl.h>
-#include <poll.h>
+#include <px4_posix.h>
+#include <px4_time.h>
 #include "drivers/drv_pwm_output.h"
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_command.h>
@@ -78,7 +79,7 @@ int check_if_batt_disconnected(int mavlink_fd) {
 
 int do_esc_calibration(int mavlink_fd) {
 
-	int fd = open(PWM_OUTPUT0_DEVICE_PATH, 0);
+	int fd = px4_open(PWM_OUTPUT0_DEVICE_PATH, 0);
 	int ret;
 
 	if(fd < 0) {
@@ -86,15 +87,15 @@ int do_esc_calibration(int mavlink_fd) {
 	}
 
 	/* tell IO/FMU that its ok to disable its safety with the switch */
-	ret = ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_ARM_OK, 0);
 	if (ret != OK)
 		err(1, "PWM_SERVO_SET_ARM_OK");
 	/* tell IO/FMU that the system is armed (it will output values if safety is off) */
-	ret = ioctl(fd, PWM_SERVO_ARM, 0);
+	ret = px4_ioctl(fd, PWM_SERVO_ARM, 0);
 	if (ret != OK)
 		err(1, "PWM_SERVO_ARM");
 	/* tell IO to switch off safety without using the safety switch */
-	ret = ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
+	ret = px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
 	if(ret!=0) {
 		err(1,"PWM_SERVO_SET_FORCE_SAFETY_OFF");
 	}
@@ -143,10 +144,10 @@ int do_esc_calibration(int mavlink_fd) {
 	}
 
 	/* disarm */
-	ret = ioctl(fd, PWM_SERVO_DISARM, 0);
+	ret = px4_ioctl(fd, PWM_SERVO_DISARM, 0);
 	if (ret != OK)
 		err(1, "PWM_SERVO_DISARM");
 
 	mavlink_log_info(mavlink_fd,"ESC calibration finished");
 	return OK;
- }
\ No newline at end of file
+ }
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index d444553b31..71e44c3d1e 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -184,8 +184,8 @@ int do_gyro_calibration(int mavlink_fd)
 		sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 		int fd = px4_open(str, 0);
 		if (fd >= 0) {
-			worker_data.device_id[s] = ioctl(fd, DEVIOCGDEVICEID, 0);
-			res = ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero);
+			worker_data.device_id[s] = px4_ioctl(fd, DEVIOCGDEVICEID, 0);
+			res = px4_ioctl(fd, GYROIOCSSCALE, (long unsigned int)&gyro_scale_zero);
 			px4_close(fd);
 
 			if (res != OK) {
diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 2520f8a28a..e6cecbb08b 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -38,6 +38,7 @@
 
 #include <px4_debug.h>
 #include <px4_tasks.h>
+#include <px4_time.h>
 #include <systemlib/err.h>
 #include <errno.h>
 #include <stdio.h>
diff --git a/src/platforms/px4_debug.h b/src/platforms/px4_debug.h
index 0331875096..6cac039b28 100644
--- a/src/platforms/px4_debug.h
+++ b/src/platforms/px4_debug.h
@@ -40,7 +40,11 @@
 
 #if defined(__PX4_LINUX) || defined(__PX4_QURT)
 
+#if defined(__PX4_LINUX)
 #include <err.h>
+#else
+#include <systemlib/err.h>
+#endif
 
 #define PX4_DBG(...)	
 #define PX4_INFO(...) 	warnx(__VA_ARGS__)