diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91d3442899..9ebc8c0a2d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -112,16 +112,16 @@ set(package-contact "px4users@googlegroups.com")
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 
 #=============================================================================
-# cmake modules
+# Validate build configuration and build
 #
 if (NOT NESTED_CMAKE_CALL)
 	message(STATUS "IN TOP")
-	if (EXISTS ${CMAKE_SOURCE_DIR}/cmake/configs/config_${CONFIG}.cmake)
+	if (EXISTS ${CMAKE_SOURCE_DIR}/cmake/configs/${CONFIG}.cmake)
 
 		# Get the toolchain information
-		include(configs/config_${CONFIG})
+		include(configs/${CONFIG})
 	else()
-		message(FATAL_ERROR "build config not found: config_${CONFIG}.cmake")
+		message(FATAL_ERROR "build config not found: ${CONFIG}.cmake")
 	endif()
 	if (NOT "${USE_TOOLCHAIN}" STREQUAL "")
 		set(TOOLCHAIN -DCMAKE_TOOLCHAIN_FILE=${CMAKE_SOURCE_DIR}/cmake/toolchains/${USE_TOOLCHAIN}.cmake)
@@ -130,15 +130,6 @@ if (NOT NESTED_CMAKE_CALL)
 	list(GET TARGET_PARAMS 0 OS)
 	list(GET TARGET_PARAMS 1 BOARD)
 	list(GET TARGET_PARAMS 2 LABEL)
-	message(STATUS "CONFIG ${OS} ${BOARD} ${LABEL}")
-	if ("${LABEL}" STREQUAL "upload")
-		set(LABEL "simple")
-		set(DOUPLOAD "1")
-	endif()
-	if ("${LABEL}" STREQUAL "test")
-		set(LABEL "simple")
-		set(DOTEST "1")
-	endif()
 	execute_process( COMMAND ${CMAKE_COMMAND} -E make_directory ${CONFIG} )
 	set(NESTED_CMAKE_CALL 1)
 	message(STATUS "Before")
@@ -149,14 +140,6 @@ if (NOT NESTED_CMAKE_CALL)
 			COMMAND make -s
 			)
 	message(STATUS "${CMAKE_COMMAND} VERBOSE=1 ${CMAKE_SOURCE_DIR} ${TOOLCHAIN} -DOS=${OS} -DBOARD=${BOARD} -DLABEL=${LABEL}")
-	if ("${DOUPLOAD}" STREQUAL "1")
-	execute_process( WORKING_DIRECTORY ${CONFIG} 
-			COMMAND make upload)
-	endif()
-	if ("${DOTEST}" STREQUAL "1")
-	execute_process( WORKING_DIRECTORY ${CONFIG} 
-			COMMAND make test)
-	endif()
 	return()
 endif(NOT NESTED_CMAKE_CALL)
 
diff --git a/cmake/configs/config_nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
similarity index 100%
rename from cmake/configs/config_nuttx_px4fmu-v2_default.cmake
rename to cmake/configs/nuttx_px4fmu-v2_default.cmake
diff --git a/cmake/configs/config_nuttx_px4fmu-v2_simple.cmake b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
similarity index 100%
rename from cmake/configs/config_nuttx_px4fmu-v2_simple.cmake
rename to cmake/configs/nuttx_px4fmu-v2_simple.cmake
diff --git a/cmake/configs/config_nuttx_sim_simple.cmake b/cmake/configs/nuttx_sim_simple.cmake
similarity index 100%
rename from cmake/configs/config_nuttx_sim_simple.cmake
rename to cmake/configs/nuttx_sim_simple.cmake
diff --git a/cmake/configs/config_posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
similarity index 83%
rename from cmake/configs/config_posix_eagle_default.cmake
rename to cmake/configs/posix_eagle_default.cmake
index 04f80c7523..228b4e50ae 100644
--- a/cmake/configs/config_posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@@ -1,10 +1,13 @@
 include(posix/px4_impl_posix-arm)
 
+set(USE_TOOLCHAIN Toolchain-arm-linux-gnueabihf)
+
 function(px4_get_config)
 
 	px4_parse_function_args(
 		NAME px4_set_config_modules
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
 		ARGN ${ARGN})
 
 	set(config_module_list
@@ -47,7 +50,7 @@ function(px4_get_config)
 		platforms/posix/work_queue
 		)
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
similarity index 79%
rename from cmake/configs/config_posix_eagle_hil.cmake
rename to cmake/configs/posix_eagle_hil.cmake
index 115f70d406..af3785f5c7 100644
--- a/cmake/configs/config_posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -1,10 +1,13 @@
 include(posix/px4_impl_posix-arm)
 
+set(USE_TOOLCHAIN Toolchain-arm-linux-gnueabihf)
+
 function(px4_get_config)
 
 	px4_parse_function_args(
 		NAME px4_set_config_modules
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
 		ARGN ${ARGN})
 
 	set(config_module_list
@@ -36,7 +39,7 @@ function(px4_get_config)
 		modules/muorb/krait
 		)
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_posix_eagle_muorb.cmake b/cmake/configs/posix_eagle_muorb.cmake
similarity index 65%
rename from cmake/configs/config_posix_eagle_muorb.cmake
rename to cmake/configs/posix_eagle_muorb.cmake
index 44fe4cebe0..450d7b1e4e 100644
--- a/cmake/configs/config_posix_eagle_muorb.cmake
+++ b/cmake/configs/posix_eagle_muorb.cmake
@@ -1,10 +1,13 @@
 include(posix/px4_impl_posix-arm)
 
+set(USE_TOOLCHAIN Toolchain-arm-linux-gnueabihf)
+
 function(px4_get_config)
 
 	px4_parse_function_args(
 		NAME px4_set_config_modules
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
 		ARGN ${ARGN})
 
 	set(config_module_list
@@ -18,7 +21,7 @@ function(px4_get_config)
 		modules/muorb/krait
 		)
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_posix_eagle_release.cmake b/cmake/configs/posix_eagle_release.cmake
similarity index 78%
rename from cmake/configs/config_posix_eagle_release.cmake
rename to cmake/configs/posix_eagle_release.cmake
index 90c81fd411..cc220cb306 100644
--- a/cmake/configs/config_posix_eagle_release.cmake
+++ b/cmake/configs/posix_eagle_release.cmake
@@ -1,10 +1,12 @@
 include(posix/px4_impl_posix-arm)
 
+set(USE_TOOLCHAIN Toolchain-arm-linux-gnueabihf)
+
 function(px4_get_config)
 
 	px4_parse_function_args(
 		NAME px4_set_config_modules
-		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ONE_VALUE OUT_MODULES
 		ARGN ${ARGN})
 
 	set(config_module_list
@@ -31,7 +33,7 @@ function(px4_get_config)
 		modules/muorb/krait
 		)
 
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_posix_sitl_simple.cmake b/cmake/configs/posix_sitl_simple.cmake
similarity index 98%
rename from cmake/configs/config_posix_sitl_simple.cmake
rename to cmake/configs/posix_sitl_simple.cmake
index 20481bdb1e..39aed67046 100644
--- a/cmake/configs/config_posix_sitl_simple.cmake
+++ b/cmake/configs/posix_sitl_simple.cmake
@@ -1,4 +1,5 @@
 include(posix/px4_impl_posix)
+set(USE_TOOLCHAIN Toolchain-native)
 
 function(px4_get_config)
 
diff --git a/cmake/configs/config_qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
similarity index 100%
rename from cmake/configs/config_qurt_eagle_hello.cmake
rename to cmake/configs/qurt_eagle_hello.cmake
diff --git a/cmake/configs/config_qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
similarity index 100%
rename from cmake/configs/config_qurt_eagle_hil.cmake
rename to cmake/configs/qurt_eagle_hil.cmake
diff --git a/cmake/configs/config_qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
similarity index 100%
rename from cmake/configs/config_qurt_eagle_muorb.cmake
rename to cmake/configs/qurt_eagle_muorb.cmake
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
new file mode 100644
index 0000000000..2db5cf82b9
--- /dev/null
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
@@ -0,0 +1,67 @@
+# defines:
+#
+# NM
+# OBJCOPY
+# LD
+# CXX_COMPILER
+# C_COMPILER
+# CMAKE_SYSTEM_NAME
+# CMAKE_SYSTEM_VERSION
+# GENROMFS
+# LINKER_FLAGS
+# CMAKE_EXE_LINKER_FLAGS
+# CMAKE_FIND_ROOT_PATH
+# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
+# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
+# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+
+include(CMakeForceCompiler)
+
+# this one is important
+set(CMAKE_SYSTEM_NAME Generic)
+
+#this one not so much
+set(CMAKE_SYSTEM_VERSION 1)
+
+# specify the cross compiler
+find_program(C_COMPILER arm-linux-gnueabihf-gcc)
+if(NOT C_COMPILER)
+	message(FATAL_ERROR "could not find arm-none-eabi-gcc compiler")
+endif()
+cmake_force_c_compiler(${C_COMPILER} GNU)
+
+find_program(CXX_COMPILER arm-linux-gnueabihf-g++)
+if(NOT CXX_COMPILER)
+	message(FATAL_ERROR "could not find arm-none-eabi-g++ compiler")
+endif()
+cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
+
+# compiler tools
+foreach(tool objcopy nm ld)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} arm-linux-gnueabihf-${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${tool}")
+	endif()
+endforeach()
+
+# os tools
+foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+	string(TOUPPER ${tool} TOOL)
+	find_program(${TOOL} ${tool})
+	if(NOT ${TOOL})
+		message(FATAL_ERROR "could not find ${TOOL}")
+	endif()
+endforeach()
+
+set(LINKER_FLAGS "-Wl,-gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
+
+# where is the target environment 
+set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
+
+# search for programs in the build host directories
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)