diff --git a/.gitmodules b/.gitmodules
index cb9a6ccf05..b290823398 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -6,7 +6,7 @@
 	url = git://github.com/PX4/NuttX.git
 [submodule "src/lib/uavcan"]
 	path = src/lib/uavcan
-	url = git://github.com/UAVCAN/libuavcan.git
+	url = git://github.com/jgoppert/libuavcan.git
 [submodule "Tools/genmsg"]
 	path = Tools/genmsg
 	url = https://github.com/ros/genmsg.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5e89031d85..5a5f8b4790 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -155,6 +155,9 @@ list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
+# cmake modules
+include(ExternalProject)
+
 # require px4 module interface
 set(px4_required_interface
 	px4_os_prebuild_targets
@@ -269,6 +272,17 @@ px4_generate_messages(TARGET msg_gen
 	DEPENDS git_genmsg git_gencpp
 	)
 
+#=============================================================================
+# external projects
+#
+
+set(ep_base ${CMAKE_BINARY_DIR}/external)
+set_property(DIRECTORY PROPERTY EP_BASE ${ep_base})
+
+# add external project install folders to build
+link_directories(${ep_base}/Install/lib)
+include_directories(${ep_base}/Install/include)
+
 #=============================================================================
 # subdirectories
 #
@@ -286,7 +300,6 @@ if (config_io_board)
 	add_subdirectory(src/modules/px4iofirmware)
 endif()
 
-
 #=============================================================================
 # generate git version
 #
diff --git a/Makefile b/Makefile
index af8539f60f..af93c31772 100644
--- a/Makefile
+++ b/Makefile
@@ -48,6 +48,9 @@
 # directory build_nuttx_px4fmu-v2_default and then call make
 # in that directory with the target upload.
 
+#  explicity set default build target
+all: px4fmu-v2_default
+
 # Parsing
 # --------------------------------------------------------------------
 # assume 1st argument passed is the main target, the
@@ -138,9 +141,6 @@ sitl_ros:
 
 # Other targets
 # --------------------------------------------------------------------
-#  explicity set default build target
-all: px4fmu-v2_default
-
 clean:
 	@rm -rf build_*/
 
@@ -153,7 +153,7 @@ distclean: clean
 	@cd ../../..
 
 # targets handled by cmake
-cmake_targets = test upload package package_source debug debug_io check_weak
+cmake_targets = test upload package package_source debug debug_io check_weak libuavcan
 $(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
 
 .PHONY: clean
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index 8e485a21b7..5cd4756519 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -63,7 +63,7 @@ set(config_module_list
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
-	#modules/uavcan # have to fix CMakeLists.txt
+	modules/uavcan
 	modules/land_detector
 
 	#
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 33fcf3bbb2..51bdf151a5 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
@@ -67,7 +67,7 @@ set(config_module_list
 	modules/navigator
 	modules/mavlink
 	modules/gpio_led
-	#modules/uavcan # have to fix CMakeLists.txt
+	modules/uavcan
 	modules/land_detector
 
 	#
diff --git a/cmake/configs/nuttx_px4fmu-v2_simple.cmake b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
index c9b054052b..b1708cfc22 100644
--- a/cmake/configs/nuttx_px4fmu-v2_simple.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
@@ -1,6 +1,6 @@
 include(nuttx/px4_impl_nuttx)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
 	#
diff --git a/cmake/configs/nuttx_sim_simple.cmake b/cmake/configs/nuttx_sim_simple.cmake
index c457431ad6..a00b781a75 100644
--- a/cmake/configs/nuttx_sim_simple.cmake
+++ b/cmake/configs/nuttx_sim_simple.cmake
@@ -2,7 +2,7 @@ include(nuttx/px4_impl_nuttx)
 
 message(WARNING "this is a work in progress and doesn't build yet")
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	#platforms/nuttx
diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
index b30dcef5e3..fc97e70918 100644
--- a/cmake/configs/posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index ee5feb6535..cae322edb9 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -5,7 +5,7 @@ if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/posix_eagle_release.cmake b/cmake/configs/posix_eagle_release.cmake
index ab930abea3..8e3bb26078 100644
--- a/cmake/configs/posix_eagle_release.cmake
+++ b/cmake/configs/posix_eagle_release.cmake
@@ -5,7 +5,7 @@ if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
 	set(DSPAL_STUBS_ENABLE "1")
 endif()
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/posix_sitl_simple.cmake b/cmake/configs/posix_sitl_simple.cmake
index 9d520d72f0..90fc72ce1c 100644
--- a/cmake/configs/posix_sitl_simple.cmake
+++ b/cmake/configs/posix_sitl_simple.cmake
@@ -1,6 +1,6 @@
 include(posix/px4_impl_posix)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
 	drivers/led
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index 5b38a70649..c127216681 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 6bb9e0cbc3..0b48820254 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 6f4f12cf4d..492225aa40 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_release.cmake b/cmake/configs/qurt_eagle_release.cmake
index f80c87d5fb..494416ed4f 100644
--- a/cmake/configs/qurt_eagle_release.cmake
+++ b/cmake/configs/qurt_eagle_release.cmake
@@ -20,7 +20,7 @@ set(target_libraries
 	)
 
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	#
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index 6f948d905c..b2935f1fda 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -1,6 +1,6 @@
 include(qurt/px4_impl_qurt)
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 20293830e2..3b4672a115 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -3,7 +3,7 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS "1")
 
-set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon-7.4.cmake)
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-hexagon-7.4.cmake)
 
 set(config_module_list
 	drivers/device
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index bf50a33814..2b1562b762 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -40,6 +40,8 @@ target_link_libraries(firmware_nuttx
 	${module_libraries}
 	${config_extra_libs}
 	${link_libs}
+	libuavcan_stm32_driver.a
+	libuavcan.a
 	-Wl,--end-group)
 
 add_custom_target(check_weak
diff --git a/src/lib/uavcan b/src/lib/uavcan
index 50dc08663a..0b0e7bc6cc 160000
--- a/src/lib/uavcan
+++ b/src/lib/uavcan
@@ -1 +1 @@
-Subproject commit 50dc08663af2d9b55eae0ccf5f07c63db0ee8907
+Subproject commit 0b0e7bc6cc7fa6ec22905f3a519190e24714205d
diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 7cd3ddbb01..5cdcdbe8ca 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -30,6 +30,64 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+# uavcan project
+set(uavcan_c_flags ${c_flags})
+list(REMOVE_ITEM uavcan_c_flags -std=gnu++0x -D__CUSTOM_FILE_IO__)
+set(uavcan_cxx_flags ${cxx_flags})
+list(REMOVE_ITEM uavcan_cxx_flags -std=gnu++0x -std=c++11 -D__CUSTOM_FILE_IO__)
+set(uavcan_deps git_uavcan)
+set(uavcan_platform generic)
+
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+
+string(TOUPPER "${OS}" OS_UPPER)
+
+set(uavcan_definitions
+	-DUAVCAN_NO_ASSERTIONS
+	-DUAVCAN_STM32_NUM_IFACES=2
+	-DUAVCAN_USE_EXTERNAL_SNPRINT
+	-DUAVCAN_MEM_POOL_BLOCK_SIZE=48
+	-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+	-DUAVCAN_STM32_TIMER_NUMBER=5
+	-DUAVCAN_STM32_${OS_UPPER}=1
+	-DUAVCAN_CPP_VERSION=UAVCAN_CPP03
+	)
+set(uavcan_extra_flags ${uavcan_definitions})
+
+if (${OS} STREQUAL "nuttx")
+	set(uavcan_platform stm32)
+	list(APPEND uavcan_extra_flags
+		-I${nuttx_export_dir}/include
+		-I${nuttx_export_dir}/include/cxx
+		-I${nuttx_export_dir}/arch/chip
+		-I${nuttx_export_dir}/arch/common
+		)
+	list(APPEND uavcan_deps nuttx_export_${BOARD})
+endif()
+
+list(APPEND uavcan_c_flags ${uavcan_extra_flags})
+list(APPEND uavcan_cxx_flags ${uavcan_extra_flags})
+
+px4_join(OUT uavcan_c_flags LIST "${uavcan_c_flags}" GLUE " ")
+px4_join(OUT uavcan_cxx_flags LIST "${uavcan_cxx_flags}" GLUE " ")
+
+externalproject_add(libuavcan
+	DEPENDS ${uavcan_deps}
+	UPDATE_COMMAND git submodule update --init
+	SOURCE_DIR ${CMAKE_SOURCE_DIR}/src/lib/uavcan
+	CMAKE_ARGS -DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}
+		-DUAVCAN_PLATFORM=${uavcan_platform}
+		-DUAVCAN_OS=${OS}
+		-DCMAKE_CXX_FLAGS=${uavcan_cxx_flags}
+		-DCMAKE_C_FLAGS=${uavcan_c_flags}
+		-DCMAKE_INSTALL_PREFIX=${ep_base}/Install
+)
+
+string(TOUPPER ${OS} OS_UPPER)
+
+add_definitions(${uavcan_definitions})
+
 px4_add_module(
 	MODULE modules__uavcan
 	MAIN uavcan
@@ -41,7 +99,6 @@ px4_add_module(
 		# Main
 		uavcan_main.cpp
 		uavcan_servers.cpp
-		uavcan_clock.cpp
 		uavcan_params.c
 
 		# Actuators
@@ -55,43 +112,7 @@ px4_add_module(
 
 	DEPENDS
 		platforms__common
+		libuavcan	
 	)
 
-# TODO convert rest of module.mk
-
-##
-## libuavcan
-##
-#include $(PX4_LIB_DIR)uavcan/libuavcan/include.mk
-## Use the relitive path to keep the genrated files in the BUILD_DIR
-#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_SRC))
-#INCLUDE_DIRS += $(LIBUAVCAN_INC)
-## Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
-## because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
-#override EXTRADEFINES := $(EXTRADEFINES) \
-#-DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
-#-DUAVCAN_NO_ASSERTIONS \
-#-DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
-#-DUAVCAN_MAX_NETWORK_SIZE_HINT=16
-
-##
-## libuavcan drivers for STM32
-##
-#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/stm32/driver/include.mk
-## Use the relitive path to keep the genrated files in the BUILD_DIR
-#SRCS += $(subst  $(PX4_MODULE_SRC),../../,$(LIBUAVCAN_STM32_SRC))
-#INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
-#override EXTRADEFINES := $(EXTRADEFINES) -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=2
-
-##
-## libuavcan drivers for posix
-##
-#include $(PX4_LIB_DIR)uavcan/libuavcan_drivers/posix/include.mk
-#INCLUDE_DIRS += $(LIBUAVCAN_POSIX_INC)
-
-##
-## Invoke DSDL compiler
-##
-#$(info $(shell $(LIBUAVCAN_DSDLC) $(UAVCAN_DSDL_DIR)))
-#INCLUDE_DIRS += dsdlc_generated
 ## vim: set noet ft=cmake fenc=utf-8 ff=unix :