diff --git a/CMakeLists.txt b/CMakeLists.txt
index c1bc1b494e..df4ebe309f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -175,6 +175,12 @@ include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
+if($ENV{CLION_IDE})
+	# CLion automatically executes some compiler commands after configuring the
+	# project. This would fail on NuttX, as visibility.h tries to (indirectly)
+	# include nuttx/config.h, which at that point does not exist yet
+	add_definitions(-DPX4_DISABLE_GCC_POISON)
+endif()
 
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
diff --git a/src/include/visibility.h b/src/include/visibility.h
index 5de2682a8c..b56ef0b4d9 100644
--- a/src/include/visibility.h
+++ b/src/include/visibility.h
@@ -60,14 +60,19 @@
 #endif
 
 
+#define system_exit exit
+#define system_clock_gettime clock_gettime
+#define system_clock_settime clock_settime
+#define system_pthread_cond_timedwait pthread_cond_timedwait
+#define system_usleep usleep
+#define system_sleep sleep
 
-
+#ifndef PX4_DISABLE_GCC_POISON
 
 /* exit() is used on NuttX to exit a task. However on Posix, it will exit the
  * whole application, so we prevent its use there. There are cases where it
  * still needs to be used, thus we remap system_exit to exit.
  */
-#define system_exit exit
 #if !defined(__PX4_NUTTX)
 #include <stdlib.h>
 #ifdef __cplusplus
@@ -83,8 +88,6 @@
 /* For SITL lockstep we fake the clock, sleeping, and timedwaits
  * Therefore, we prefix these syscalls with system_. */
 #include <time.h>
-#define system_clock_gettime clock_gettime
-#define system_clock_settime clock_settime
 /* We can't poison clock_settime/clock_gettime because they are
  * used in DriverFramework. */
 
@@ -93,20 +96,17 @@
 // We can't include this for NuttX otherwise we get conflicts for read/write
 // symbols in cannode.
 #endif // !defined(__PX4_NUTTX)
-#define system_pthread_cond_timedwait pthread_cond_timedwait
 /* We can't poison pthread_cond_timedwait because it seems to be used in the
  * <string> include. */
 
 
 /* We don't poison usleep and sleep because it is used in dependencies
- * like uavcan and DriverFramework. */
+ * like uavcan. */
 #if !defined(__PX4_NUTTX)
 #include <unistd.h>
 // We can't include this for NuttX otherwise we get conflicts for read/write
 // symbols in cannode.
 #endif // !defined(__PX4_NUTTX)
-#define system_usleep usleep
-#define system_sleep sleep
 
 
 /* On NuttX we call clearenv() so we cannot use getenv() and others (see
@@ -123,3 +123,5 @@
  * need to get changed. */
 #pragma GCC poison getenv setenv putenv
 #endif // defined(__PX4_NUTTX)
+
+#endif // PX4_DISABLE_GCC_POISON