diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 64f4775c33..4efaa2164a 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -14,6 +14,7 @@ if (NOT ${CMAKE_C_COMPILER_ID} STREQUAL "Clang" OR NOT APPLE)
 	target_link_libraries(mainapp
 		-Wl,--start-group
 		${module_libraries}
+		${driver_framework_libraries}
 		pthread m rt
 		-Wl,--end-group
 		)
diff --git a/src/platforms/posix/drivers/adcsim/adcsim.cpp b/src/platforms/posix/drivers/adcsim/adcsim.cpp
index 6d725344bf..0efbc94225 100644
--- a/src/platforms/posix/drivers/adcsim/adcsim.cpp
+++ b/src/platforms/posix/drivers/adcsim/adcsim.cpp
@@ -199,7 +199,6 @@ ADCSIM	*g_adc;
 int
 test(void)
 {
-
 	DriverHandle h = DriverMgr::getHandle(ADCSIM0_DEVICE_PATH);
 
 	if (!h.isValid()) {
@@ -245,7 +244,7 @@ adcsim_main(int argc, char *argv[])
 		}
 	}
 
-	if (argc > 1) {
+	if (argc > 1 && g_adc) {
 		if (!strcmp(argv[1], "test")) {
 			ret = test();
 		}
diff --git a/src/platforms/posix/main.cpp b/src/platforms/posix/main.cpp
index 1b22627721..56301b603c 100644
--- a/src/platforms/posix/main.cpp
+++ b/src/platforms/posix/main.cpp
@@ -43,6 +43,9 @@
 #include <sstream>
 #include <vector>
 #include <signal.h>
+#include "apps.h"
+#include "px4_middleware.h"
+#include "DriverFramework.hpp"
 
 namespace px4
 {
@@ -53,9 +56,6 @@ using namespace std;
 
 typedef int (*px4_main_t)(int argc, char *argv[]);
 
-#include "apps.h"
-#include "px4_middleware.h"
-
 static bool _ExitFlag = false;
 extern "C" {
 	void _SigIntHandler(int sig_num);
@@ -184,6 +184,7 @@ int main(int argc, char **argv)
 	}
 
 	if (!error_detected) {
+		DriverFramework::Framework::initialize();
 		px4::init_once();
 
 		px4::init(argc, argv, "mainapp");
@@ -236,5 +237,6 @@ int main(int argc, char **argv)
 
 		vector<string> shutdown_cmd = { "shutdown" };
 		run_cmd(shutdown_cmd, true);
+		DriverFramework::Framework::shutdown();
 	}
 }