diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index 82aa78ab62..710256b3cb 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -17,6 +17,7 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
+		#protocol_splitter
 		pwm_out_sim
 		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
@@ -43,6 +44,7 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		replay
@@ -51,10 +53,9 @@ px4_add_board(
 		#sih
 		simulator
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
-		uuv_att_control
-
 	SYSTEMCMDS
 		#dumpfile
 		dyn
@@ -102,5 +103,9 @@ set(REPLAY_FILE "$ENV{replay}")
 if(REPLAY_FILE)
 	message(STATUS "Building with uorb publisher rules support")
 	add_definitions(-DORB_USE_PUBLISHER_RULES)
+
+	message(STATUS "Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
 endif()
-set(ENABLE_LOCKSTEP_SCHEDULER yes)
diff --git a/boards/px4/sitl/nolockstep.cmake b/boards/px4/sitl/nolockstep.cmake
index 8e0a7695f2..18cf4e3554 100644
--- a/boards/px4/sitl/nolockstep.cmake
+++ b/boards/px4/sitl/nolockstep.cmake
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL nolockstep
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -16,11 +17,14 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
+		#protocol_splitter
 		pwm_out_sim
+		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
+		airship_att_control
 		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
@@ -40,6 +44,7 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		replay
@@ -48,12 +53,10 @@ px4_add_board(
 		#sih
 		simulator
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
-		uuv_att_control
-
 	SYSTEMCMDS
-		#config
 		#dumpfile
 		dyn
 		esc_calib
@@ -76,6 +79,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -84,6 +88,7 @@ px4_add_board(
 		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
 		rover_steering_control # Rover example app
 		uuv_example_app
+		work_item
 	)
 
 message(STATUS "Building without lockstep")
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
index 83ba01cf31..7d65372b0c 100644
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL rtps
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -18,10 +19,12 @@ px4_add_board(
 		#magnetometer # all available magnetometer drivers
 		#protocol_splitter
 		pwm_out_sim
+		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
+		airship_att_control
 		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
@@ -43,13 +46,14 @@ px4_add_board(
 		mc_rate_control
 		micrortps_bridge
 		navigator
-		replay
 		rc_update
+		replay
 		rover_pos_control
 		sensors
 		#sih
 		simulator
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -75,6 +79,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
index 9c3a015c98..1e6f402a64 100644
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -5,6 +5,7 @@ px4_add_board(
 	MODEL sitl
 	ROMFSROOT px4fmu_common
 	LABEL test
+	EMBEDDED_METADATA parameters
 	TESTING
 	DRIVERS
 		#barometer # all available barometer drivers
@@ -17,10 +18,12 @@ px4_add_board(
 		#imu # all available imu drivers
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
+		rpm/rpm_simulator
 		#telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
+		airship_att_control
 		airspeed_selector
 		attitude_estimator_q
 		camera_feedback
@@ -48,6 +51,7 @@ px4_add_board(
 		#sih
 		simulator
 		temperature_compensation
+		uuv_att_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -73,6 +77,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index e6c08ec0b6..5d5eaf1116 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -165,7 +165,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# ROMFS files
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/build/px4_sitl_default/etc
+			${PX4_BINARY_DIR}/etc
 		DESTINATION
 			${PROJECT_NAME}/build/px4_sitl_default
 		)
@@ -173,7 +173,7 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 	# sitl_gazebo built plugins
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/build/px4_sitl_default/build_gazebo
+			${PX4_BINARY_DIR}/build_gazebo
 		DESTINATION
 			${PROJECT_NAME}/build/px4_sitl_default
 		FILES_MATCHING