diff --git a/Makefile b/Makefile
index 4d753670f7..af8539f60f 100644
--- a/Makefile
+++ b/Makefile
@@ -75,6 +75,9 @@ endef
 # --------------------------------------------------------------------
 #  Do not put any spaces between function arguments.
 
+px4fmu-v1_default:
+	$(call cmake-build,nuttx_px4fmu-v1_default)
+
 px4fmu-v2_default:
 	$(call cmake-build,nuttx_px4fmu-v2_default)
 
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
new file mode 100644
index 0000000000..8e485a21b7
--- /dev/null
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -0,0 +1,182 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/stm32/adc
+	drivers/stm32/tone_alarm
+	drivers/led
+	drivers/px4fmu
+	drivers/px4io
+	drivers/boards/px4fmu-v1
+	drivers/ardrone_interface
+	drivers/rgbled
+	drivers/mpu6000
+	drivers/lsm303d
+	drivers/l3gd20
+	drivers/hmc5883
+	drivers/ms5611
+	drivers/mb12xx
+	drivers/sf0x
+	drivers/ll40ls
+	drivers/trone
+	drivers/gps
+	drivers/pwm_out_sim
+	drivers/hott
+	drivers/hott/hott_telemetry
+	drivers/hott/hott_sensors
+	drivers/blinkm
+	drivers/airspeed
+	drivers/ets_airspeed
+	drivers/meas_airspeed
+	drivers/frsky_telemetry
+	modules/sensors
+	drivers/mkblctrl
+	drivers/px4flow
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/pwm
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/mtd
+	systemcmds/dumpfile
+	systemcmds/ver
+
+	#
+	# General system control
+	#
+	modules/commander
+	modules/navigator
+	modules/mavlink
+	modules/gpio_led
+	#modules/uavcan # have to fix CMakeLists.txt
+	modules/land_detector
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	# Too high RAM usage due to static allocations
+	# modules/attitude_estimator_ekf
+	modules/attitude_estimator_q
+	modules/ekf_att_pos_estimator
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	# modules/segway # XXX Needs GCC 4.7 fix
+	modules/fw_pos_control_l1
+	modules/fw_att_control
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/vtol_att_control
+
+	#
+	# Logging
+	#
+	modules/sdlog2
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+	modules/dataman
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+	lib/launchdetection
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common 
+	platforms/nuttx/px4_layer
+
+	#
+	# OBC challenge
+	#
+	modules/bottle_drop
+
+	#
+	# Rover apps
+	#
+	examples/rover_steering_control
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	#examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_firmware_options
+	PARAM_XML # generate param xml
+	)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+set(config_io_board
+	px4io-v1
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	#${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index ca46ea13f8..add952a49b 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -455,7 +455,7 @@ function(px4_os_add_flags)
 	set(added_exe_linker_flags) # none currently
 
 	set(cpu_flags)
-	if (${BOARD} STREQUAL "px4fmu-v2")
+	if (${BOARD} STREQUAL "px4fmu-v1")
 		set(cpu_flags
 			-mcpu=cortex-m4
 			-mthumb
@@ -463,6 +463,28 @@ function(px4_os_add_flags)
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
+	elseif (${BOARD} STREQUAL "px4fmu-v2")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "aerocore")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "px4io-v1")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
 	elseif (${BOARD} STREQUAL "px4io-v2")
 		set(cpu_flags
 			-mcpu=cortex-m3