diff --git a/cmake/configs/config_qurt_hil_simple.cmake b/cmake/configs/config_qurt_hil_simple.cmake
index ea1c8cc5a5..6068991428 100644
--- a/cmake/configs/config_qurt_hil_simple.cmake
+++ b/cmake/configs/config_qurt_hil_simple.cmake
@@ -1,4 +1,7 @@
+include(qurt/px4_impl_qurt)
+
 function(px4_set_config_modules out_module_list)
+
 	set(config_module_list
 		drivers/device
 		drivers/boards/sitl
@@ -81,5 +84,6 @@ function(px4_set_config_modules out_module_list)
 		modules/muorb/adsp
 		)
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
 endfunction()
 
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index ed97ab9cb7..1e08a43975 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -50,7 +50,6 @@
 
 include(common/px4_base)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/posix/configs)
 
 #=============================================================================
 #
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index 8fdc3324f5..9857502925 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -51,8 +51,9 @@
 
 include(common/px4_base)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt/configs)
-include(qurt_funcs)
+
+px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
+px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
 
 #=============================================================================
 #
@@ -225,7 +226,8 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	add_custom_target(${OUT})
+	add_custom_target(${OUT} DEPENDS git_dspal git_eigen32)
+	add_custom_target(ALL DEPENDS git_eigen32)
 	execute_process(
 		WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/src/lib/eigen-3.2
 		COMMAND patch -p1 -i ../../../cmake/qurt/qurt_eigen.patch)
diff --git a/cmake/qurt/qurt_funcs.cmake b/cmake/qurt/qurt_funcs.cmake
index c8a2f46a9f..7ecd0cc818 100644
--- a/cmake/qurt/qurt_funcs.cmake
+++ b/cmake/qurt/qurt_funcs.cmake
@@ -45,48 +45,6 @@
 #
 # The macros are called from the top level CMakeLists.txt
 #
-set(QURT_APPS_HEADER ${CMAKE_BINARY_DIR}/apps.h)
-
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_eigen32 PATH "src/lib/eigen-3.2")
 
-function(px4_target_add_modules out_module_directories)
-	list(APPEND ${out_module_directories}
-		./src/platforms/qurt/px4_layer
-		./src/platforms/posix/work_queue
-		PARENT_SCOPE
-	)
-endfunction()
-
-function(px4_target_validate_config)
-	# FIXME - this can be done in Firmware/CMakeLists.txt
-	list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/qurt)
-
-	if (NOT EXISTS("${CMAKE_SOURCE_DIR}/cmake/qurt/${TARGET_NAME}.cmake"))
-		message(FATAL_ERROR "not implemented yet: ${TARGET_NAME}")
-	endif()
-endfunction()
-
-function(px4_target_firmware)
-	set(installed_targets)
-	add_library(dspal_main SHARED ./src/platforms/qurt/px4_layer/main.cpp)
-	target_link_libraries(dspal_main ${module_list})
-	list(APPEND installed_targets dspal_main)
-endfunction()
-
-function(px4_target_rules)
-	#=============================================================================
-	#		apps
-	#
-	add_custom_command(OUTPUT ${QURT_APPS_HEADER}
-		COMMAND PYTHONPATH=${PYTHONPATH} ${PYTHON_EXECUTABLE} 
-			${CMAKE_SOURCE_DIR}/Tools/qurt_apps.py > ${QURT_APPS_HEADER}
-		COMMENT "Generating qurt apps"
-		VERBATIM
-		)
-
-	add_custom_target(qurt_apps DEPENDS ${QURT_APPS_HEADER})
-endfunction()
-
-function(px4_target_testing)
-endfunction()
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index fb97327691..f9c53c5853 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -1,4 +1,4 @@
-include(px4_base)
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(V_ARCH v5)
 set(HEXAGON_TOOLS_ROOT /opt/6.4.03)
@@ -33,7 +33,7 @@ set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
 
 target_link_libraries(mainapp
 	-Wl,--whole-archive
-	${module_list}
+	${module_libraries}
 	m
 	-Wl,--no-whole-archive
 	-Wl,${TOOLSLIB}/pic/libstdc++.a)