diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index 72a76777b5..ce91c28518 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -16,7 +16,7 @@ pipeline {
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "emlid_navio2_cross", "parrot_bebop_default", "px4_raspberrypi_cross"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_cross", "emlid_navio2_cross", "parrot_bebop_default", "px4_raspberrypi_cross"],
             image: docker_images.armhf,
             archive: false
           ]
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cee32f30bd..9f101a6050 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -295,6 +295,13 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()
 
+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/init.cmake)
+	include(${PX4_BOARD_DIR}/init.cmake)
+endif()
+
 #=============================================================================
 # message, and airframe generation
 #
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index bb5ac6c9bf..1283499212 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -5,12 +5,12 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2019-10-24"
+	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*bebop.* ]]; then
+		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2019-10-24"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2018-09-12"
-	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2019-10-24"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2019-10-24"
diff --git a/boards/beaglebone/blue/CMakeLists.txt b/boards/beaglebone/blue/CMakeLists.txt
index 479f6d55c4..af45ca77f5 100644
--- a/boards/beaglebone/blue/CMakeLists.txt
+++ b/boards/beaglebone/blue/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 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
@@ -33,7 +33,6 @@
 
 add_subdirectory(bbblue_adc)
 
-
 ############################################################################
 # Upload
 ############################################################################
diff --git a/boards/beaglebone/blue/bbblue_adc/CMakeLists.txt b/boards/beaglebone/blue/bbblue_adc/CMakeLists.txt
index f7c6fec3de..a4e43acb79 100644
--- a/boards/beaglebone/blue/bbblue_adc/CMakeLists.txt
+++ b/boards/beaglebone/blue/bbblue_adc/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 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
@@ -35,17 +35,6 @@ px4_add_module(
 	MODULE drivers__bbblue_adc
 	MAIN bbblue_adc
 	COMPILE_FLAGS
-		-Wno-error
 	SRCS
 		bbblue_adc.cpp
-		
-		# Previous board specific code is now precluded from build after
-		# the following was added to Frimware/CMakeLists.txt:
-		#
-		# 		add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
-		#
-		# so include bbblue board specific code here:
-		../src/init.c
-	DEPENDS
-
 )
diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
index e9c6cdc7df..e503d181a7 100644
--- a/boards/beaglebone/blue/cross.cmake
+++ b/boards/beaglebone/blue/cross.cmake
@@ -11,6 +11,7 @@ px4_add_board(
 		#barometer # all available barometer drivers
 		barometer/bmp280
 		batt_smbus
+		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
diff --git a/boards/beaglebone/blue/init.cmake b/boards/beaglebone/blue/init.cmake
new file mode 100644
index 0000000000..d42011bda9
--- /dev/null
+++ b/boards/beaglebone/blue/init.cmake
@@ -0,0 +1,56 @@
+############################################################################
+#
+#   Copyright (c) 2018-2019 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.
+#
+############################################################################
+
+add_compile_options(-Wno-cast-align)
+
+include(ExternalProject)
+ExternalProject_Add(librobotcontrol
+	GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
+	GIT_TAG 1abcb0a # latest as of 2019-12-29
+	CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
+	INSTALL_COMMAND ""
+	TEST_COMMAND ""
+	LOG_DOWNLOAD ON
+	LOG_CONFIGURE ON
+	LOG_BUILD ON
+)
+
+ExternalProject_Get_Property(librobotcontrol install_dir)
+set(ROBOTCONTROL_LIB_DIR ${install_dir}/src/librobotcontrol-build/library)
+set(ROBOTCONTROL_INC_DIR ${install_dir}/src/librobotcontrol/library/include)
+
+include_directories(${ROBOTCONTROL_INC_DIR})
+link_directories(${ROBOTCONTROL_LIB_DIR})
+
+# add to prebuild
+add_dependencies(prebuild_targets librobotcontrol)
diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
index 1d1c12469c..074463b374 100644
--- a/boards/beaglebone/blue/native.cmake
+++ b/boards/beaglebone/blue/native.cmake
@@ -9,6 +9,7 @@ px4_add_board(
 		#barometer # all available barometer drivers
 		barometer/bmp280
 		batt_smbus
+		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
diff --git a/boards/beaglebone/blue/src/CMakeLists.txt b/boards/beaglebone/blue/src/CMakeLists.txt
index 22a6c68ee6..f8245bbdf2 100644
--- a/boards/beaglebone/blue/src/CMakeLists.txt
+++ b/boards/beaglebone/blue/src/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,10 +30,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
 
-add_library(drivers_board
-	init.c
+px4_add_library(drivers_board
+	init.cpp
 )
-
+target_link_libraries(drivers_board PRIVATE robotics_cape)
diff --git a/boards/beaglebone/blue/src/init.c b/boards/beaglebone/blue/src/init.cpp
similarity index 100%
rename from boards/beaglebone/blue/src/init.c
rename to boards/beaglebone/blue/src/init.cpp
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 131bbb305c..f3748094c5 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -108,7 +108,10 @@ endif()
 
 
 if ("${PX4_BOARD}" MATCHES "beaglebone_blue")
-	target_link_libraries(px4 PRIVATE robotcontrol)
+	target_link_libraries(px4 PRIVATE robotics_cape)
+	add_dependencies(df_driver_framework librobotcontrol)
+	add_dependencies(df_bmp280 librobotcontrol)
+	add_dependencies(df_mpu9250 librobotcontrol)
 
 elseif ("${PX4_BOARD}" MATCHES "sitl")
 
diff --git a/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake b/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
index 9f68b2202c..9fc154b61a 100644
--- a/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
+++ b/platforms/posix/cmake/Toolchain-arm-linux-gnueabihf.cmake
@@ -1,6 +1,7 @@
 # arm-linux-gnueabihf-gcc toolchain
 
 set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_SYSTEM_VERSION 1)
 
 set(triple arm-linux-gnueabihf)
@@ -13,16 +14,18 @@ set(CMAKE_C_COMPILER_TARGET ${triple})
 set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}-g++)
 set(CMAKE_CXX_COMPILER_TARGET ${triple})
 
-set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
+set(CMAKE_ASM_COMPILER ${TOOLCHAIN_PREFIX}-gcc)
 
 # compiler tools
-foreach(tool nm ld objcopy ranlib strip)
-	string(TOUPPER ${tool} TOOL)
-	find_program(CMAKE_${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
-	if(CMAKE-${TOOL} MATCHES "NOTFOUND")
-		message(FATAL_ERROR "could not find ${TOOLCHAIN_PREFIX}-${tool}")
-	endif()
-endforeach()
+find_program(CMAKE_AR ${TOOLCHAIN_PREFIX}-gcc-ar)
+find_program(CMAKE_GDB ${TOOLCHAIN_PREFIX}-gdb)
+find_program(CMAKE_LD ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_LINKER ${TOOLCHAIN_PREFIX}-ld)
+find_program(CMAKE_NM ${TOOLCHAIN_PREFIX}-gcc-nm)
+find_program(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}-objcopy)
+find_program(CMAKE_OBJDUMP ${TOOLCHAIN_PREFIX}-objdump)
+find_program(CMAKE_RANLIB ${TOOLCHAIN_PREFIX}-gcc-ranlib)
+find_program(CMAKE_STRIP ${TOOLCHAIN_PREFIX}-strip)
 
 set(CMAKE_FIND_ROOT_PATH get_file_component(${CMAKE_C_COMPILER} PATH))
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
@@ -37,9 +40,3 @@ foreach(tool grep make)
 		message(FATAL_ERROR "could not find ${tool}")
 	endif()
 endforeach()
-
-# optional compiler tools
-foreach(tool gdb gdbtui)
-	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} ${TOOLCHAIN_PREFIX}-${tool})
-endforeach()
diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
index e88a584bac..b320ef5046 100644
--- a/platforms/posix/cmake/px4_impl_os.cmake
+++ b/platforms/posix/cmake/px4_impl_os.cmake
@@ -309,17 +309,6 @@ function(px4_os_add_flags)
 			-DRC_AUTOPILOT_EXT  # Enable extensions in Robotics Cape Library, TODO: remove
 		)
 
-		set(LIBROBOTCONTROL_INSTALL_DIR $ENV{LIBROBOTCONTROL_INSTALL_DIR})
-
-		# On cross compile host system and native build system:
-		#   a) select and define LIBROBOTCONTROL_INSTALL_DIR environment variable so that
-		#      other unwanted headers will not be included
-		#   b) install robotcontrol.h and rc/* into $LIBROBOTCONTROL_INSTALL_DIR/include
-		#   c) install pre-built native (ARM) version of librobotcontrol.* into $LIBROBOTCONTROL_INSTALL_DIR/lib
-		add_compile_options(-I${LIBROBOTCONTROL_INSTALL_DIR}/include)
-
-		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -L${LIBROBOTCONTROL_INSTALL_DIR}/lib")
-
 	endif()
 
 endfunction()
diff --git a/src/drivers/barometer/bmp280/bmp280.h b/src/drivers/barometer/bmp280/bmp280.h
index 55bdcfe721..c08a596d62 100644
--- a/src/drivers/barometer/bmp280/bmp280.h
+++ b/src/drivers/barometer/bmp280/bmp280.h
@@ -38,6 +38,8 @@
  */
 #pragma once
 
+#include <inttypes.h>
+
 #define BMP280_ADDR_CAL		0x88	/* address of 12x 2 bytes calibration data */
 #define BMP280_ADDR_DATA	0xF7	/* address of 2x 3 bytes p-t data */