Revert "Improvements to SITL to make paths more flexible. (#5181)"

This reverts commit 699b6a2cb3.
2016-08-05 21:29:49 +02:00 · 2016-08-05 21:29:49 +02:00 · 102f5b54d7
parent bbe3525377
commit 102f5b54d7
72 changed files with 672 additions and 643 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -121,14 +121,6 @@
 # and leads to wrong toolchain detection
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")
-
-execute_process(
-	COMMAND Tools/check_submodules.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
-
 # Use clang
 #SET (CMAKE_C_COMPILER /usr/bin/clang-3.6)
 #SET (CMAKE_CXX_COMPILER /usr/bin/clang++-3.6)
@ -163,9 +155,6 @@ message(STATUS "${target_name}")
 # Define GNU standard installation directories
 include(GNUInstallDirs)

-# Add support for external project building
-include(ExternalProject)
-
 # Setup install paths
 if(NOT CMAKE_INSTALL_PREFIX)
 	if (${OS} STREQUAL "posix")
@ -174,8 +163,12 @@ if(NOT CMAKE_INSTALL_PREFIX)
 endif()
 message(STATUS "CMAKE_INSTALL_PREFIX: ${CMAKE_INSTALL_PREFIX}")

-list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/cmake")
-message(STATUS "cmake module path: ${CMAKE_MODULE_PATH}")
+# switch to ros CMake file if building ros
+if (${OS} STREQUAL "ros")
+	include("cmake/ros-CMakeLists.txt")
+else()  # otherwise use the rest of this file
+
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})

@ -206,9 +199,6 @@ if(DEFINED config_df_driver_list)
 	message("DF Drivers: ${config_df_driver_list}")
 endif()

-# force static lib build
-set(BUILD_SHARED_LIBS OFF)
-
 #=============================================================================
 # project definition
 #
@ -229,22 +219,8 @@ set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")

 #=============================================================================
-# find programs and packages
+# programs
 #
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-else()
-	message(STATUS "catkin DISABLED")
-endif()
-
 find_package(PythonInterp REQUIRED)

 #=============================================================================
@ -281,7 +257,7 @@ px4_add_git_submodule(TARGET git_matrix PATH "src/lib/matrix")
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")

 add_custom_target(submodule_clean
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	COMMAND git submodule deinit -f .
 	COMMAND rm -rf .git/modules/*
 	)
@ -291,12 +267,12 @@ add_custom_target(submodule_clean
 #
 add_custom_target(check_format
 	COMMAND Tools/check_code_style.sh
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	)

 add_custom_target(config
 	COMMAND cmake-gui .
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 	)

 #=============================================================================
@ -345,7 +321,7 @@ add_custom_target(xml_gen
 # external projects
 #

-set(ep_base ${PX4_BINARY_DIR}/external)
+set(ep_base ${CMAKE_BINARY_DIR}/external)
 set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})

 # add external project install folders to build
@ -374,7 +350,7 @@ foreach(module ${config_module_list})
 	if(external_module)
 		STRING(REGEX REPLACE "//" "/" EXT_MODULE ${module})
 		STRING(REGEX REPLACE "/" "__" EXT_MODULE_PREFIX ${EXT_MODULE})
-		add_subdirectory(${module} ${PX4_BINARY_DIR}/${EXT_MODULE_PREFIX})
+		add_subdirectory(${module} ${CMAKE_BINARY_DIR}/${EXT_MODULE_PREFIX})
 	else()
 		add_subdirectory(src/${module})
 	endif()
@ -399,7 +375,7 @@ endif()
 #=============================================================================
 # generate git version
 #
-px4_create_git_hash_header(HEADER ${PX4_BINARY_DIR}/build_git_version.h)
+px4_create_git_hash_header(HEADER ${CMAKE_BINARY_DIR}/build_git_version.h)

 #=============================================================================
 # packaging
@ -418,14 +394,17 @@ set(CPACK_GENERATOR "ZIP")
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CONFIG}-${version}")
 set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${version}")
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "/usr")
-set(CPACK_SET_DESTDIR "OFF")
 if ("${CMAKE_SYSTEM}" MATCHES "Linux")
  find_program(DPKG_PROGRAM dpkg)
  if (EXISTS ${DPKG_PROGRAM})
    list (APPEND CPACK_GENERATOR "DEB")
  endif()
 endif()
+if (${OS} STREQUAL "posix")
+	set(CPACK_SET_DESTDIR "ON")
+endif()
 include(CPack)

+endif() # ros alternative endif
+
 # vim: set noet fenc=utf-8 ff=unix ft=cmake :
--- a/33
+++ b/33
@ -111,23 +111,20 @@ else
 	BUILD_DIR_SUFFIX :=
 endif

-SRC_DIR := $(shell dirname $(realpath $(lastword $(MAKEFILE_LIST))))
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(echo "PX4 CONFIG: $(BUILD_DIR)" && cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@$(BUILD_DIR_SUFFIX)/Makefile ]; then rm -rf ./build_$@$(BUILD_DIR_SUFFIX); fi
+@if [ ! -e ./build_$@$(BUILD_DIR_SUFFIX)/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@$(BUILD_DIR_SUFFIX) && cd ./build_$@$(BUILD_DIR_SUFFIX) && cmake .. -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf ./build_$@$(BUILD_DIR_SUFFIX)); fi
+@Tools/check_submodules.sh
+@(echo "PX4 CONFIG: $@$(BUILD_DIR_SUFFIX)" && cd ./build_$@$(BUILD_DIR_SUFFIX) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 define cmake-build-other
-+@$(eval BUILD_DIR = $(SRC_DIR)/build_$@$(BUILD_DIR_SUFFIX))
-+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G$(PX4_CMAKE_GENERATOR) -DCONFIG=$(1) || (cd .. && rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
+@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e ./build_$@/Makefile ]; then rm -rf ./build_$@; fi
+@if [ ! -e ./build_$@/CMakeCache.txt ]; then Tools/check_submodules.sh && mkdir -p ./build_$@ && cd ./build_$@ && cmake $(2) -G$(PX4_CMAKE_GENERATOR) || (cd .. && rm -rf ./build_$@); fi
+@(cd ./build_$@ && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
 endef

 # create empty targets to avoid msgs for targets passed to cmake
@ -236,8 +233,14 @@ run_sitl_ros: sitl_deprecation
 # Other targets
 # --------------------------------------------------------------------

-.PHONY: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
-.NOTPARALLEL: uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.PHONY: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+.NOTPARALLEL: gazebo_build uavcan_firmware check check_format unittest tests qgc_firmware package_firmware clean submodulesclean distclean
+
+gazebo_build:
+	@mkdir -p build_gazebo
+	@if [ ! -e ./build_gazebo/CMakeCache.txt ];then cd build_gazebo && cmake -Wno-dev -G$(PX4_CMAKE_GENERATOR) ../Tools/sitl_gazebo; fi
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS)
+	@cd build_gazebo && $(PX4_MAKE) $(PX4_MAKE_ARGS) sdf

 uavcan_firmware:
 ifeq ($(VECTORCONTROL),1)
@ -299,7 +302,11 @@ unittest: posix_sitl_default
 	@(cd build_unittest && ctest -j2 --output-on-failure)

 run_tests_posix: posix_sitl_default
-	@(cd build_posix_sitl_default/ && ctest -V)
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/fs/microsd
+	@mkdir -p build_posix_sitl_default/src/firmware/posix/rootfs/eeprom
+	@touch build_posix_sitl_default/src/firmware/posix/rootfs/eeprom/parameters
+	@(cd build_posix_sitl_default/src/firmware/posix && ./px4 -d ../../../../posix-configs/SITL/init/rcS_tests | tee test_output)
+	@(cd build_posix_sitl_default/src/firmware/posix && grep --color=always "All tests passed" test_output)

 tests: check_unittest run_tests_posix

--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@ -1 +1 @@
-Subproject commit 9486c331a758fcadfaa314f6e9e44c36af5f243b
+Subproject commit 00dcabb1c2c001b40713903da1a4a7f71d01ef27
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@ -1,29 +1,22 @@
 #!/bin/bash

-set -e
-
-echo args: $@
-
-sitl_bin=$1
-rc_script=$2
-debugger=$3
-program=$4
-model=$5
-src_path=$6
-build_path=$7
+rc_script=$1
+debugger=$2
+program=$3
+model=$4
+build_path=$5
+curr_dir=`pwd`

 echo SITL ARGS
-
-echo sitl_bin: $sitl_bin
 echo rc_script: $rc_script
 echo debugger: $debugger
 echo program: $program
 echo model: $model
-echo src_path: $src_path
 echo build_path: $build_path

-working_dir=`pwd`
-sitl_bin=$build_path/src/firmware/posix/px4
+mkdir -p $build_path/src/firmware/posix/rootfs/fs/microsd
+mkdir -p $build_path/src/firmware/posix/rootfs/eeprom
+touch $build_path/src/firmware/posix/rootfs/eeprom/parameters

 if [ "$chroot" == "1" ]
 then
@ -42,36 +35,32 @@ fi

 if [ "$#" -lt 5 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model devel_path
+	echo usage: sitl_run.sh rc_script debugger program model build_path
 	echo ""
 	exit 1
 fi

-command_exists () {
-    type "$1" &> /dev/null ;
-}
-
 # kill process names that might stil
 # be running from last time
-pgrep gazebo && pkill gazebo
-pgrep px4 && pkill px4
-if command_exists jps
-then
+pkill gazebo
+pkill px4
 jmavsim_pid=`jps | grep Simulator | cut -d" " -f1`
 if [ -n "$jmavsim_pid" ]
 then
 	kill $jmavsim_pid
 fi
-fi

-cp $src_path/Tools/posix_lldbinit $working_dir/.lldbinit
-cp $src_path/Tools/posix.gdbinit $working_dir/.gdbinit
+set -e
+
+cd $build_path/..
+cp Tools/posix_lldbinit $build_path/src/firmware/posix/.lldbinit
+cp Tools/posix.gdbinit $build_path/src/firmware/posix/.gdbinit

 SIM_PID=0

 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]
 then
-	cd $src_path/Tools/jMAVSim
+	cd Tools/jMAVSim
 	ant create_run_jar copy_res
 	cd out/production
 	java -Djava.ext.dirs= -jar jmavsim_run.jar -udp 127.0.0.1:14560 &
@ -82,9 +71,15 @@ then
 	if [ -x "$(command -v gazebo)" ]
 	then
 		# Set the plugin path so Gazebo finds our model and sim
-		source /usr/share/gazebo/setup.sh
-		source $src_path/integrationtests/setup_gazebo_ros.bash ${src_path} ${build_path}
-		gzserver --verbose worlds/${model}.world &
+		export GAZEBO_PLUGIN_PATH=$curr_dir/build_gazebo:${GAZEBO_PLUGIN_PATH}
+		# Set the model path so Gazebo finds the airframes
+		export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:$curr_dir/Tools/sitl_gazebo/models
+		# The next line would disable online model lookup, can be commented in, in case of unstable behaviour.
+		# export GAZEBO_MODEL_DATABASE_URI=""
+		export SITL_GAZEBO_PATH=$curr_dir/Tools/sitl_gazebo
+		make --no-print-directory gazebo_build
+
+		gzserver --verbose $curr_dir/Tools/sitl_gazebo/worlds/${model}.world &
 		SIM_PID=`echo $!`

 		if [[ -n "$HEADLESS" ]]; then
@ -103,17 +98,17 @@ then
 	# This is not a simulator, but a log file to replay

 	# Check if we need to creat a param file to allow user to change parameters
-	if ! [ -f "$rootfs/replay_params.txt" ]
+	if ! [ -f "${build_path}/src/firmware/posix/rootfs/replay_params.txt" ]
 		then
-		touch $rootfs/replay_params.txt
+		touch ${build_path}/src/firmware/posix/rootfs/replay_params.txt
 	fi
 fi

-cd $working_dir
+cd $build_path/src/firmware/posix

 if [ "$logfile" != "" ]
 then
-	cp $logfile $rootfs/replay.px4log
+	cp $logfile rootfs/replay.px4log
 fi

 # Do not exit on failure now from here on because we want the complete cleanup
@ -122,18 +117,18 @@ set +e
 # Start Java simulator
 if [ "$debugger" == "lldb" ]
 then
-	lldb -- $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	lldb -- px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "gdb" ]
 then
-	gdb --args $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "ddd" ]
 then
-	ddd --debugger gdb --args px4 $src_path $src_path/${rc_script}_${program}_${model}
+	ddd --debugger gdb --args px4 ../../../../${rc_script}_${program}_${model}
 elif [ "$debugger" == "valgrind" ]
 then
-	valgrind $sitl_bin $src_path $src_path/${rc_script}_${program}_${model}
+	valgrind ./px4 ../../../../${rc_script}_${program}_${model}
 else
-	$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rc_script}_${program}_${model}
+	$sudo_enabled ./px4 $chroot_enabled ../../../../${rc_script}_${program}_${model}
 fi

 if [ "$program" == "jmavsim" ]
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@ -136,14 +136,14 @@ function(px4_add_git_submodule)
 		REQUIRED TARGET PATH
 		ARGN ${ARGN})
 	string(REPLACE "/" "_" NAME ${PATH})
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		COMMAND touch ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
-		DEPENDS ${PX4_SOURCE_DIR}/.gitmodules
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		COMMAND touch ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
+		DEPENDS ${CMAKE_SOURCE_DIR}/.gitmodules
 		)
 	add_custom_target(${TARGET}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+		DEPENDS ${CMAKE_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()

@ -371,7 +371,7 @@ function(px4_generate_messages)
 	endif()

 	# headers
-	set(msg_out_path ${PX4_BINARY_DIR}/src/modules/uORB/topics)
+	set(msg_out_path ${CMAKE_BINARY_DIR}/src/modules/uORB/topics)
 	set(msg_list)
 	foreach(msg_file ${MSG_FILES})
 		get_filename_component(msg ${msg_file} NAME_WE)
@ -389,15 +389,15 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_out_path}
 			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_header
+			-t ${CMAKE_BINARY_DIR}/topics_temporary_header
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic headers"
 		VERBATIM
 		)

 	# !sources
-	set(msg_source_out_path	${PX4_BINARY_DIR}/topics_sources)
+	set(msg_source_out_path	${CMAKE_BINARY_DIR}/topics_sources)
 	set(msg_source_files_out ${msg_source_out_path}/uORBTopics.cpp)
 	foreach(msg ${msg_list})
 		list(APPEND msg_source_files_out ${msg_source_out_path}/${msg}.cpp)
@ -410,9 +410,9 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_source_out_path}
 			-e msg/templates/uorb
-			-t ${PX4_BINARY_DIR}/topics_temporary_sources
+			-t ${CMAKE_BINARY_DIR}/topics_temporary_sources
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic sources"
 		VERBATIM
 		)
@ -427,7 +427,7 @@ function(px4_generate_messages)

 	# multi messages for target OS
 	set(msg_multi_out_path
-		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
+		${CMAKE_BINARY_DIR}/src/platforms/${OS}/px4_messages)
 	set(msg_multi_files_out)
 	foreach(msg ${msg_list})
 		list(APPEND msg_multi_files_out ${msg_multi_out_path}/px4_${msg}.h)
@ -440,10 +440,10 @@ function(px4_generate_messages)
 			-d msg
 			-o ${msg_multi_out_path}
 			-e msg/templates/px4/uorb
-			-t ${PX4_BINARY_DIR}/multi_topics_temporary/${OS}
+			-t ${CMAKE_BINARY_DIR}/multi_topics_temporary/${OS}
 			-p "px4_"
 		DEPENDS ${DEPENDS} ${MSG_FILES}
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		COMMENT "Generating uORB topic multi headers for ${OS}"
 		VERBATIM
 		)
@ -504,9 +504,9 @@ function(px4_add_upload)
 	px4_join(OUT serial_ports LIST "${serial_ports}" GLUE ",")
 	add_custom_target(${OUT}
 		COMMAND ${PYTHON_EXECUTABLE}
-			${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
+			${CMAKE_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${BUNDLE}
 		DEPENDS ${BUNDLE}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@ -523,9 +523,9 @@ function(px4_add_adb_push)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@ -541,9 +541,9 @@ function(px4_add_adb_push_to_bebop)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@ -559,9 +559,9 @@ function(px4_add_scp_push)
 		ARGN ${ARGN})

 	add_custom_target(${OUT}
-		COMMAND ${PX4_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/scp_upload.sh ${FILES} ${DEST}
 		DEPENDS ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "uploading ${BUNDLE}"
 		VERBATIM
 		USES_TERMINAL
@ -761,21 +761,21 @@ function(px4_add_common_flags)
 		)

 	set(added_include_dirs
-		${PX4_SOURCE_DIR}/src
-		${PX4_BINARY_DIR}
-		${PX4_BINARY_DIR}/src
-		${PX4_SOURCE_DIR}/src/modules
-		${PX4_SOURCE_DIR}/src/include
-		${PX4_SOURCE_DIR}/src/lib
-		${PX4_SOURCE_DIR}/src/platforms
+		${CMAKE_SOURCE_DIR}/src
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src
+		${CMAKE_SOURCE_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/src/include
+		${CMAKE_SOURCE_DIR}/src/lib
+		${CMAKE_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		${PX4_SOURCE_DIR}/src/drivers/boards/${BOARD}
-		${PX4_BINARY_DIR}
-		${PX4_BINARY_DIR}/src/modules/px4_messages
-		${PX4_BINARY_DIR}/src/modules
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
-		${PX4_SOURCE_DIR}/src/lib/DriverFramework/framework/include
+		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
+		${CMAKE_BINARY_DIR}
+		${CMAKE_BINARY_DIR}/src/modules/px4_messages
+		${CMAKE_BINARY_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
+		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		)

 	list(APPEND added_include_dirs
@ -858,19 +858,19 @@ function(px4_create_git_hash_header)
 		COMMAND git describe --always --tags
 		OUTPUT_VARIABLE git_tag
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
 	message(STATUS "GIT_TAG = ${git_tag}")
 	execute_process(
 		COMMAND git rev-parse --verify HEAD
 		OUTPUT_VARIABLE git_version
 		OUTPUT_STRIP_TRAILING_WHITESPACE
-		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 		)
 	#message(STATUS "GIT_VERSION = ${git_version}")
 	set(git_version_short)
 	string(SUBSTRING ${git_version} 1 16 git_version_short)
-	configure_file(${PX4_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/templates/build_git_version.h.in ${HEADER} @ONLY)
 endfunction()

 #=============================================================================
@ -897,12 +897,12 @@ function(px4_generate_parameters_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(path ${PX4_SOURCE_DIR}/src)
+	set(path ${CMAKE_SOURCE_DIR}/src)
 	file(GLOB_RECURSE param_src_files
-		${PX4_SOURCE_DIR}/src/*params.c
+		${CMAKE_SOURCE_DIR}/src/*params.c
 		)
 	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
 			-s ${path} --board CONFIG_ARCH_${BOARD} --xml --inject-xml
 		DEPENDS ${param_src_files}
 		)
@ -944,7 +944,7 @@ function(px4_generate_parameters_source)
 		set(SCOPE "")
 	endif()
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML} ${SCOPE}
 		DEPENDS ${XML} ${DEPS} ${SCOPE}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
@ -975,10 +975,10 @@ function(px4_generate_airframes_xml)
 		ONE_VALUE OUT BOARD
 		REQUIRED OUT BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

--- a/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_ekf2.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 2)

--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_uavcan_num_ifaces 1)

--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)

 set(config_module_list
 	#
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)

 add_definitions(
  -D__PX4_POSIX_BEBOP
--- a/cmake/configs/posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@ -4,9 +4,9 @@
 # on the Linux side of the Snapdragon.
 include(configs/posix_sdflight_default)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(CONFIG_SHMEM "1")

--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@ -1,13 +1,13 @@
 include(posix/px4_impl_posix)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 # Use build stubs unless explicitly set not to
 if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/posix_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/posix_eagle_muorb.cmake
+++ b/cmake/configs/posix_eagle_muorb.cmake
@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/posix_rpi_cross.cmake
+++ b/cmake/configs/posix_rpi_cross.cmake
@ -1,6 +1,6 @@
 include(configs/posix_rpi_common)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)

 set(CMAKE_PROGRAM_PATH
 	"${RPI_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf-raspbian/bin"
--- a/cmake/configs/posix_rpi_native.cmake
+++ b/cmake/configs/posix_rpi_native.cmake
@ -1,3 +1,3 @@
 include(configs/posix_rpi_common)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@ -1,8 +1,8 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/posix_sitl_broadcast.cmake
+++ b/cmake/configs/posix_sitl_broadcast.cmake
@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/device
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/boards/sitl
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)

 set(config_module_list
 	drivers/device
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/qurt_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")

 set(config_generate_parameters_scope ALL)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 add_definitions(
   -D__USING_SNAPDRAGON_LEGACY_DRIVER
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@ -6,9 +6,9 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@ -6,8 +6,8 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_generate_parameters_scope ALL)

--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@ -5,9 +5,9 @@ set(CONFIG_SHMEM "1")
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)

 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@ -10,9 +10,9 @@ set(CONFIG_SHMEM "1")

 set(config_generate_parameters_scope ALL)

-set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)

-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")

 set(config_module_list
 	#
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@ -95,9 +95,9 @@ function(px4_nuttx_add_firmware)

 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
-			--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
-			--git_identity ${PX4_SOURCE_DIR}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+			--git_identity ${CMAKE_SOURCE_DIR}
 			${extra_args}
 			--image ${EXE}.bin > ${OUT}
 		DEPENDS ${EXE}
@ -148,7 +148,7 @@ function(px4_nuttx_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
 		${OUT})
 endfunction()

@ -183,17 +183,17 @@ function(px4_nuttx_add_export)
 		REQUIRED OUT CONFIG THREADS
 		ARGN ${ARGN})

-	set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
+	set(nuttx_src ${CMAKE_BINARY_DIR}/${CONFIG}/NuttX)

 	# patch
 	add_custom_target(__nuttx_patch_${CONFIG})
-	file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
-	    ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
+	file(GLOB nuttx_patches RELATIVE ${CMAKE_SOURCE_DIR}
+	    ${CMAKE_SOURCE_DIR}/nuttx-patches/*.patch)
 	foreach(patch ${nuttx_patches})
 		string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
 	    message(STATUS "nuttx-patch: ${patch}")
 		add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
-			COMMAND ${PATCH} -p0 -N  < ${PX4_SOURCE_DIR}/${patch}
+			COMMAND ${PATCH} -p0 -N  < ${CMAKE_SOURCE_DIR}/${patch}
 			COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
 			DEPENDS ${DEPENDS}
 			)
@ -204,7 +204,7 @@ function(px4_nuttx_add_export)

 	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
 	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
-	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+	file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
 		hw_stack_check_${CONFIG}
 		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
 		)
@ -213,29 +213,29 @@ function(px4_nuttx_add_export)
 	endif()

 	# copy and export
-	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
-	file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
+	file(RELATIVE_PATH nuttx_cp_src ${CMAKE_BINARY_DIR} ${CMAKE_SOURCE_DIR}/NuttX)
+	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		COMMAND ${MKDIR} -p ${nuttx_src}
 		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
 		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
-		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
-		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
+		COMMAND ${CP} -r ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
 		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
 		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
 		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
-		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
+		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${CMAKE_BINARY_DIR}/${CONFIG}.export
 		DEPENDS ${config_files} ${DEPENDS}
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
 		COMMENT "Building NuttX for ${CONFIG}")

 	# extract
 	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${UNZIP} -q ${CMAKE_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
 		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
+		DEPENDS ${DEPENDS} ${CMAKE_BINARY_DIR}/${CONFIG}.export)

 	add_custom_target(${OUT}
 		DEPENDS nuttx_export_${CONFIG}.stamp)
@ -308,16 +308,16 @@ function(px4_nuttx_add_romfs)
 		REQUIRED OUT ROOT
 		ARGN ${ARGN})

-	set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
-	set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
-	set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
-	set(romfs_pruner ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py)
-	set(bin_to_obj ${PX4_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
+	set(romfs_temp_dir ${CMAKE_BINARY_DIR}/tmp/${ROOT})
+	set(romfs_src_dir ${CMAKE_SOURCE_DIR}/${ROOT})
+	set(romfs_autostart ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
+	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
 	set(extras_dir ${CMAKE_CURRENT_BINARY_DIR}/extras)

 	file(GLOB_RECURSE romfs_src_files ${romfs_src_dir} ${romfs_src_dir}/*)

-	set(cmake_test ${PX4_SOURCE_DIR}/cmake/test/cmake_tester.py)
+	set(cmake_test ${CMAKE_SOURCE_DIR}/cmake/test/cmake_tester.py)

 	
 	set(extras)
@ -346,7 +346,7 @@ function(px4_nuttx_add_romfs)
 		#COMMAND cmake -E remove_directory ${romfs_temp_dir}
 		COMMAND ${PYTHON_EXECUTABLE} ${bin_to_obj}
 			--ld ${LD} --c_flags ${CMAKE_C_FLAGS}
-			--include_path "${PX4_SOURCE_DIR}/src/include"
+			--include_path "${CMAKE_SOURCE_DIR}/src/include"
 			--c_compiler ${CMAKE_C_COMPILER}
 			--nm ${NM} --objcopy ${OBJCOPY}
 			--obj romfs.o
@ -414,7 +414,7 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})

-	set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 	set(added_include_dirs
 		${nuttx_export_dir}/include
 		${nuttx_export_dir}/include/cxx
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@ -49,7 +49,7 @@
 #

 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/posix)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)

 #=============================================================================
 #
@ -101,7 +101,7 @@ function(px4_posix_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/cmake/posix/apps.h_in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/posix/apps.h_in
 		${OUT})
 endfunction()

--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@ -50,7 +50,7 @@
 #

 include(common/px4_base)
-list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake/qurt)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)

 #=============================================================================
 #
@ -95,7 +95,7 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/apps.h_in ${OUT})
 endfunction()

 #=============================================================================
--- a/cmake/ros-CMakeLists.txt
+++ b/cmake/ros-CMakeLists.txt
@ -0,0 +1,334 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(px4)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+add_definitions(-D__PX4_ROS)
+add_definitions(-D__EXPORT=)
+add_definitions(-DMAVLINK_DIALECT=common)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+  message_generation
+  cmake_modules
+  gazebo_msgs
+  sensor_msgs
+  mav_msgs
+  libmavconn
+  tf
+)
+find_package(Eigen REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  actuator_armed.msg
+  actuator_controls.msg
+  commander_state.msg
+  control_state.msg
+  distance_sensor.msg
+  manual_control_setpoint.msg
+  mc_virtual_rates_setpoint.msg
+  offboard_control_mode.msg
+  parameter_update.msg
+  position_setpoint.msg
+  position_setpoint_triplet.msg
+  rc_channels.msg
+  ros/actuator_controls_0.msg
+  ros/actuator_controls_virtual_mc.msg
+  vehicle_attitude.msg
+  vehicle_attitude_setpoint.msg
+  vehicle_control_mode.msg
+  vehicle_force_setpoint.msg
+  vehicle_global_velocity_setpoint.msg
+  vehicle_local_position.msg
+  vehicle_local_position_setpoint.msg
+  vehicle_rates_setpoint.msg
+  vehicle_status.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+  gazebo_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS src/include
+  LIBRARIES px4
+  CATKIN_DEPENDS message_runtime roscpp rospy std_msgs libmavconn
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  src/platforms
+  src/platforms/ros/px4_messages
+  src/include
+  src/modules
+  ${CMAKE_BINARY_DIR}/src/modules
+  src/
+  src/lib
+  src/lib/matrix
+  ${EIGEN_INCLUDE_DIRS}
+  integrationtests
+)
+
+## generate multiplatform wrapper headers
+## note that the message header files are generated as in any ROS project with generate_messages()
+set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
+set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
+set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
+set(MULTIPLATFORM_PREFIX px4_)
+add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_files.py
+	--headers -d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
+	-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
+
+## Declare a cpp library
+add_library(px4
+  src/platforms/ros/px4_ros_impl.cpp
+  src/platforms/ros/perf_counter.cpp
+  src/platforms/ros/geo.cpp
+  src/lib/mathlib/math/Limits.cpp
+  src/modules/systemlib/circuit_breaker.cpp
+)
+add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+
+target_link_libraries(px4
+  ${catkin_LIBRARIES}
+)
+
+## Declare a test publisher
+add_executable(publisher
+	src/examples/publisher/publisher_main.cpp
+	src/examples/publisher/publisher_example.cpp)
+add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(publisher
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Declare a test subscriber
+add_executable(subscriber
+	src/examples/subscriber/subscriber_main.cpp
+	src/examples/subscriber/subscriber_example.cpp)
+add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
+target_link_libraries(subscriber
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Attitude Control
+add_executable(mc_att_control
+	src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+	src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
+add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_att_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## MC Position Control
+add_executable(mc_pos_control
+	src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
+	src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
+add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_pos_control
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Attitude Estimator dummy
+add_executable(attitude_estimator
+	src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
+add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(attitude_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Position Estimator dummy
+add_executable(position_estimator
+	src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
+add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(position_estimator
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Manual input
+add_executable(manual_input
+	src/platforms/ros/nodes/manual_input/manual_input.cpp)
+add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(manual_input
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Multicopter Mixer dummy
+add_executable(mc_mixer
+  src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
+add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mc_mixer
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Commander dummy
+add_executable(commander
+	src/platforms/ros/nodes/commander/commander.cpp)
+add_dependencies(commander ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(commander
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Mavlink dummy
+add_executable(mavlink
+	src/platforms/ros/nodes/mavlink/mavlink.cpp)
+add_dependencies(mavlink ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(mavlink
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Position Setpoint Demo
+add_executable(demo_offboard_position_setpoints
+	src/platforms/ros/nodes/demo_offboard_position_setpoints/demo_offboard_position_setpoints.cpp)
+add_dependencies(demo_offboard_position_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_position_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+## Offboard Attitude Setpoint Demo
+add_executable(demo_offboard_attitude_setpoints
+	src/platforms/ros/nodes/demo_offboard_attitude_setpoints/demo_offboard_attitude_setpoints.cpp)
+add_dependencies(demo_offboard_attitude_setpoints ${PROJECT_NAME}_generate_messages_cpp_cpp)
+target_link_libraries(demo_offboard_attitude_setpoints
+  ${catkin_LIBRARIES}
+  px4
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+## Tests on multiplatform SITL (deprecated) have been moved to POSIX SITL
+#if(CATKIN_ENABLE_TESTING)
+#  find_package(rostest REQUIRED)
+#  add_rostest(integrationtests/demo_tests/direct_tests.launch)
+#  add_rostest(integrationtests/demo_tests/mavros_tests.launch)
+#endif()
--- a/integrationtests/run_tests.bash
+++ b/integrationtests/run_tests.bash
@ -5,27 +5,26 @@
 # License: according to LICENSE.md in the root directory of the PX4 Firmware repository
 set -e

-# handle cleaning command
-do_clean=true
-if [ "$1" = "-o" ]
+if [ "$#" -lt 1 ]
 then
-	echo not cleaning
-	do_clean=false
+	echo usage: run_tests.bash firmware_src_dir
+	echo ""
+	exit 1
 fi

-# determine the directory of the source given the directory of this script
-pushd `dirname $0` > /dev/null
-SCRIPTPATH=`pwd`
-popd > /dev/null
-ORIG_SRC=$(dirname $SCRIPTPATH)
+SRC_DIR=$1
+JOB_DIR=$SRC_DIR/..
+BUILD=posix_sitl_default
+# TODO
+ROS_TEST_RESULT_DIR=/root/.ros/test_results/px4
+ROS_LOG_DIR=/root/.ros/log
+PX4_LOG_DIR=${SRC_DIR}/build_${BUILD}/src/firmware/posix/rootfs/fs/microsd/log
+TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
+# BAGS=/root/.ros
+# CHARTS=/root/.ros/charts
+# EXPORT_CHARTS=/sitl/testing/export_charts.py

-# set paths
-JOB_DIR=$(dirname $ORIG_SRC)
-CATKIN_DIR=$JOB_DIR/catkin
-BUILD_DIR=$CATKIN_DIR/build/px4
-SRC_DIR=${CATKIN_DIR}/src/px4
-
-echo setting up ROS paths
+# source ROS env
 if [ -f /opt/ros/indigo/setup.bash ]
 then
 	source /opt/ros/indigo/setup.bash
@ -36,57 +35,26 @@ else
 	echo "could not find /opt/ros/{ros-distro}/setup.bash"
 	exit 1
 fi
-export ROS_HOME=$JOB_DIR/.ros
-export ROS_LOG_DIR=$ROS_HOME/log
-export ROS_TEST_RESULT_DIR=$ROS_HOME/test_results/px4
+source $SRC_DIR/integrationtests/setup_gazebo_ros.bash $SRC_DIR

-PX4_LOG_DIR=$ROS_HOME/rootfs/fs/microsd/log
-TEST_RESULT_TARGET_DIR=$JOB_DIR/test_results
-
-# TODO
-# BAGS=$ROS_HOME
-# CHARTS=$ROS_HOME/charts
-# EXPORT_CHARTS=/sitl/testing/export_charts.py
-
-echo setting up gazebo paths
-source /usr/share/gazebo/setup.sh
-source $SCRIPTPATH/setup_gazebo_ros.bash ${SRC_DIR} ${BUILD_DIR}
-
-if $do_clean
-then
-	echo cleaning
-	rm -rf $CATKIN_DIR
-	rm -rf $ROS_HOME
-	rm -rf $TEST_RESULT_TARGET_DIR
-else
-	echo skipping clean step
+echo "deleting previous test results ($TEST_RESULT_TARGET_DIR)"
+if [ -d ${TEST_RESULT_TARGET_DIR} ]; then
+	rm -r ${TEST_RESULT_TARGET_DIR}
 fi

+# FIXME: Firmware compilation seems to CD into this directory (/root/Firmware)
+# when run from "run_container.bash". Why?
+if [ -d /root/Firmware ]; then
+	rm /root/Firmware
+fi
+ln -s ${SRC_DIR} /root/Firmware
+
 echo "=====> compile ($SRC_DIR)"
-mkdir -p $ROS_HOME
-mkdir -p $CATKIN_DIR/src
-mkdir -p $TEST_RESULT_TARGET_DIR
-if ! [ -d $SRC_DIR ]
-then
-	ln -s $ORIG_SRC $SRC_DIR
-	ln -s $ORIG_SRC/Tools/sitl_gazebo ${CATKIN_DIR}/src/mavlink_sitl_gazebo
-fi
-cd $CATKIN_DIR
-catkin_make
-. ./devel/setup.bash
+cd $SRC_DIR
+make ${BUILD}
+make --no-print-directory gazebo_build
 echo "<====="

-# print paths to user
-echo -e "JOB_DIR\t\t: $JOB_DIR"
-echo -e "ROS_HOME\t: $ROS_HOME"
-echo -e "CATKIN_DIR\t: $CATKIN_DIR"
-echo -e "BUILD_DIR\t: $BUILD_DIR"
-echo -e "SRC_DIR\t\t: $SRC_DIR"
-echo -e "ROS_TEST_RESULT_DIR\t: $ROS_TEST_RESULT_DIR"
-echo -e "ROS_LOG_DIR\t\t: $ROS_LOG_DIR"
-echo -e "PX4_LOG_DIR\t\t: $PX4_LOG_DIR"
-echo -e "TEST_RESULT_TARGET_DIR\t: $TEST_RESULT_TARGET_DIR"
-
 # don't exit on error anymore from here on (because single tests or exports might fail)
 set +e
 echo "=====> run tests"
@ -105,6 +73,7 @@ echo "=====> process test results"
 # done

 echo "copy build test results to job directory"
+mkdir -p ${TEST_RESULT_TARGET_DIR}
 cp -r $ROS_TEST_RESULT_DIR/* ${TEST_RESULT_TARGET_DIR}
 cp -r $ROS_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
 cp -r $PX4_LOG_DIR/* ${TEST_RESULT_TARGET_DIR}
--- a/integrationtests/setup_gazebo_ros.bash
+++ b/integrationtests/setup_gazebo_ros.bash
@ -4,24 +4,19 @@
 #
 # License: according to LICENSE.md in the root directory of the PX4 Firmware repository

-if [ "$#" != 2 ]
+if [ "$#" -lt 1 ]
 then
-    echo usage: source setup_gazebo_ros.bash src_dir build_dir
+    echo usage: source setup_gazebo_ros.bash firmware_src_dir
    echo ""
    return 1
 fi

 SRC_DIR=$1
-BUILD_DIR=$2

 # setup Gazebo env and update package path
-export GAZEBO_RESOURCE_PATH=${SRC_DIR}/Tools/sitl_gazebo:${GAZEBO_RESOURCE_PATH}
-export GAZEBO_MODEL_PATH=${SRC_DIR}/Tools/sitl_gazebo/models:${GAZEBO_MODEL_PATH}
-export GAZEBO_PLUGIN_PATH=${BUILD_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
-export LD_LIBRARY_PATH=${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/:${BUILD_DIR}/build_gazebo:${LD_LIBRARY_PATH}:
+export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:${SRC_DIR}/Tools/sitl_gazebo/models
+export GAZEBO_PLUGIN_PATH=${SRC_DIR}/build_gazebo:${GAZEBO_PLUGIN_PATH}
+export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${SRC_DIR}/Tools/sitl_gazebo/Build/msgs/
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${SRC_DIR}
 export GAZEBO_MODEL_DATABASE_URI=""
-
-echo -e "GAZEBO_RESOURCE_PATH $GAZEBO_RESOURCE_PATH"
-echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
-echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
+export SITL_GAZEBO_PATH=$SRC_DIR/Tools/sitl_gazebo
--- a/launch/mavros_posix_sitl.launch
+++ b/launch/mavros_posix_sitl.launch
@ -1,25 +1,18 @@
 <launch>
-
    <!-- MAVROS posix SITL environment launch script -->

-    <arg name="vehicle" default="iris"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
-
    <arg name="headless" default="false"/>
    <arg name="gui" default="true"/>
    <arg name="ns" default="/"/>
+    <arg name="world" default="iris"/>
    <arg name="build" default="posix_sitl_default"/>
    <arg name="fcu_url" default="udp://:14540@localhost:14557"/>

    <include file="$(find px4)/launch/posix_sitl.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="vehicle" value="$(arg vehicle)"/>
-        <arg name="rcS" value="$(arg rcS)"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
        <arg name="ns" value="$(arg ns)"/>
+        <arg name="world" value="$(arg world)"/>
        <arg name="build" value="$(arg build)"/>
    </include>

@ -29,5 +22,3 @@
        <arg name="fcu_url" value="$(arg fcu_url)"/>
    </include>
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
--- a/launch/mavros_posix_tests_iris.launch
+++ b/launch/mavros_posix_tests_iris.launch
@ -9,7 +9,6 @@
        <arg name="ns" value="$(arg ns)"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
-        <arg name="vehicle" value="iris"/>
    </include>

    <group ns="$(arg ns)">
--- a/launch/mavros_posix_tests_standard_vtol.launch
+++ b/launch/mavros_posix_tests_standard_vtol.launch
@ -9,7 +9,7 @@
        <arg name="ns" value="$(arg ns)"/>
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
-        <arg name="vehicle" value="standard_vtol"/>
+        <arg name="world" value="standard_vtol"/>
    </include>

    <group ns="$(arg ns)">
--- a/launch/posix_sitl.launch
+++ b/launch/posix_sitl.launch
@ -1,31 +1,19 @@
 <launch>
-
    <!-- Posix SITL environment launch script -->

-    <arg name="vehicle" default="iris"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-    <arg name="sdf" default="$(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <arg name="rcS" default="$(find px4)/posix-configs/SITL/init/rcS_gazebo_$(arg vehicle)"/>
-
    <arg name="headless" default="false"/>
    <arg name="gui" default="true"/>
    <arg name="ns" default="/"/>
+    <arg name="world" default="iris"/>
    <arg name="build" default="posix_sitl_default"/>

-    <node name="sitl" pkg="px4" type="px4" output="screen"
-        args="$(find px4) $(arg rcS)">
+    <node pkg="px4" type="sitl_run.sh" name="simulator" args="posix-configs/SITL/init/rcS none gazebo $(arg world) $(find px4)/build_$(arg build)">
+        <env name="no_sim" value="1" />
    </node>

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="headless" value="$(arg headless)"/>
        <arg name="gui" value="$(arg gui)"/>
-        <arg name="world_name" value="$(arg world)" />
+        <arg name="world_name" value="$(find px4)/Tools/sitl_gazebo/worlds/$(arg world).world" />
    </include>
-
-    <node name="$(anon vehicle_spawn)" output="screen" pkg="gazebo_ros" type="spawn_model"
-        args="-sdf -file $(arg sdf) -model $(arg vehicle)"/>
-
-
 </launch>
-
-<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
--- a/posix-configs/SITL/README.md
+++ b/posix-configs/SITL/README.md
@ -105,5 +105,5 @@ param set RC_MAP_POSCTL_SW 7
 param set RC_MAP_RETURN_SW 8
 param set MC_PITCHRATE_P 0.05
 param set MC_ROLLRATE_P 0.05
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 ```
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@ -60,7 +60,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_gazebo_iris_opt_flow
@ -59,7 +59,7 @@ attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_plane
+++ b/posix-configs/SITL/init/rcS_gazebo_plane
@ -47,7 +47,7 @@ ekf2 start
 fw_pos_control_l1 start
 fw_att_control start
 land_detector start fixedwing
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/plane_sitl.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/plane_sitl.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_solo
+++ b/posix-configs/SITL/init/rcS_gazebo_solo
@ -57,7 +57,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_standard_vtol
+++ b/posix-configs/SITL/init/rcS_gazebo_standard_vtol
@ -69,7 +69,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_tailsitter
+++ b/posix-configs/SITL/init/rcS_gazebo_tailsitter
@ -60,7 +60,7 @@ mc_pos_control start
 mc_att_control start
 fw_pos_control_l1 start
 fw_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x_vtol.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
+++ b/posix-configs/SITL/init/rcS_gazebo_typhoon_h480
@ -59,7 +59,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/hexa_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/hexa_x.main.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_jmavsim_iris
@ -61,7 +61,7 @@ navigator start
 ekf2 start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris
@ -60,7 +60,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 4000000
 mavlink start -u 14557 -r 4000000 -m onboard -o 14540
 mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
+++ b/posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow
@ -69,7 +69,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_w.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
+++ b/posix-configs/SITL/init/rcS_lpe_jmavsim_iris
@ -61,7 +61,7 @@ attitude_estimator_q start
 local_position_estimator start
 mc_pos_control start
 mc_att_control start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 /usr/share/px4/ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink start -u 14557 -r 2000000 -m onboard -o 14540
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
--- a/posix-configs/SITL/init/rcS_tests_none_iris
+++ b/posix-configs/SITL/init/rcS_tests_none_iris
--- a/posix-configs/SITL/init/rc_iris_ros
+++ b/posix-configs/SITL/init/rc_iris_ros
@ -60,7 +60,7 @@ attitude_estimator_q start
 position_estimator_inav start
 mc_pos_control_m start
 mc_att_control_m start
-mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_x.main.mix
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_x.main.mix
 mavlink start -u 14556 -r 2000000
 mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
 mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@ -10,7 +10,7 @@ add_executable(firmware_nuttx
 	builtin_commands.c)


-set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)

 set(link_libs
 	romfs apps nuttx m gcc
@ -20,7 +20,7 @@ if(NOT ${BOARD} STREQUAL "sim")
 	list(APPEND link_libs nosys)
 	set(main_link_flags
 		"-T${nuttx_export_dir}/build/ld.script"
-		"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
+		"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
 		)
 	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 	set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
@ -43,7 +43,7 @@ add_custom_target(check_weak
 if(NOT ${BOARD} STREQUAL "sim")

 	if (config_io_board)
-		set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+		set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
 	endif()
 	
 	set(romfs_dir "ROMFS/px4fmu_common")
@ -68,8 +68,8 @@ if(NOT ${BOARD} STREQUAL "sim")
 	px4_nuttx_add_firmware(OUT ${fw_file}
 		BOARD ${BOARD}
 		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-		PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
-		AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
+		PARAM_XML ${CMAKE_BINARY_DIR}/parameters.xml
+		AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
 		)

 	configure_file(gdbinit.in .gdbinit)
@ -94,21 +94,21 @@ if(NOT ${BOARD} STREQUAL "sim")

 	add_custom_target(debug_io
 		COMMAND ${GDB}
-			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)

 	add_custom_target(debug_io_tui
 		COMMAND ${GDBTUI}
-			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)

 	add_custom_target(debug_io_ddd
 		COMMAND ${DDD} --debugger ${GDB}
-			${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
+			${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}
 		DEPENDS firmware_nuttx
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
--- a/src/firmware/nuttx/gdbinit.in
+++ b/src/firmware/nuttx/gdbinit.in
@ -4,4 +4,4 @@ attach 1
 monitor vector_catch disable hard
 set mem inaccessible-by-default off
 set print pretty
-source ${PX4_SOURCE_DIR}/Debug/PX4
+source ${CMAKE_SOURCE_DIR}/Debug/PX4
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@ -18,7 +18,7 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 		APPS_DEST "/home/linaro"
 		SOURCES
 			px4muorb_stub.c
-			${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+			${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 			apps.h
 		LINK_LIBS
 			-Wl,--start-group
@ -33,14 +33,14 @@ if ("${BOARD}" STREQUAL "eagle" OR ("${BOARD}" STREQUAL "excelsior"))
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-				 ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
 			 DEPENDS px4
 			 DEST /home/linaro)

 elseif ("${BOARD}" STREQUAL "rpi")

 	add_executable(px4
-		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)

@ -57,7 +57,7 @@ elseif ("${BOARD}" STREQUAL "rpi")
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-				 ${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
+				 ${CMAKE_SOURCE_DIR}/posix-configs/rpi/px4.config
 			 DEPENDS px4
 			 DEST /home/pi)

@ -67,7 +67,7 @@ elseif ("${BOARD}" STREQUAL "bebop")
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -static")

 	add_executable(px4
-		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)

@ -91,14 +91,14 @@ elseif ("${BOARD}" STREQUAL "bebop")
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-						 ${PX4_SOURCE_DIR}/posix-configs/bebop/px4.config
+						 ${CMAKE_SOURCE_DIR}/posix-configs/bebop/px4.config
 			 DEPENDS px4
 			 DEST /usr/bin)

 else()

 	add_executable(px4
-		${PX4_SOURCE_DIR}/src/platforms/posix/main.cpp
+		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
 		apps.h
 		)
 	if (NOT APPLE)
@ -118,43 +118,17 @@ else()
 	endif()
 endif()

-#=============================================================================
-# sitl run targets
-#
-
-set(SITL_WORKING_DIR ${PX4_BINARY_DIR}/tmp)
-file(MAKE_DIRECTORY ${SITL_WORKING_DIR})
-
 add_custom_target(run_config
-	COMMAND Tools/sitl_run.sh
-	"$<TARGET_FILE:px4>"
-	"${config_sitl_rcS}"
-	"${config_sitl_debugger}"
-	"${config_sitl_viewer}"
-	"${config_sitl_model}" 
-	"${PX4_SOURCE_DIR}"
-	"${PX4_BINARY_DIR}"
-	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	COMMAND Tools/sitl_run.sh "${config_sitl_rcS}" "${config_sitl_debugger}"
+	"${config_sitl_viewer}" "${config_sitl_model}" "${CMAKE_BINARY_DIR}"
+	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 	USES_TERMINAL
 	)
 add_dependencies(run_config px4)

-# project to build sitl_gazebo if necessary
-ExternalProject_Add(sitl_gazebo
-	SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/sitl_gazebo
-	CMAKE_ARGS -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
-	BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo
-	INSTALL_COMMAND ""
-	)
-set_target_properties(sitl_gazebo PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
-# create targets for each viewer/model/debugger combination
-set(viewers none jmavsim gazebo replay)
-set(debuggers none gdb lldb ddd valgrind)
-set(models none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
-foreach(viewer ${viewers})
-	foreach(debugger ${debuggers})
-		foreach(model ${models})
+foreach(viewer none jmavsim gazebo replay)
+	foreach(debugger none gdb lldb ddd valgrind)
+		foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo typhoon_h480)
 			if (debugger STREQUAL "none")
 				if (model STREQUAL "none")
 					set(_targ_name "${viewer}")
@ -169,20 +143,13 @@ foreach(viewer ${viewers})
 				endif()
 			endif()
 			add_custom_target(${_targ_name}
-				COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
-				$<TARGET_FILE:px4>
-				${config_sitl_rcS}
-				${debugger}
-				${viewer}
-				${model}
-				${PX4_SOURCE_DIR}
-				${PX4_BINARY_DIR}
-				WORKING_DIRECTORY ${SITL_WORKING_DIR}
+				COMMAND Tools/sitl_run.sh "${config_sitl_rcS}"
+				"${debugger}"
+				"${viewer}" "${model}" "${CMAKE_BINARY_DIR}"
+				WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 				USES_TERMINAL
 				)
-			if (viewer STREQUAL "gazebo")
-				add_dependencies(${_targ_name} sitl_gazebo)
-			endif()
+			add_dependencies(${_targ_name} px4)
 		endforeach()
 	endforeach()
 endforeach()
@ -191,25 +158,8 @@ endforeach()
 # install
 #

-install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(TARGETS px4 DESTINATION bin)
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})

-#=============================================================================
-# tests
-#
-
-add_test(NAME rcS_tests
-	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
-		$<TARGET_FILE:px4>
-		posix-configs/SITL/init/rcS_tests
-		none
-		none
-		none
-		${PX4_SOURCE_DIR}
-		${PX4_BINARY_DIR}
-		WORKING_DIRECTORY ${SITL_WORKING_DIR})
-set_tests_properties(rcS_tests PROPERTIES
-	PASS_REGULAR_EXPRESSION "All tests passed")
-
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@ -1,4 +1,4 @@
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 include(fastrpc)
 include(qurt_lib)

@ -7,7 +7,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-missing-prototypes")

 px4_qurt_generate_builtin_commands(
-	OUT ${PX4_BINARY_DIR}/apps.h
+	OUT ${CMAKE_BINARY_DIR}/apps.h
 	MODULE_LIST ${module_libraries})

 FASTRPC_STUB_GEN(px4muorb.idl)
@ -20,8 +20,8 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
                ${FASTRPC_DSP_INCLUDES}
                )
 	add_executable(px4
-		${PX4_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
-		${PX4_BINARY_DIR}/apps.h)
+		${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
+		${CMAKE_BINARY_DIR}/apps.h)

 	target_link_libraries(px4
 		-Wl,--start-group
@ -40,7 +40,7 @@ else()
 	QURT_LIB(LIB_NAME px4
 		IDL_NAME px4muorb
 		SOURCES
-			${PX4_BINARY_DIR}/apps.h
+			${CMAKE_BINARY_DIR}/apps.h
 		LINK_LIBS
 			${module_libraries}
 			${target_libraries}
@ -54,7 +54,7 @@ else()
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/libpx4.so
 				 ${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
-				 ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
+				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
 			 DEPENDS px4 px4muorb_skel
 			 DEST /usr/share/data/adsp)
 endif()
--- a/src/lib/rc/rc_tests/CMakeLists.txt
+++ b/src/lib/rc/rc_tests/CMakeLists.txt
@ -40,5 +40,4 @@ px4_add_module(
 	DEPENDS
 		platforms__common
 	)
-
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 
--- a/src/lib/rc/rc_tests/RCTest.cpp
+++ b/src/lib/rc/rc_tests/RCTest.cpp
@ -16,7 +16,7 @@
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 #define TEST_DATA_PATH "/fs/microsd"
 #else
-#define TEST_DATA_PATH "./src/lib/rc/rc_tests/test_data/"
+#define TEST_DATA_PATH "../../../../src/lib/rc/rc_tests/test_data/"
 #endif

 extern "C" __EXPORT int rc_tests_main(int argc, char *argv[]);
@ -51,8 +51,8 @@ bool RCTest::dsmTest(void)
 	FILE *fp;
 	fp = fopen(filepath, "rt");

-	warnx("loading data from: %s", filepath);
 	ut_test(fp != nullptr);
+	//warnx("loading data from: %s", filepath);

 	float f;
 	unsigned x;
--- a/src/modules/muorb/krait/CMakeLists.txt
+++ b/src/modules/muorb/krait/CMakeLists.txt
@ -30,10 +30,10 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)

-include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
+include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
 include_directories(${HEXAGON_SDK_INCLUDES})

 px4_add_module(
--- a/src/modules/param/CMakeLists.txt
+++ b/src/modules/param/CMakeLists.txt
@ -34,8 +34,8 @@
 include_directories(${CMAKE_CURRENT_BINARY_DIR})

 px4_generate_parameters_source(OUT param_files
-	XML ${PX4_BINARY_DIR}/parameters.xml
-	SCOPE ${PX4_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
+	XML ${CMAKE_BINARY_DIR}/parameters.xml
+	SCOPE ${CMAKE_SOURCE_DIR}/cmake/configs/${OS}_${BOARD}_${LABEL}.cmake
 	DEPS xml_gen
 	)

--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@ -63,7 +63,7 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")

 include_directories(
 	${include_dirs}
-	${PX4_BINARY_DIR}/src/modules/systemlib/mixer
+	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
 	.
 	)
 link_directories(${link_dirs})
@ -117,10 +117,10 @@ add_dependencies(${fw_io_name}
 	mixer_gen
 	)

-set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
 set(main_link_flags
 	"-T${nuttx_export_dir}/build/ld.script"
-	"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"
+	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
 	)
 px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
 set_target_properties(${fw_io_name} PROPERTIES LINK_FLAGS ${main_link_flags})
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@ -32,7 +32,7 @@
 ############################################################################

 # for generated files
-include_directories(${PX4_BINARY_DIR}/src/modules/param)
+include_directories(${CMAKE_BINARY_DIR}/src/modules/param)

 set(SRCS
 	perf_counter.c
--- a/src/modules/uavcan/uavcan_servers.hpp
+++ b/src/modules/uavcan/uavcan_servers.hpp
@ -70,7 +70,7 @@
 /**
 * A UAVCAN Server Sub node.
 */
-class __EXPORT UavcanServers
+class UavcanServers
 {
 	static constexpr unsigned NumIfaces = 1;  // UAVCAN_STM32_NUM_IFACES

--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@ -50,7 +50,6 @@
 #include "px4_middleware.h"
 #include "DriverFramework.hpp"
 #include <termios.h>
-#include <sys/stat.h>

 namespace px4
 {
@ -63,12 +62,6 @@ typedef int (*px4_main_t)(int argc, char *argv[]);

 #define CMD_BUFF_SIZE	100

-#ifdef PATH_MAX
-const unsigned path_max_len = PATH_MAX;
-#else
-const unsigned path_max_len = 1024;
-#endif
-
 static bool _ExitFlag = false;

 static struct termios orig_term;
@ -92,96 +85,6 @@ extern "C" {
 	}
 }

-static inline bool fileExists(const string &name)
-{
-	struct stat buffer;
-	return (stat(name.c_str(), &buffer) == 0);
-}
-
-static inline bool dirExists(const string &path)
-{
-	struct stat info;
-
-	if (stat(path.c_str(), &info) != 0) {
-		return false;
-
-	} else if (info.st_mode & S_IFDIR) {
-		return true;
-
-	} else {
-		return false;
-	}
-}
-
-static inline void touch(const string &name)
-{
-	fstream fs;
-	fs.open(name, ios::out);
-	fs.close();
-}
-
-static int mkpath(const char *path, mode_t mode);
-
-static int do_mkdir(const char *path, mode_t mode)
-{
-	struct stat             st;
-	int             status = 0;
-
-	if (stat(path, &st) != 0) {
-		/* Directory does not exist. EEXIST for race condition */
-		if (mkdir(path, mode) != 0 && errno != EEXIST) {
-			status = -1;
-		}
-
-	} else if (!S_ISDIR(st.st_mode)) {
-		errno = ENOTDIR;
-		status = -1;
-	}
-
-	return (status);
-}
-
-/**
-** mkpath - ensure all directories in path exist
-** Algorithm takes the pessimistic view and works top-down to ensure
-** each directory in path exists, rather than optimistically creating
-** the last element and working backwards.
-*/
-static int mkpath(const char *path, mode_t mode)
-{
-	char           *pp;
-	char           *sp;
-	int             status;
-	char           *copypath = strdup(path);
-
-	status = 0;
-	pp = copypath;
-
-	while (status == 0 && (sp = strchr(pp, '/')) != 0) {
-		if (sp != pp) {
-			/* Neither root nor double slash in path */
-			*sp = '\0';
-			status = do_mkdir(copypath, mode);
-			*sp = '/';
-		}
-
-		pp = sp + 1;
-	}
-
-	if (status == 0) {
-		status = do_mkdir(path, mode);
-	}
-
-	free(copypath);
-	return (status);
-}
-
-static string pwd()
-{
-	char temp[path_max_len];
-	return (getcwd(temp, path_max_len) ? string(temp) : string(""));
-}
-
 static void print_prompt()
 {
 	cout.flush();
@ -231,13 +134,12 @@ static void run_cmd(const vector<string> &appargs, bool exit_on_fail, bool silen
 static void usage()
 {

-	cout << "./px4 [-d] data_directory startup_config [-h]" << endl;
+	cout << "./px4 [-d] [startup_config] -h" << std::endl;
 	cout << "   -d            - Optional flag to run the app in daemon mode and does not listen for user input." <<
-	     endl;
-	cout << "                   This is needed if px4 is intended to be run as a upstart job on linux" << endl;
-	cout << "<data_directory> - directory where romfs and posix-configs are located" << endl;
-	cout << "<startup_config> - config file for starting/stopping px4 modules" << endl;
-	cout << "   -h            - help/usage information" << endl;
+	     std::endl;
+	cout << "                   This is needed if px4 is intended to be run as a upstart job on linux" << std::endl;
+	cout << "<startup_config> - config file for starting/stopping px4 modules" << std::endl;
+	cout << "   -h            - help/usage information" << std::endl;
 }

 static void process_line(string &line, bool exit_on_fail)
@ -300,131 +202,52 @@ int main(int argc, char **argv)
 	set_cpu_scaling();

 	int index = 1;
-	string  commands_file = "";
-	int positional_arg_count = 0;
-	string data_path = "";
-	string node_name = "";
+	char *commands_file = nullptr;

-	// parse arguments
 	while (index < argc) {
-		//cout << "arg: " << index << " : " << argv[index] << endl;
-
 		if (argv[index][0] == '-') {
 			// the arg starts with -
-			if (strncmp(argv[index], "-d", 2) == 0) {
+			if (strcmp(argv[index], "-d") == 0) {
 				daemon_mode = true;

-			} else if (strncmp(argv[index], "-h", 2) == 0) {
+			} else if (strcmp(argv[index], "-h") == 0) {
 				usage();
 				return 0;

-			} else if (strncmp(argv[index], "-c", 2) == 0) {
+			} else if (strcmp(argv[index], "-c") == 0) {
 				chroot_on = true;

 			} else {
-				PX4_ERR("Unknown/unhandled parameter: %s", argv[index]);
+				PX4_WARN("Unknown/unhandled parameter: %s", argv[index]);
 				return 1;
 			}

-		} else if (!strncmp(argv[index], "__", 2)) {
-			//cout << "ros argument" << endl;
+		} else {
+			// this is an argument that does not have '-' prefix; treat it like a file name
+			ifstream infile(argv[index]);

-			// ros arguments
-			if (!strncmp(argv[index], "__name:=", 8)) {
-				string name_arg = argv[index];
-				node_name = name_arg.substr(8);
-				cout << "node name: " << node_name << endl;
-			}
+			if (infile.good()) {
+				infile.close();
+				commands_file = argv[index];

 			} else {
-			//cout << "positional argument" << endl;
-
-			positional_arg_count += 1;
-
-			if (positional_arg_count == 1) {
-				data_path = argv[index];
-				cout << "data path: " << data_path << endl;
-
-			} else if (positional_arg_count == 2) {
-				commands_file = argv[index];
-				cout << "commands file: " << commands_file << endl;
+				PX4_WARN("Error opening file: %s", argv[index]);
+				return -1;
 			}
 		}

 		++index;
 	}

-	if (positional_arg_count != 2) {
-		PX4_ERR("Error expected 2 position arguments, got %d", positional_arg_count);
-		usage();
-		return -1;
-	}

-	if (commands_file.size() < 1) {
-		PX4_ERR("Error commands file not specified");
-		return -1;
-	}
-
-	if (!fileExists(commands_file)) {
-		PX4_ERR("Error opening commands file, does not exist: %s", commands_file.c_str());
-		return -1;
-	}
-
-	// create sym-links
-	vector<string> path_sym_links;
-	path_sym_links.push_back("ROMFS");
-	path_sym_links.push_back("posix-configs");
-	path_sym_links.push_back("src");
-
-	for (int i = 0; i < path_sym_links.size(); i++) {
-		string path_sym_link = path_sym_links[i];
-		//cout << "path sym link: " << path_sym_link << endl;
-		string src_path = data_path + "/" + path_sym_link;
-		string dest_path =  pwd() + "/" +  path_sym_link;
-
-		PX4_DEBUG("Creating symlink %s -> %s", src_path.c_str(), dest_path.c_str());
-
-		if (dirExists(path_sym_link)) { continue; }
-
-		// create sym-links
-		int ret = symlink(src_path.c_str(), dest_path.c_str());
-
-		if (ret != 0) {
-			PX4_ERR("Error creating symlink %s -> %s",
-				src_path.c_str(), dest_path.c_str());
-			return ret;
-
-		} else {
-			PX4_DEBUG("Successfully created symlink %s -> %s",
-				  src_path.c_str(), dest_path.c_str());
-		}
-	}
-
-	// setup rootfs
-	const string eeprom_path = "./rootfs/eeprom/";
-	const string microsd_path = "./rootfs/fs/microsd/";
-
-	if (!fileExists(eeprom_path + "parameters")) {
-		cout << "creating new parameters file" << endl;
-		mkpath(eeprom_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
-		touch(eeprom_path + "parameters");
-	}
-
-	if (!fileExists(microsd_path + "dataman")) {
-		cout << "creating new dataman file" << endl;
-		mkpath(microsd_path.c_str(), S_IRUSR | S_IWUSR | S_IXUSR);
-		touch(microsd_path + "dataman");
-	}
-
-	// initialize
 	DriverFramework::Framework::initialize();
 	px4::init_once();

 	px4::init(argc, argv, "px4");

 	// if commandfile is present, process the commands from the file
-	if (commands_file.size() != 0) {
-		ifstream infile(commands_file.c_str());
+	if (commands_file != nullptr) {
+		ifstream infile(commands_file);

 		if (infile.is_open()) {
 			for (string line; getline(infile, line, '\n');) {
@ -438,7 +261,7 @@ int main(int argc, char **argv)
 			}

 		} else {
-			PX4_ERR("Error opening commands file: %s", commands_file.c_str());
+			PX4_WARN("Error opening file: %s", commands_file);
 		}
 	}

@ -447,6 +270,12 @@ int main(int argc, char **argv)
 		// this is not an attempt to secure the environment,
 		// rather, to replicate a deployed file system.

+#ifdef PATH_MAX
+		const unsigned path_max_len = PATH_MAX;
+#else
+		const unsigned path_max_len = 1024;
+#endif
+
 		char pwd_path[path_max_len];
 		const char *folderpath = "/rootfs/";

@ -590,5 +419,3 @@ int main(int argc, char **argv)

 	return OK;
 }
-
-/* vim: set noet fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
--- a/src/platforms/posix/px4_layer/CMakeLists.txt
+++ b/src/platforms/posix/px4_layer/CMakeLists.txt
@ -32,10 +32,10 @@
 ############################################################################

 if("${CONFIG_SHMEM}" STREQUAL "1")
-	set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+	set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 	include(hexagon_sdk)

-	include_directories(${PX4_BINARY_DIR}/src/firmware/posix)
+	include_directories(${CMAKE_BINARY_DIR}/src/firmware/posix)
 	include_directories(${HEXAGON_SDK_INCLUDES})
 	list(APPEND SHMEM_SRCS
 		shmem_posix.c
--- a/src/platforms/qurt/px4_layer/CMakeLists.txt
+++ b/src/platforms/qurt/px4_layer/CMakeLists.txt
@ -30,7 +30,7 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 include(hexagon_sdk)

 include_directories(${HEXAGON_8074_INCLUDES})
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@ -90,7 +90,7 @@ int test_mixer(int argc, char *argv[])
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 	const char *filename = "/etc/mixers/IO_pass.mix";
 #else
-	const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix";
+	const char *filename = "../../../../ROMFS/px4fmu_test/mixers/IO_pass.mix";
 #endif

 	//PX4_INFO("loading: %s", filename);
@ -400,7 +400,7 @@ int test_mixer(int argc, char *argv[])
 #if !defined(CONFIG_ARCH_BOARD_SITL)
 	filename = "/etc/mixers/quad_test.mix";
 #else
-	filename = "ROMFS/px4fmu_test/mixers/quad_test.mix";
+	filename = "../../../../ROMFS/px4fmu_test/mixers/quad_test.mix";
 #endif

 	load_mixer_file(filename, &buf[0], sizeof(buf));
--- a/src/systemcmds/topic_listener/CMakeLists.txt
+++ b/src/systemcmds/topic_listener/CMakeLists.txt
@ -32,14 +32,14 @@
 ############################################################################

 add_custom_command(OUTPUT topic_listener.cpp
-                COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/generate_listener.py ${PX4_SOURCE_DIR} > topic_listener.cpp
+                COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/generate_listener.py ${CMAKE_SOURCE_DIR} > topic_listener.cpp
                DEPENDS msg_gen
                )

 add_custom_target(generate_topic_listener
 	DEPENDS
 		topic_listener.cpp
-		${PX4_SOURCE_DIR}/Tools/generate_listener.py)
+		${CMAKE_SOURCE_DIR}/Tools/generate_listener.py)

 px4_add_module(
 	MODULE systemcmds__topic_listener
--- a/unittests/CMakeLists.txt
+++ b/unittests/CMakeLists.txt
@ -13,19 +13,15 @@ enable_testing()
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Werror -std=gnu99 -g")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -std=c++11 -g -fno-exceptions -fno-rtti -fno-threadsafe-statics")

-if (NOT PX4_SOURCE_DIR)
-	set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/..")
-endif()

-
-set(GTEST_DIR ${PX4_SOURCE_DIR}/unittests/googletest)
+set(GTEST_DIR ${CMAKE_SOURCE_DIR}/googletest)
 add_subdirectory(${GTEST_DIR})
 include_directories(${GTEST_DIR}/include)

-set(PX4_SRC ${PX4_SOURCE_DIR}/src)
+set(PX4_SRC ${CMAKE_SOURCE_DIR}/../src)
 set(PX4_SITL_BUILD ${PX4_SRC}/../build_posix_sitl_default)

-include_directories(${PX4_SOURCE_DIR})
+include_directories(${CMAKE_SOURCE_DIR})
 include_directories(${PX4_SITL_BUILD}/src)
 include_directories(${PX4_SITL_BUILD}/src/modules)
 include_directories(${PX4_SITL_BUILD}/src/modules/param)
@ -98,7 +94,7 @@ target_include_directories(px4_platform PUBLIC ${PX4_SRC}/platforms/posix/work_q
 # check
 add_custom_target(check
 		COMMAND ${CMAKE_CTEST_COMMAND} -j2 --output-on-failure
-		WORKING_DIR ${PX4_BINARY_DIR}
+		WORKING_DIR ${CMAKE_BINARY_DIR}
 		USES_TERMINAL)

 # add_gtest
@ -109,7 +105,7 @@ function(add_gtest)
 		else()
 			target_link_libraries(${test_name} gtest_main pthread rt px4_platform)
 		endif()
-		add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${PX4_SOURCE_DIR})
+		add_test(NAME ${test_name} COMMAND ${test_name} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
 		add_dependencies(check ${test_name})
 	endforeach()
 endfunction()