diff --git a/Makefile b/Makefile
index 201187e021..65eabf9832 100644
--- a/Makefile
+++ b/Makefile
@@ -53,13 +53,13 @@ export GIT_DESC
 #
 # Canned firmware configurations that we (know how to) build.
 #
-KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)config_*.mk))))
+KNOWN_CONFIGS		:= $(subst config_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_*.mk))))
 CONFIGS			?= $(KNOWN_CONFIGS)
 
 #
 # Boards that we (know how to) build NuttX export kits for.
 #
-KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)board_*.mk))))
+KNOWN_BOARDS		:= $(subst board_,,$(basename $(notdir $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_*.mk))))
 BOARDS			?= $(KNOWN_BOARDS)
 
 #
@@ -97,146 +97,31 @@ upload:
 endif
 endif
 
-#
-# Built products
-#
-DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
-STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
-FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
-
-all:	$(DESIRED_FIRMWARES)
-
-#
-# Copy FIRMWARES into the image directory.
-#
-# XXX copying the .bin files is a hack to work around the PX4IO uploader
-#     not supporting .px4 files, and it should be deprecated onced that
-#     is taken care of.
-#
-$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
-	@$(ECHO) %% Copying $@
-	$(Q) $(COPY) $< $@
-	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
-
-#
-# Generate FIRMWARES.
-#
-.PHONY: $(FIRMWARES)
-$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
-$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksubmodules
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r -C $(work_dir) \
-		-f $(PX4_MK_DIR)firmware.mk \
-		CONFIG=$(config) \
-		WORK_DIR=$(work_dir) \
-		$(FIRMWARE_GOAL)
-
-#
-# Make FMU firmwares depend on the corresponding IO firmware.
-#
-# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
-# and forces the _default config in all cases. There has to be a better way to do this...
-#
-FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
-define FMU_DEP
-$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
-endef
-FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
-$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
-
-#
-# Build the NuttX export archives.
-#
-# Note that there are no explicit dependencies extended from these
-# archives. If NuttX is updated, the user is expected to rebuild the
-# archives/build area manually. Likewise, when the 'archives' target is
-# invoked, all archives are always rebuilt.
-#
-# XXX Should support fetching/unpacking from a separate directory to permit
-#     downloads of the prebuilt archives as well...
-#
-NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
-.PHONY:			archives
-archives:		checksubmodules $(NUTTX_ARCHIVES)
-
-# We cannot build these parallel; note that we also force -j1 for the
-# sub-make invocations.
-ifneq ($(filter archives,$(MAKECMDGOALS)),)
-.NOTPARALLEL:
+ifeq ($(PX4_TARGET_OS),nuttx)
+include $(PX4_BASE)makefiles/firmware_nuttx.mk
 endif
-
-J?=1
-
-$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
-$(ARCHIVE_DIR)%.export:	configuration = nsh
-$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(board)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
-	@$(ECHO) %% Exporting NuttX for $(board)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
-	$(Q) $(MKDIR) -p $(dir $@)
-	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
-	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
-
-#
-# The user can run the NuttX 'menuconfig' tool for a single board configuration with
-# make BOARDS=<boardname> menuconfig
-#
-ifeq ($(MAKECMDGOALS),menuconfig)
-ifneq ($(words $(BOARDS)),1)
-$(error BOARDS must specify exactly one board for the menuconfig goal)
+ifeq ($(PX4_TARGET_OS),linux)
+include $(PX4_BASE)makefiles/firmware_linux.mk
 endif
-BOARD			 = $(BOARDS)
-menuconfig: $(NUTTX_SRC)
-	@$(ECHO) %% Configuring NuttX for $(BOARD)
-	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
-	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
-	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
-	@$(ECHO) %% Running menuconfig for $(BOARD)
-	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
-	@$(ECHO) %% Saving configuration file
-	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
-else
-menuconfig:
-	@$(ECHO) ""
-	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
-	@$(ECHO) ""
-endif
-
-$(NUTTX_SRC): checksubmodules
-
-$(UAVCAN_DIR):
-	$(Q) (./Tools/check_submodules.sh)
-
-.PHONY: checksubmodules
-checksubmodules:
-	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
-
-.PHONY: updatesubmodules
-updatesubmodules:
-	$(Q) (git submodule init)
-	$(Q) (git submodule update)
 
 MSG_DIR = $(PX4_BASE)msg
 UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
 MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
 TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
-MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
+MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/$(PX4_TARGET_OS)/px4_messages
 MULTIPLATFORM_PREFIX = px4_
 TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
 GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
 GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
 
+ifeq ($(PX4_TARGET_OS),nuttx)
+OS_DEPS = checksubmodules
+else
+OS_DEPS = 
+endif
+
 .PHONY: generateuorbtopicheaders
-generateuorbtopicheaders: checksubmodules
+generateuorbtopicheaders: $(OS_DEPS)
 	@$(ECHO) "Generating uORB topic headers"
 	$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
 		$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
diff --git a/makefiles/README.txt b/makefiles/README.txt
index 8b84e4c40d..36edf6a47b 100644
--- a/makefiles/README.txt
+++ b/makefiles/README.txt
@@ -7,8 +7,9 @@ with Makefile in the parent directory.
 
 ../Makefile
 
-	Top-level makefile for the PX4 build system. This makefile supports
-	building NuttX archives, as well as supervising the building of all
+	Top-level makefile for the PX4 build system. 
+	This makefile supports building NuttX archives for the NuttX based
+	configurations, as well as supervising the building of all
 	of the defined PX4 firmware configurations.
 
 	Try 'make help' in the parent directory for documentation.
@@ -25,6 +26,14 @@ firmware.mk
 	source tree. When used in this mode, at least BOARD, MODULES and 
 	CONFIG_FILE must be set.
 
+firmware_nuttx.mk
+
+	Called by firmware.mk to build NuttX based firmware.
+
+firmware_linux.mk
+
+	Called by firmware.mk to build Linux (non-ROS) based firmware.
+
 module.mk
 
 	Called by firmware.mk to build individual modules.
@@ -34,22 +43,28 @@ module.mk
 
 nuttx.mk
 
-	Called by ../Makefile to build or download the NuttX archives.
+	Called by ../Makefile to build or download the NuttX archives if 
+	PX4_TARGET_OS is set to "nuttx".
+
+linux.mk
+
+	Called by ../Makefile to set Linux specific parameters if 
+	PX4_TARGET_OS is set to "linux".
 
 upload.mk
 
 	Called by ../Makefile to upload files to a target board. Can be used
-	by external build systems as well.
+	by external build systems as well. (NuttX targets only)
 
 setup.mk
 
-	Provides common path and tool definitions. Implements host system-specific
-	compatibility hacks.
+	Provides common path and tool definitions. Implements host 
+	system-specific compatibility hacks. Sets PX4_TARGET_OS.
 
 board_<boardname>.mk
 
-	Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH
-	and then includes the toolchain definition for the board.
+	Board-specific configuration for <boardname>. Typically sets 
+	CONFIG_ARCH and then includes the toolchain definition for the board.
 
 config_<boardname>_<configname>.mk
 
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 4c10de931c..814bf8b8d6 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -132,7 +132,7 @@ include $(MK_DIR)/setup.mk
 ifneq ($(CONFIG_FILE),)
 CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
 else
-CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/config_$(CONFIG).mk)
+CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_$(CONFIG).mk)
 endif
 ifeq ($(CONFIG),)
 $(error Missing configuration name or file (specify with CONFIG=<config>))
@@ -150,7 +150,7 @@ $(info %  CONFIG              = $(CONFIG))
 ifeq ($(BOARD),)
 BOARD			:= $(firstword $(subst _, ,$(CONFIG)))
 endif
-BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/board_$(BOARD).mk)
+BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk)
 ifeq ($(BOARD_FILE),)
 $(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
 endif
@@ -186,10 +186,10 @@ EXTRA_CLEANS		 =
 INCLUDE_DIRS		+= $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
 
 ################################################################################
-# NuttX libraries and paths
+# OS specific libraries and paths
 ################################################################################
 
-include $(PX4_MK_DIR)/nuttx.mk
+include $(PX4_MK_DIR)/$(PX4_TARGET_OS).mk
 
 ################################################################################
 # Modules
@@ -311,130 +311,6 @@ $(LIBRARY_CLEANS):
 	LIBRARY_MK=$(mkfile) \
 	clean
 
-################################################################################
-# ROMFS generation
-################################################################################
-
-ifneq ($(ROMFS_ROOT),)
-ifeq ($(wildcard $(ROMFS_ROOT)),)
-$(error ROMFS_ROOT specifies a directory that does not exist)
-endif
-
-#
-# Note that there is no support for more than one root directory or constructing
-# a root from several templates. That would be a nice feature.
-#
-
-# Add dependencies on anything in the ROMFS root directory
-ROMFS_FILES		+= $(wildcard \
-			     $(ROMFS_ROOT)/* \
-			     $(ROMFS_ROOT)/*/* \
-			     $(ROMFS_ROOT)/*/*/* \
-			     $(ROMFS_ROOT)/*/*/*/* \
-			     $(ROMFS_ROOT)/*/*/*/*/* \
-			     $(ROMFS_ROOT)/*/*/*/*/*/*)
-ifeq ($(ROMFS_FILES),)
-$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
-endif
-ROMFS_DEPS		+= $(ROMFS_FILES)
-
-# Extra files that may be copied into the ROMFS /extras directory
-# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
-ROMFS_EXTRA_FILES	+= $(wildcard $(ROMFS_OPTIONAL_FILES))
-ROMFS_DEPS		+= $(ROMFS_EXTRA_FILES)
-
-ROMFS_IMG		 = romfs.img
-ROMFS_SCRATCH		 = romfs_scratch
-ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
-ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
-LIBS			+= $(ROMFS_OBJ)
-LINK_DEPS		+= $(ROMFS_OBJ)
-
-# Remove all comments from startup and mixer files
-ROMFS_PRUNER	 = $(PX4_BASE)/Tools/px_romfs_pruner.py
-
-# Turn the ROMFS image into an object file
-$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
-	$(call BIN_TO_OBJ,$<,$@,romfs_img)
-
-# Generate the ROMFS image from the root
-$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	@$(ECHO) "ROMFS:   $@"
-	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
-
-# Construct the ROMFS scratch root from the canonical root
-$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
-	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
-	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
-# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
-	$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
-ifneq ($(ROMFS_EXTRA_FILES),)
-	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
-	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
-endif
-	$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
-
-EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
-
-endif
-
-################################################################################
-# Builtin command list generation
-################################################################################
-
-#
-# Builtin commands can be generated by the configuration, in which case they
-# must refer to commands that already exist, or indirectly generated by modules
-# when they are built.
-#
-# The configuration supplies builtin command information in the BUILTIN_COMMANDS
-# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
-# filename contains the same information.
-#
-# In each case, the command information consists of four fields separated with a
-# period. These fields are the command's name, its thread priority, its stack size
-# and the name of the function to call when starting the thread.
-#
-BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
-
-# command definitions from modules (may be empty at Makefile parsing time...)
-MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
-
-# We must have at least one pre-defined builtin command in order to generate
-# any of this.
-#
-ifneq ($(BUILTIN_COMMANDS),)
-
-# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
-define BUILTIN_PROTO
-	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
-endef
-
-# (BUILTIN_DEF,<cmdspec>,<outputfile>)
-define BUILTIN_DEF
-	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
-endef
-
-# Don't generate until modules have updated their command files
-$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
-	@$(ECHO) "CMDS:    $@"
-	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
-	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
-	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
-	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
-	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
-	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
-	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
-	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
-	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
-	$(Q) $(ECHO) '};' >> $@
-	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
-
-SRCS			+= $(BUILTIN_CSRC)
-
-EXTRA_CLEANS		+= $(BUILTIN_CSRC)
-
-endif
 
 ################################################################################
 # Default SRCS generation
@@ -453,20 +329,9 @@ SRCS			+= $(EMPTY_SRC)
 endif
 
 ################################################################################
-# Build rules
+# Generic Build rules
 ################################################################################
 
-#
-# What we're going to build.
-#
-PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
-PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
-PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
-PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
-
-.PHONY:			firmware
-firmware:		$(PRODUCT_BUNDLE)
-
 #
 # Object files we will generate from sources
 #
@@ -488,49 +353,16 @@ $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
 #
-# Built product rules
+# Include the OS specific build rules
+# The rules must define the "firmware" make target
 #
 
-$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
-	@$(ECHO) %% Generating $@
-ifdef GEN_PARAM_XML
-	python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
-		--git_identity $(PX4_BASE) \
-		--parameter_xml $(PRODUCT_PARAMXML) \
-		--image $< > $@
-else
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
-		--git_identity $(PX4_BASE) \
-		--image $< > $@
+ifeq ($(PX4_TARGET_OS),nuttx)
+include $(MK_DIR)/nuttx_romfs.mk
+endif
+ifeq ($(PX4_TARGET_OS),linux)
+include $(MK_DIR)/linux_elf.mk
 endif
-
-$(PRODUCT_BIN):		$(PRODUCT_ELF)
-	$(call SYM_TO_BIN,$<,$@)
-
-$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
-
-#
-# Utility rules
-#
-
-.PHONY: upload
-upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
-	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
-		METHOD=serial \
-		CONFIG=$(CONFIG) \
-		BOARD=$(BOARD) \
-		BUNDLE=$(PRODUCT_BUNDLE) \
-		BIN=$(PRODUCT_BIN)
-
-.PHONY: clean
-clean:			$(MODULE_CLEANS)
-	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
-	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
-	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
-
 
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
diff --git a/makefiles/firmware_linux.mk b/makefiles/firmware_linux.mk
new file mode 100644
index 0000000000..6acec4e733
--- /dev/null
+++ b/makefiles/firmware_linux.mk
@@ -0,0 +1,56 @@
+#
+#   Copyright (c) 2012-2015 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.
+#
+
+#
+# Built products
+#
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
+
+all: 	$(FIRMWARES)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.a: config   = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
+$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	generateuorbtopicheaders
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+
diff --git a/makefiles/firmware_nuttx.mk b/makefiles/firmware_nuttx.mk
new file mode 100644
index 0000000000..fb97ca4217
--- /dev/null
+++ b/makefiles/firmware_nuttx.mk
@@ -0,0 +1,160 @@
+#
+#   Copyright (c) 2012-2015 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.
+#
+
+#
+# Built products
+#
+
+DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
+
+all:	$(DESIRED_FIRMWARES)
+
+#
+# Copy FIRMWARES into the image directory.
+#
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
+#     is taken care of.
+#
+$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
+	@$(ECHO) %% Copying $@
+	$(Q) $(COPY) $< $@
+	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
+$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksubmodules
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+#
+# Make FMU firmwares depend on the corresponding IO firmware.
+#
+# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
+# and forces the _default config in all cases. There has to be a better way to do this...
+#
+FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
+define FMU_DEP
+$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
+endef
+FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
+$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
+
+#
+# Build the NuttX export archives.
+#
+# Note that there are no explicit dependencies extended from these
+# archives. If NuttX is updated, the user is expected to rebuild the
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
+#
+# XXX Should support fetching/unpacking from a separate directory to permit
+#     downloads of the prebuilt archives as well...
+#
+NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
+.PHONY:			archives
+archives:		checksubmodules $(NUTTX_ARCHIVES)
+
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif
+
+J?=1
+
+$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
+$(ARCHIVE_DIR)%.export:	configuration = nsh
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
+	@$(ECHO) %% Exporting NuttX for $(board)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q) $(MKDIR) -p $(dir $@)
+	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
+
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+endif
+
+$(NUTTX_SRC): checksubmodules
+
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)
+
+.PHONY: checksubmodules
+checksubmodules:
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+
+.PHONY: updatesubmodules
+updatesubmodules:
+	$(Q) (git submodule init)
+	$(Q) (git submodule update)
+
diff --git a/makefiles/library.mk b/makefiles/library.mk
index 28a421fe0e..e20fcce941 100644
--- a/makefiles/library.mk
+++ b/makefiles/library.mk
@@ -93,7 +93,7 @@ $(info %% LIBRARY_MK          = $(LIBRARY_MK))
 #
 # Get the board/toolchain config
 #
-include $(PX4_MK_DIR)/board_$(BOARD).mk
+include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk
 
 #
 # Get the library's config
diff --git a/makefiles/linux.mk b/makefiles/linux.mk
new file mode 100644
index 0000000000..b424521a4b
--- /dev/null
+++ b/makefiles/linux.mk
@@ -0,0 +1,38 @@
+#
+#   Copyright (C) 2012 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.
+#
+
+#
+# Rules and definitions related to handling the Linux specific impl when
+# building firmware.
+#
+
+MODULES += platforms/linux/px4_layer
+
diff --git a/makefiles/linux/board_linux.mk b/makefiles/linux/board_linux.mk
new file mode 100644
index 0000000000..ffdfd036a5
--- /dev/null
+++ b/makefiles/linux/board_linux.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the Linux port of PX4
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = NATIVE
+CONFIG_BOARD			 = FOO
+
+include $(PX4_MK_DIR)/toolchain_native.mk
diff --git a/makefiles/linux/config_linux_default.mk b/makefiles/linux/config_linux_default.mk
new file mode 100644
index 0000000000..57721c0db4
--- /dev/null
+++ b/makefiles/linux/config_linux_default.mk
@@ -0,0 +1,64 @@
+#
+# Makefile for the Foo *default* configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+
+#
+# Board support modules
+#
+#MODULES		+= drivers/dxl
+#MODULES		+= drivers/i2c_pwm
+#MODULES		+= drivers/lemonrx
+#MODULES		+= drivers/mpu9x50
+#MODULES		+= drivers/um7
+MODULES		+= drivers/device
+MODULES		+= modules/sensors
+
+#
+# System commands
+#
+#MODULES	+= systemcmds/boardinfo
+
+#
+# General system control
+#
+#MODULES	+= modules/mavlink
+MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+
+#
+# Vehicle Control
+#
+MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+MODULES		+= modules/dataman
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+#MODULES		+= lib/utils
+
+#
+# Linux port
+#
+MODULES		+= platforms/linux/px4_layer
+MODULES		+= platforms/linux/publisher
+
diff --git a/makefiles/linux_elf.mk b/makefiles/linux_elf.mk
new file mode 100644
index 0000000000..18578a55c1
--- /dev/null
+++ b/makefiles/linux_elf.mk
@@ -0,0 +1,69 @@
+#
+#   Copyright (C) 2012 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.
+#
+
+#
+# Makefile for PX4 Linux based firmware images.
+#
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
+
+#
+# Built product rules
+#
+
+$(PRODUCT_SHARED_LIB):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK_A,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+MAIN = $(PX4_BASE)/src/platforms/linux/main.cpp
+$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB)
+	$(PX4_BASE)/Tools/linux_apps.py > apps.h
+	$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
+
+#
+# Utility rules
+#
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index bf07441408..a151e7d917 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -34,6 +34,8 @@
 # building firmware.
 #
 
+#MODULES += platforms/nuttx/px4_layer
+
 #
 # Check that the NuttX archive for the selected board is available.
 #
diff --git a/makefiles/board_aerocore.mk b/makefiles/nuttx/board_aerocore.mk
similarity index 100%
rename from makefiles/board_aerocore.mk
rename to makefiles/nuttx/board_aerocore.mk
diff --git a/makefiles/board_px4fmu-v1.mk b/makefiles/nuttx/board_px4fmu-v1.mk
similarity index 100%
rename from makefiles/board_px4fmu-v1.mk
rename to makefiles/nuttx/board_px4fmu-v1.mk
diff --git a/makefiles/board_px4fmu-v2.mk b/makefiles/nuttx/board_px4fmu-v2.mk
similarity index 100%
rename from makefiles/board_px4fmu-v2.mk
rename to makefiles/nuttx/board_px4fmu-v2.mk
diff --git a/makefiles/board_px4io-v1.mk b/makefiles/nuttx/board_px4io-v1.mk
similarity index 100%
rename from makefiles/board_px4io-v1.mk
rename to makefiles/nuttx/board_px4io-v1.mk
diff --git a/makefiles/board_px4io-v2.mk b/makefiles/nuttx/board_px4io-v2.mk
similarity index 100%
rename from makefiles/board_px4io-v2.mk
rename to makefiles/nuttx/board_px4io-v2.mk
diff --git a/makefiles/config_aerocore_default.mk b/makefiles/nuttx/config_aerocore_default.mk
similarity index 100%
rename from makefiles/config_aerocore_default.mk
rename to makefiles/nuttx/config_aerocore_default.mk
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/nuttx/config_px4fmu-v1_default.mk
similarity index 100%
rename from makefiles/config_px4fmu-v1_default.mk
rename to makefiles/nuttx/config_px4fmu-v1_default.mk
diff --git a/makefiles/config_px4fmu-v2_default.mk b/makefiles/nuttx/config_px4fmu-v2_default.mk
similarity index 100%
rename from makefiles/config_px4fmu-v2_default.mk
rename to makefiles/nuttx/config_px4fmu-v2_default.mk
diff --git a/makefiles/config_px4fmu-v2_multiplatform.mk b/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
similarity index 100%
rename from makefiles/config_px4fmu-v2_multiplatform.mk
rename to makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
diff --git a/makefiles/config_px4fmu-v2_test.mk b/makefiles/nuttx/config_px4fmu-v2_test.mk
similarity index 100%
rename from makefiles/config_px4fmu-v2_test.mk
rename to makefiles/nuttx/config_px4fmu-v2_test.mk
diff --git a/makefiles/config_px4io-v1_default.mk b/makefiles/nuttx/config_px4io-v1_default.mk
similarity index 100%
rename from makefiles/config_px4io-v1_default.mk
rename to makefiles/nuttx/config_px4io-v1_default.mk
diff --git a/makefiles/config_px4io-v2_default.mk b/makefiles/nuttx/config_px4io-v2_default.mk
similarity index 100%
rename from makefiles/config_px4io-v2_default.mk
rename to makefiles/nuttx/config_px4io-v2_default.mk
diff --git a/makefiles/nuttx_romfs.mk b/makefiles/nuttx_romfs.mk
new file mode 100644
index 0000000000..ca6fefe29e
--- /dev/null
+++ b/makefiles/nuttx_romfs.mk
@@ -0,0 +1,219 @@
+#
+#   Copyright (C) 2012 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.
+#
+
+#
+# Makefile for PX4 Nuttx based firmware images.
+#
+
+################################################################################
+# ROMFS generation
+################################################################################
+
+ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
+
+#
+# Note that there is no support for more than one root directory or constructing
+# a root from several templates. That would be a nice feature.
+#
+
+# Add dependencies on anything in the ROMFS root directory
+ROMFS_FILES		+= $(wildcard \
+			     $(ROMFS_ROOT)/* \
+			     $(ROMFS_ROOT)/*/* \
+			     $(ROMFS_ROOT)/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/*/*)
+ifeq ($(ROMFS_FILES),)
+$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
+endif
+ROMFS_DEPS		+= $(ROMFS_FILES)
+
+# Extra files that may be copied into the ROMFS /extras directory
+# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
+ROMFS_EXTRA_FILES	+= $(wildcard $(ROMFS_OPTIONAL_FILES))
+ROMFS_DEPS		+= $(ROMFS_EXTRA_FILES)
+
+ROMFS_IMG		 = romfs.img
+ROMFS_SCRATCH		 = romfs_scratch
+ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
+ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
+LIBS			+= $(ROMFS_OBJ)
+LINK_DEPS		+= $(ROMFS_OBJ)
+
+# Remove all comments from startup and mixer files
+ROMFS_PRUNER	 = $(PX4_BASE)/Tools/px_romfs_pruner.py
+
+# Turn the ROMFS image into an object file
+$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
+	$(call BIN_TO_OBJ,$<,$@,romfs_img)
+
+# Generate the ROMFS image from the root
+$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	@$(ECHO) "ROMFS:   $@"
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
+
+# Construct the ROMFS scratch root from the canonical root
+$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
+	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
+	$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
+ifneq ($(ROMFS_EXTRA_FILES),)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
+	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
+endif
+	$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
+
+EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
+
+endif
+
+################################################################################
+# Builtin command list generation
+################################################################################
+
+#
+# Builtin commands can be generated by the configuration, in which case they
+# must refer to commands that already exist, or indirectly generated by modules
+# when they are built.
+#
+# The configuration supplies builtin command information in the BUILTIN_COMMANDS
+# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
+# filename contains the same information.
+#
+# In each case, the command information consists of four fields separated with a
+# period. These fields are the command's name, its thread priority, its stack size
+# and the name of the function to call when starting the thread.
+#
+BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
+
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
+
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
+ifneq ($(BUILTIN_COMMANDS),)
+
+# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
+define BUILTIN_PROTO
+	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
+endef
+
+# (BUILTIN_DEF,<cmdspec>,<outputfile>)
+define BUILTIN_DEF
+	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
+endef
+
+# Don't generate until modules have updated their command files
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
+	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
+	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
+	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
+	$(Q) $(ECHO) '};' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
+
+SRCS			+= $(BUILTIN_CSRC)
+
+EXTRA_CLEANS		+= $(BUILTIN_CSRC)
+
+endif
+
+################################################################################
+# Build rules
+################################################################################
+
+#
+# What we're going to build.
+#
+PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
+PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_BUNDLE)
+
+#
+# Built product rules
+#
+
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+	@$(ECHO) %% Generating $@
+ifdef GEN_PARAM_XML
+	python $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --xml
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--parameter_xml $(PRODUCT_PARAMXML) \
+		--image $< > $@
+else
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
+endif
+
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
+	$(call SYM_TO_BIN,$<,$@)
+
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+#
+# Utility rules
+#
+
+.PHONY: upload
+upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
+		METHOD=serial \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
+		BUNDLE=$(PRODUCT_BUNDLE) \
+		BIN=$(PRODUCT_BIN)
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 351b9f1b71..1c6e5c3a2e 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -33,6 +33,9 @@
 # Path and tool setup
 #
 
+export PX4_TARGET_OS	 = nuttx
+#export PX4_TARGET_OS	 = linux
+
 #
 # Some useful paths.
 #
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk
index 3b9fefb3ef..7cf72bdad8 100644
--- a/makefiles/toolchain_gnu-arm-eabi.mk
+++ b/makefiles/toolchain_gnu-arm-eabi.mk
@@ -107,7 +107,7 @@ endif
 ifeq ($(CONFIG_BOARD),)
 $(error Board config does not define CONFIG_BOARD)
 endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD)
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) -D__PX4_NUTTX
 
 # optimisation flags
 #
diff --git a/makefiles/toolchain_native.mk b/makefiles/toolchain_native.mk
new file mode 100644
index 0000000000..37e5dbed51
--- /dev/null
+++ b/makefiles/toolchain_native.mk
@@ -0,0 +1,306 @@
+#
+#   Copyright (C) 2012-2014 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.
+#
+
+#
+# Definitions for a native GCC toolchain
+#
+
+#$(info TOOLCHAIN  native)
+
+# Toolchain commands. Normally only used inside this file.
+#
+
+# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
+USE_GCC=0
+
+ifeq ($(USE_GCC),1)
+# GCC Options:
+CC			 = gcc
+CXX			 = g++
+CPP			 = gcc -E
+
+# GCC Version
+DEV_VER_SUPPORTED	 = 4.8.2
+
+else
+# Clang options
+CC			 = clang-3.5
+CXX			 = clang++-3.5
+CPP			 = clang-3.5 -E
+
+# Clang GCC reported version
+DEV_VER_SUPPORTED	 = 4.2.1
+endif
+
+LD			 = ld
+AR			 = ar rcs
+NM			 = nm
+OBJCOPY			 = objcopy
+OBJDUMP			 = objdump
+
+# Check if the right version of the toolchain is available
+#
+DEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
+
+ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
+endif
+
+
+# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
+
+MAXOPTIMIZATION		 ?= -O3
+
+# Enabling stack checks if OS was build with them
+#
+
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
+			-D__PX4_LINUX \
+			-Dnoreturn_function= \
+			-I/usr/include/eigen3 \
+			-I$(PX4_BASE)/src/platforms/linux/include \
+			-Wno-error=shadow 
+
+# optimisation flags
+#
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -g3 \
+			   -fno-strict-aliasing \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
+
+# Language-specific flags
+#
+ARCHCFLAGS		 = -std=gnu99 -g
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++11 -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
+
+# Generic warnings
+#
+# Disabled
+#			   -Wshadow 			- Breaks for the libeigen package headers
+#			   -Wframe-larger-than=1024  	- Only needed for embedded
+
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Werror \
+			   -Wfloat-equal \
+			   -Wpointer-arith \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Werror=unused-variable \
+			   -Werror=reorder \
+			   -Werror=uninitialized \
+			   -Werror=init-self
+
+# Add compiler specific options
+ifeq ($(USE_GCC),1)
+ARCHDEFINES		+= -Wno-error=logical-op
+ARCHWARNINGS		+= -Wdouble-promotion \
+			   -Wlogical-op \
+			   -Wformat=1 \
+			   -Werror=unused-but-set-variable \
+			   -Werror=double-promotion 
+ARCHOPTIMIZATION	+= -fno-strength-reduce 
+endif
+
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+# C-specific warnings
+#
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wmissing-prototypes \
+			   -Wnested-externs
+
+# Add compiler specific options
+ifeq ($(USE_GCC),1)
+ARCHCWARNINGS		+= -Wold-style-declaration \
+			   -Wmissing-parameter-type 
+endif
+
+# C++-specific warnings
+#
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
+#EXTRA_LIBS		+= $(LIBM) 
+EXTRA_LIBS		+= -pthread -lm 
+
+# Flags we pass to the C compiler
+#
+CFLAGS			 = $(ARCHCFLAGS) \
+			   $(ARCHCWARNINGS) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   $(EXTRACFLAGS) \
+			   -fno-common \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the C++ compiler
+#
+CXXFLAGS		 = $(ARCHCXXFLAGS) \
+			   $(ARCHWARNINGSXX) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHXXINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
+			   $(EXTRADEFINES) \
+			   $(EXTRACXXFLAGS) \
+			   -Wno-effc++ \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+ifeq ($(USE_GCC),0)
+CXXFLAGS		+= -Wno-deprecated-register \
+			   -Wno-tautological-constant-out-of-range-compare \
+			   -Wno-unused-private-field \
+			   -Wno-unused-const-variable
+endif
+
+# Flags we pass to the assembler
+#
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
+			   $(EXTRADEFINES) \
+			   $(EXTRAAFLAGS)
+
+# Flags we pass to the linker
+#
+LDFLAGS			+= $(EXTRALDFLAGS) \
+			   $(addprefix -L,$(LIB_DIRS)) 
+
+# Compiler support library
+#
+LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+
+# Files that the final link depends on
+#
+#LINK_DEPS		+= $(LDSCRIPT)
+LINK_DEPS		+= 
+
+# Files to include to get automated dependencies
+#
+DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
+
+# Compile C source $1 to object $2
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2
+# as a side-effect, generate a dependency file
+#
+define COMPILEXX
+	@$(ECHO) "CXX:     $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
+endef
+
+# Produce partially-linked $1 from files in $2
+#
+define PRELINK
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -o $1 $2
+
+endef
+#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+
+# Update the archive $1 with the files in $2
+#
+define ARCHIVE
+	@$(ECHO) "AR:      $2"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_A
+	@$(ECHO) "LINK_A:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(AR) $1 $2"
+	$(Q) $(AR) $1 $2 
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_SO
+	@$(ECHO) "LINK_SO:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
+	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
+endef
+
+# Link the objects in $2 into the application $1
+#
+define LINK
+	@$(ECHO) "LINK:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
+	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
+endef
+