diff --git a/Makefile b/Makefile
index bf8d2fb93b..3179e03990 100644
--- a/Makefile
+++ b/Makefile
@@ -81,7 +81,12 @@ endif
 ifdef NINJA_BUILD
 	PX4_CMAKE_GENERATOR := Ninja
 	PX4_MAKE := $(NINJA_BIN)
-	PX4_MAKE_ARGS :=
+
+	ifdef VERBOSE
+		PX4_MAKE_ARGS := -v
+	else
+		PX4_MAKE_ARGS :=
+	endif
 else
 	ifdef SYSTEMROOT
 		# Windows
@@ -102,6 +107,17 @@ else
 	BUILD_DIR_SUFFIX :=
 endif
 
+# NuttX verbose output
+ifdef VN
+	export PX4_NUTTX_BUILD_VERBOSE=1
+	export V=1
+endif
+
+# NuttX verbose patches output
+ifdef VNP
+	export PX4_NUTTX_PATCHES_VERBOSE=1
+endif
+
 # additional config parameters passed to cmake
 CMAKE_ARGS :=
 ifdef EXTERNAL_MODULES_LOCATION
@@ -327,10 +343,16 @@ clean:
 	-@$(MAKE) --no-print-directory -C NuttX/nuttx clean
 
 submodulesclean:
+	@git submodule foreach --quiet --recursive git clean -ff -x -d
+	@git submodule update --quiet --init --recursive --force || true
 	@git submodule sync --recursive
-	@git submodule deinit -f .
 	@git submodule update --init --recursive --force
 
+submodulesupdate:
+	@git submodule update --quiet --init --recursive || true
+	@git submodule sync --recursive
+	@git submodule update --init --recursive
+
 gazeboclean:
 	@rm -rf ~/.gazebo/*
 
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 66ea9ee45c..50fabd6e8f 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -440,13 +440,6 @@ function(px4_generate_messages)
 		)
 	set_source_files_properties(${msg_source_files_out} PROPERTIES GENERATED TRUE)
 
-	# We remove uORBTopics.cpp to make sure the generator is re-run, which is
-	# necessary when a .msg file is removed and because uORBTopics.cpp depends
-	# on all topics.
-	execute_process(COMMAND rm uORBTopics.cpp
-		WORKING_DIRECTORY ${msg_source_out_path}
-		ERROR_QUIET)
-
 	# multi messages for target OS
 	set(msg_multi_out_path
 		${PX4_BINARY_DIR}/src/platforms/${OS}/px4_messages)
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index f9e0426187..3a431179aa 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -35,7 +35,7 @@
 #
 #	Defined functions in this file
 #
-# 	OS Specific Functions
+#	OS Specific Functions
 #
 #		* px4_nuttx_add_firmware
 #		* px4_nuttx_make_uavcan_bootloadable
@@ -43,9 +43,9 @@
 #		* px4_nuttx_add_export
 #		* px4_nuttx_add_romfs
 #
-# 	Required OS Inteface Functions
+#	Required OS Inteface Functions
 #
-# 		* px4_os_add_flags
+#		* px4_os_add_flags
 #		* px4_os_prebuild_targets
 #
 
@@ -123,8 +123,8 @@ endfunction()
 #	   SW_MINOR <number>)
 #
 #	Input:
-#	  BOARD      : the board
-#	  BIN        : the bin file to generate the bootloadable image from
+#	  BOARD	     : the board
+#	  BIN	     : the bin file to generate the bootloadable image from
 #	  HWNAME     : the uavcan name
 #	  HW_MAJOR   : the major hardware revision
 #	  HW_MINOR   : the minor hardware revision
@@ -248,43 +248,58 @@ function(px4_nuttx_add_export)
 		REQUIRED OUT CONFIG THREADS
 		ARGN ${ARGN})
 
-	set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
+	set(nuttx_build_options "--quiet")
+	set(nuttx_build_output ">nuttx_build.log")
+	if ($ENV{PX4_NUTTX_BUILD_VERBOSE} MATCHES "1")
+		set(nuttx_build_options)
+		set(nuttx_build_output)
+		set(nuttx_build_uses_terminal "USES_TERMINAL")
+	endif()
 
-	# all patches
-	file(GLOB nuttx_patches ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
-	list(SORT nuttx_patches)
+	if ($ENV{PX4_NUTTX_PATCHES_VERBOSE} MATCHES "1")
+		set(nuttx_patches_uses_terminal "USES_TERMINAL")
+	endif()
+
+	# nuttx-patches
+	add_subdirectory(${PX4_SOURCE_DIR}/nuttx-patches ${PX4_BINARY_DIR}/${CONFIG})
+
+	set(nuttx_build_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
+	set(nuttx_export_dir ${nuttx_build_src}/nuttx/nuttx-export)
+
+	# nuttx cmake dependency files
+	set(nuttx_copy_stamp ${PX4_BINARY_DIR}/${CONFIG}_nuttx_copy.stamp)
+	set(nuttx_configure_stamp ${PX4_BINARY_DIR}/${CONFIG}_nuttx_configure.stamp)
+	set(nuttx_export_stamp ${PX4_BINARY_DIR}/${CONFIG}_nuttx_export.stamp)
 
 	# copy
 	file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
 	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp
-		COMMAND ${MKDIR} -p ${nuttx_src}
-		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
-		COMMAND ${TOUCH} ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${nuttx_patches} ${nuttx_all_files}
+	add_custom_command(OUTPUT ${nuttx_copy_stamp}
+		COMMAND ${MKDIR} -p ${nuttx_build_src}
+		COMMAND rsync -rp --inplace --delete --exclude=.git --exclude=nuttx-export ${nuttx_cp_src}/ ${CONFIG}/NuttX/
+		COMMAND cmake -E touch ${nuttx_copy_stamp}
+		DEPENDS ${px4_nuttx_patches} ${nuttx_all_files}
 		COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}"
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		)
-	add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${PX4_BINARY_DIR}/nuttx_copy_${CONFIG}.stamp)
+		WORKING_DIRECTORY ${PX4_BINARY_DIR})
+	add_custom_target(nuttx_copy_${CONFIG} DEPENDS ${DEPENDS} ${nuttx_copy_stamp})
 
-	# patch
-    unset (last_patch )
+	unset(last_patch_stamp)
 	add_custom_target(nuttx_patch_${CONFIG})
-	foreach(patch ${nuttx_patches})
+	foreach(patch ${px4_nuttx_patches})
 		get_filename_component(patch_file_name ${patch} NAME)
-		string(REPLACE "/" "_" patch_name "nuttx_patch_${patch_file_name}-${CONFIG}")
-		set(patch_stamp ${nuttx_src}/${patch_name}.stamp)
+		string(REPLACE "/" "_" patch_name "${CONFIG}-nuttx_patch_${patch_file_name}")
+		set(patch_stamp ${PX4_BINARY_DIR}/${patch_name}.stamp)
 
 		add_custom_command(OUTPUT ${patch_stamp}
-			COMMAND ${PATCH} -d ${nuttx_src} -s -p1 -N < ${patch}
-			COMMAND ${TOUCH} ${patch_stamp}
-			DEPENDS ${last_patch} ${DEPENDS} nuttx_copy_${CONFIG} ${patch}
-			USES_TERMINAL
-			COMMENT "${CONFIG} Applying NuttX patch: nuttx-patches/${patch_file_name}")
+			COMMAND ${PATCH} --verbose -d ${nuttx_build_src} -s -p1 -N < ${patch}
+			COMMAND cmake -E touch ${patch_stamp}
+			DEPENDS ${nuttx_copy_stamp} ${patch} ${last_patch_stamp}
+			COMMENT "${CONFIG}: nuttx-patches/${patch_file_name} applied"
+			${nuttx_patches_uses_terminal})
 
 		add_custom_target(${patch_name} DEPENDS ${patch_stamp})
 		add_dependencies(nuttx_patch_${CONFIG} ${patch_name})
-        set (last_patch ${patch_name})
+		set(last_patch_stamp ${patch_stamp})
 	endforeach()
 
 	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
@@ -297,44 +312,56 @@ function(px4_nuttx_add_export)
 		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
 	endif()
 
-	# configure
-	file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${nuttx_src}/nuttx/.config
-		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_src}/nuttx/
-		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
-		COMMAND cd ${nuttx_src}/nuttx/tools && sh configure.sh ${CONFIG}/${config_nuttx_config}
-		DEPENDS ${DEPENDS} nuttx_patch_${CONFIG} ${config_files}
+	# nuttx configure
+	file(GLOB_RECURSE nuttx-configs ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
+	add_custom_command(OUTPUT ${nuttx_configure_stamp} ${nuttx_build_src}/nuttx/.config
+		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_build_src}/nuttx/
+		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_build_src}/nuttx/configs
+		COMMAND cd ${nuttx_build_src}/nuttx/tools && sh configure.sh ${CONFIG}/${config_nuttx_config}
+		COMMAND cmake -E touch ${nuttx_configure_stamp}
+		DEPENDS nuttx_patch_${CONFIG} ${nuttx-configs} ${nuttx_copy_stamp}
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
+	add_custom_target(nuttx_configure_${CONFIG} DEPENDS ${nuttx_configure_stamp} nuttx_patch_${CONFIG})
 
-	# manual reconfigure helpers
+	# manual nuttx oldconfig helper
 	add_custom_target(oldconfig_${CONFIG}
-		COMMAND cd ${nuttx_src}/nuttx
-		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
-		COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
+		COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
 		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		DEPENDS ${nuttx_src}/nuttx/.config
+		DEPENDS nuttx_configure_${CONFIG}
+		WORKING_DIRECTORY ${nuttx_build_src}/nuttx
 		COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}"
 		USES_TERMINAL)
 
+	# manual nuttx menuconfig helper
 	add_custom_target(menuconfig_${CONFIG}
-		COMMAND cd ${nuttx_src}/nuttx
-		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
-		COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		COMMAND ${MAKE} --no-print-directory -C ${nuttx_build_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
+		COMMAND ${CP} ${nuttx_build_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
 		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
-		DEPENDS ${nuttx_src}/nuttx/.config
+		DEPENDS nuttx_configure_${CONFIG}
+		WORKING_DIRECTORY ${nuttx_build_src}/nuttx
 		COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}"
 		USES_TERMINAL)
 
-	# build and export
-	add_custom_command(OUTPUT ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h
-		COMMAND ${RM} -rf ${nuttx_src}/nuttx/nuttx-export
-		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
-		DEPENDS ${DEPENDS} ${nuttx_src}/nuttx/.config
+	# nuttx build and export
+	add_custom_command(
+		OUTPUT ${nuttx_export_stamp}
+			${nuttx_export_dir}/include/nuttx/config.h
+		COMMAND ${RM} -rf ${nuttx_export_dir}
+		COMMAND ${MAKE} ${nuttx_build_options} --no-print-directory -C ${nuttx_build_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export ${nuttx_build_output}
+		COMMAND cmake -E touch ${nuttx_export_stamp}
+		DEPENDS ${nuttx_copy_stamp} ${nuttx_configure_stamp} nuttx_patch_${CONFIG}
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}")
+		COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}"
+		${nuttx_build_uses_terminal})
 
-	add_custom_target(${OUT} DEPENDS ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h)
+	file(GLOB_RECURSE nuttx_export_src ${nuttx_export_dir})
+	foreach(nuttx_export_file ${nuttx_export_dir})
+		set_source_files_properties(${nuttx_export_src} PROPERTIES GENERATED TRUE)
+	endforeach()
+
+	add_custom_target(${OUT} DEPENDS nuttx_copy_${CONFIG} nuttx_patch_${CONFIG} nuttx_configure_${CONFIG} ${nuttx_export_stamp})
 
 endfunction()
 
@@ -377,7 +404,7 @@ endfunction()
 #
 #	px4_nuttx_add_romfs
 #
-#	The functions creates a  ROMFS filesystem for nuttx.
+#	The functions creates a ROMFS filesystem for nuttx.
 #
 #	Usage:
 #		px4_nuttx_add_romfs(
@@ -387,7 +414,7 @@ endfunction()
 #
 #	Input:
 #		ROOT	: the root of the ROMFS
-#		EXTRAS 	: list of extra files
+#		EXTRAS	: list of extra files
 #
 #	Output:
 #		OUT		: the ROMFS library target
@@ -610,8 +637,8 @@ endfunction()
 #			)
 #
 #	Input:
-#		BOARD 		: board
-#		THREADS 	: number of threads for building
+#		BOARD		: board
+#		THREADS		: number of threads for building
 #
 #	Output:
 #		OUT	: the target list
@@ -647,10 +674,10 @@ endfunction()
 #			)
 #
 #	Input:
-#	  HWCLASS 		: the class of hardware
-#	  CONFIG 		  : the nuttx condufiguration to use
-#	  ROMFS 	    : whether or not to use incllude theROMFS
-#	  ROMFSROOT	  : If ROMFS used set the root the default is px4fmu_common
+#	  HWCLASS		: the class of hardware
+#	  CONFIG		: the nuttx condufiguration to use
+#	  ROMFS			: whether or not to use incllude theROMFS
+#	  ROMFSROOT		: If ROMFS used set the root the default is px4fmu_common
 #
 #	Output:
 #		OUT	: None
diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index 67789a8152..d704f66207 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -64,8 +64,6 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
 }@
 
-#include <px4_config.h>
-#include <drivers/drv_orb_dev.h>
 #include <uORB/topics/@(topic_name).h>
 
 
diff --git a/nuttx-patches/CMakeLists.txt b/nuttx-patches/CMakeLists.txt
new file mode 100644
index 0000000000..ab8206335c
--- /dev/null
+++ b/nuttx-patches/CMakeLists.txt
@@ -0,0 +1,77 @@
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set(nuttx_patches
+	00001-REJECTED-add-math.h.patch
+	00002-REJECTED-fix-shadow-wanings.patch
+	00003-REJECTED-add-var-expansion-in-nsh-parse.patch
+	00004-REJECTED-avoid-export-copy-with-export-insitu.patch
+	00005-REJECTED-support-c++11.patch
+	00006-REJECTED-cstdint-fix.patch
+	00007-REJECTED-silence-jobserver-warnings.patch
+	00008-REJECTED-static-assert-fix.patch
+	00009-REJECTED-ctype-fix-shadow-wanings.patch
+	00010-BACKPORT-stm32-flash-F4-dcache-corruption-fix-no-HSI-on.patch
+	00011-BACKPORT-priority-restoration-fix.patch
+	00012-BACKPORT-stack-coloration-overreach-fix.patch
+	00013-BACKPORT-stm32-serial-dma-hotfix.patch
+	00014-BACKPORT-i2c-hotfix.patch
+	00015-BACKPORT-stm32f7-DTCM.patch
+	00016-BACKPORT-fix-CRTSCTS-defines.patch
+	00017-BACKPORT-cdcacm.patch
+	00018-BACKPORT-stm32-serial-break.patch
+	00019-BACKPORT-stm32-rcc-keep-HSI-on.patch
+	00020-BACKPORT-ramtron-CONFIG-prefix.patch
+	00021-BACKPORT-stm32f3x-add-BKP.patch
+	00022-BACKPORT-stm32-bkp-reference-fix.patch
+	00023-BACKPORT-stm32f7-bkp-reference-fix.patch
+	00024-BACKPORT-stm32f7-serial-dma-hotfix.patch
+	00025-BACKPORT-add-set-ex-to-nsh.patch
+	90000-PENDING-wip-inflight-to-upstream.patch
+	)
+
+# add absolute path and sort
+set(px4_nuttx_patches)
+foreach(patch_file ${nuttx_patches})
+	list(APPEND px4_nuttx_patches ${CMAKE_CURRENT_SOURCE_DIR}/${patch_file})
+endforeach()
+list(SORT px4_nuttx_patches)
+set(px4_nuttx_patches ${px4_nuttx_patches} PARENT_SCOPE)
+
+file(GLOB patches_found *.patch)
+foreach(patch_file ${patches_found})
+	list (FIND px4_nuttx_patches ${patch_file} _index)
+	if (${_index} EQUAL -1)
+		message(WARNING "${patch_file} missing from nuttx-patches/CMakeLists.txt")
+	endif()
+endforeach()
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index bef1719312..095ebc16f2 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -68,35 +68,34 @@ px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags};${optimization_flags}" GLUE " ")
 include_directories(
 	${include_dirs}
 	${PX4_BINARY_DIR}/src/modules/systemlib/mixer
-	.
 	)
 link_directories(${link_dirs})
 add_definitions(${definitions})
 
 set(srcs
+	${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_init.c
+	${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/px4io_timer_config.c
+	${PX4_SOURCE_DIR}/src/drivers/stm32/drv_hrt.c
+	${PX4_SOURCE_DIR}/src/drivers/stm32/drv_io_timer.c
+	${PX4_SOURCE_DIR}/src/drivers/stm32/drv_pwm_servo.c
+	${PX4_SOURCE_DIR}/src/lib/rc/dsm.c
+	${PX4_SOURCE_DIR}/src/lib/rc/sbus.c
+	${PX4_SOURCE_DIR}/src/lib/rc/st24.c
+	${PX4_SOURCE_DIR}/src/lib/rc/sumd.c
+	${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer.cpp
+	${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_group.cpp
+	${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_helicopter.cpp
+	${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_multirotor.cpp
+	${PX4_SOURCE_DIR}/src/modules/systemlib/mixer/mixer_simple.cpp
+	${PX4_SOURCE_DIR}/src/modules/systemlib/perf_counter.c
+	${PX4_SOURCE_DIR}/src/modules/systemlib/pwm_limit/pwm_limit.c
+	${PX4_SOURCE_DIR}/src/modules/systemlib/up_cxxinitialize.c
 	adc.c
 	controls.c
+	mixer.cpp
 	px4io.c
 	registers.c
 	safety.c
-	../systemlib/up_cxxinitialize.c
-	../systemlib/perf_counter.c
-	mixer.cpp
-	../systemlib/mixer/mixer.cpp
-	../systemlib/mixer/mixer_group.cpp
-	../systemlib/mixer/mixer_multirotor.cpp
-	../systemlib/mixer/mixer_helicopter.cpp
-	../systemlib/mixer/mixer_simple.cpp
-	../systemlib/pwm_limit/pwm_limit.c
-	../../lib/rc/st24.c
-	../../lib/rc/sumd.c
-	../../lib/rc/sbus.c
-	../../lib/rc/dsm.c
-	../../drivers/stm32/drv_hrt.c
-	../../drivers/stm32/drv_io_timer.c
-	../../drivers/stm32/drv_pwm_servo.c
-	../../drivers/boards/${config_io_board}/px4io_init.c
-	../../drivers/boards/${config_io_board}/px4io_timer_config.c
 	)
 
 if(${config_io_board} STREQUAL "px4io-v1")
@@ -106,20 +105,19 @@ if(${config_io_board} STREQUAL "px4io-v1")
 elseif(${config_io_board} STREQUAL "px4io-v2")
 	list(APPEND srcs
 		serial.c
-		../systemlib/hx_stream.c
+		${PX4_SOURCE_DIR}/src/modules/systemlib/hx_stream.c
 		)
 endif()
 
 set(fw_io_name ${config_io_board})
 
-add_executable(${fw_io_name}
-	${srcs})
+add_executable(${fw_io_name} ${srcs})
 
 add_dependencies(${fw_io_name}
-	nuttx_export_${config_io_board}
-	msg_gen
 	io_prebuild_targets
 	mixer_gen
+	msg_gen
+	nuttx_export_${config_io_board}
 	)
 
 set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx/nuttx-export)
@@ -134,14 +132,15 @@ target_link_libraries(${fw_io_name}
 	-Wl,--start-group
 	apps nuttx nosys m gcc
 	${config_io_extra_libs}
-	-Wl,--end-group)
+	-Wl,--end-group
+	)
 
-px4_nuttx_create_bin(OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
+px4_nuttx_create_bin(
+	OUT ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin
 	EXE ${fw_io_name}
 	)
 
-add_custom_target(fw_io
-	DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
+add_custom_target(fw_io DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${fw_io_name}.bin)
 
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :