diff --git a/.gitmodules b/.gitmodules
index cb9a6ccf05..2820e68539 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -4,8 +4,8 @@
 [submodule "NuttX"]
 	path = NuttX
 	url = git://github.com/PX4/NuttX.git
-[submodule "src/lib/uavcan"]
-	path = src/lib/uavcan
+[submodule "src/modules/uavcan/libuavcan"]
+	path = src/modules/uavcan/libuavcan
 	url = git://github.com/UAVCAN/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 948959ca32..6aec7f2e0c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -224,7 +224,7 @@ px4_add_git_submodule(TARGET git_genmsg PATH "Tools/genmsg")
 px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
-px4_add_git_submodule(TARGET git_uavcan PATH "src/lib/uavcan")
+px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
 px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
diff --git a/Makefile b/Makefile
index 2505c75711..a507be0826 100644
--- a/Makefile
+++ b/Makefile
@@ -177,9 +177,9 @@ distclean: clean
 	@cd NuttX
 	@git clean -d -f -x
 	@cd ..
-	@cd src/lib/uavcan
+	@cd src/modules/uavcan/libuavcan
 	@git clean -d -f -x
-	@cd ../../..
+	@cd ../../../..
 
 # targets handled by cmake
 cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak libuavcan
diff --git a/Tools/check_code_style.sh b/Tools/check_code_style.sh
index db140fca45..bc59128317 100755
--- a/Tools/check_code_style.sh
+++ b/Tools/check_code_style.sh
@@ -25,7 +25,7 @@ for fn in $(find src/examples \
                    -path './NuttX' -prune -o \
                    -path './src/lib/eigen' -prune -o \
                    -path './src/lib/mathlib/CMSIS' -prune -o \
-                   -path './src/lib/uavcan' -prune -o \
+                   -path './src/modules/uavcan/libuavcan' -prune -o \
                    -path './src/modules/attitude_estimator_ekf/codegen' -prune -o \
                    -path './src/modules/ekf_att_pos_estimator' -prune -o \
                    -path './src/modules/sdlog2' -prune -o \
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index fe07a67666..9a0b17b7a2 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -138,8 +138,7 @@ function(px4_add_git_submodule)
 	string(REPLACE "/" "_" NAME ${PATH})
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-		COMMAND git submodule init ${PATH}
-		COMMAND git submodule update -f ${PATH}
+		COMMAND git submodule update --init --recursive -f ${PATH}
 		COMMAND touch ${CMAKE_BINARY_DIR}/git_${NAME}.stamp
 		)
 	add_custom_target(${TARGET}
@@ -544,7 +543,6 @@ function(px4_add_common_flags)
 	endif()
 
 	set(c_warnings
-		-Wbad-function-cast
 		-Wstrict-prototypes
 		-Wmissing-prototypes
 		-Wnested-externs
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 89910bbd95..a242f4f736 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -168,8 +168,8 @@ set(config_io_board
 
 set(config_extra_libs
 	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
-	libuavcan.a
-	libuavcan_stm32_driver.a
+	uavcan
+	uavcan_stm32_driver
 	)
 
 set(config_io_extra_libs
diff --git a/nuttx-configs/px4fmu-v2/nsh/defconfig b/nuttx-configs/px4fmu-v2/nsh/defconfig
index db7c41dae0..871b214f49 100644
--- a/nuttx-configs/px4fmu-v2/nsh/defconfig
+++ b/nuttx-configs/px4fmu-v2/nsh/defconfig
@@ -1064,3 +1064,5 @@ CONFIG_SYSTEM_SYSINFO=y
 #
 # USB Monitor
 #
+
+CONFIG_NSOCKET_DESCRIPTORS=0
diff --git a/src/lib/uavcan b/src/lib/uavcan
deleted file mode 160000
index 86c3397b1b..0000000000
--- a/src/lib/uavcan
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 86c3397b1b423eeed86f21c8b08c8acfbd5add96
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 476acc5dd4..3c7ad32998 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -31,65 +31,30 @@
 #
 ############################################################################
 
-# uavcan project
-set(uavcan_c_flags ${c_flags})
-list(REMOVE_ITEM uavcan_c_flags -std=gnu++0x -D__CUSTOM_FILE_IO__)
-set(uavcan_cxx_flags ${cxx_flags})
-list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -Wundef -Werror -D__CUSTOM_FILE_IO__)
-set(uavcan_deps git_uavcan)
-set(uavcan_platform generic)
-
-set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(UAVCAN_USE_CPP03 ON CACHE BOOL "uavcan cpp03")
+set(UAVCAN_PLATFORM stm32 CACHE STRING "uavcan platform")
 
 string(TOUPPER "${OS}" OS_UPPER)
-
-set(uavcan_definitions
-	-DUAVCAN_NO_ASSERTIONS
-	-DUAVCAN_STM32_NUM_IFACES=2
-	-DUAVCAN_USE_EXTERNAL_SNPRINT
-	-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
-	-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-	-DUAVCAN_STM32_TIMER_NUMBER=5
-	-DUAVCAN_STM32_${OS_UPPER}=1
-	-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
-	)
-set(uavcan_extra_flags ${uavcan_definitions} -I${CMAKE_SOURCE_DIR}/src/include)
-
-if (${OS} STREQUAL "nuttx")
-	set(uavcan_platform stm32)
-	list(APPEND uavcan_extra_flags
-		-I${nuttx_export_dir}/include
-		-I${nuttx_export_dir}/include/cxx
-		-I${nuttx_export_dir}/arch/chip
-		-I${nuttx_export_dir}/arch/common
-		)
-	list(APPEND uavcan_deps nuttx_export_${BOARD})
-endif()
-
-list(APPEND uavcan_c_flags ${uavcan_extra_flags})
-list(APPEND uavcan_cxx_flags ${uavcan_extra_flags})
-
-px4_join(OUT uavcan_c_flags LIST "${uavcan_c_flags}" GLUE " ")
-px4_join(OUT uavcan_cxx_flags LIST "${uavcan_cxx_flags}" GLUE " ")
-
-externalproject_add(libuavcan
-	DEPENDS ${uavcan_deps}
-	DOWNLOAD_COMMAND ""
-	UPDATE_COMMAND git submodule update --init
-	LOG_INSTALL 1
-	SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/lib/uavcan
-	CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+add_definitions(
+		-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
+		-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+		-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
+		-DUAVCAN_NO_ASSERTIONS
+		-DUAVCAN_PLATFORM=stm32
+		-DUAVCAN_STM32_${OS_UPPER}=1
+		-DUAVCAN_STM32_NUM_IFACES=2
+		-DUAVCAN_STM32_TIMER_NUMBER=5
 		-DUAVCAN_USE_CPP03=ON
-		-DUAVCAN_PLATFORM=${uavcan_platform}
-		-DUAVCAN_OS=${OS}
-		-DCMAKE_CXX_FLAGS=${uavcan_cxx_flags}
-		-DCMAKE_C_FLAGS=${uavcan_c_flags}
-		-DCMAKE_INSTALL_PREFIX=${ep_base}/Install
-)
+		-DUAVCAN_USE_EXTERNAL_SNPRINT
+		)
 
-string(TOUPPER ${OS} OS_UPPER)
+add_subdirectory(libuavcan EXCLUDE_FROM_ALL)
+add_dependencies(uavcan platforms__nuttx)
 
-add_definitions(${uavcan_definitions})
+include_directories(libuavcan/libuavcan/include)
+include_directories(libuavcan/libuavcan/include/dsdlc_generated)
+include_directories(libuavcan/libuavcan_drivers/posix/include)
+include_directories(libuavcan/libuavcan_drivers/stm32/driver/include)
 
 px4_add_module(
 	MODULE modules__uavcan
@@ -100,7 +65,6 @@ px4_add_module(
 		-Wno-deprecated-declarations
 		-O3
 	SRCS
-
 		# Main
 		uavcan_main.cpp
 		uavcan_servers.cpp
@@ -117,7 +81,7 @@ px4_add_module(
 
 	DEPENDS
 		platforms__common
-		libuavcan	
+		uavcan	
 	)
 
 ## vim: set noet ft=cmake fenc=utf-8 ff=unix : 
diff --git a/src/modules/uavcan/libuavcan b/src/modules/uavcan/libuavcan
new file mode 160000
index 0000000000..0643879922
--- /dev/null
+++ b/src/modules/uavcan/libuavcan
@@ -0,0 +1 @@
+Subproject commit 0643879922239930cf7482777356f06891c26616