diff --git a/eclipse.cproject b/eclipse.cproject
index c7bec6ea52..0abd2fb7d6 100644
--- a/eclipse.cproject
+++ b/eclipse.cproject
@@ -28,13 +28,20 @@
 								<option id="gnu.cpp.compiler.option.include.paths.1654158476" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
 									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
 									<listOptionValue builtIn="false" value="__cplusplus=1"/>
+									<listOptionValue builtIn="false" value="__EXPORT"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
@@ -42,13 +49,21 @@
 								<option id="gnu.c.compiler.option.include.paths.1309473256" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl/attitude_fw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
 								</option>
 								<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
 									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
 									<listOptionValue builtIn="false" value="__cplusplus=1"/>
+									<listOptionValue builtIn="false" value="__EXPORT"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1650107366" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
 							</tool>
@@ -62,9 +77,16 @@
 							<tool id="cdt.managedbuild.tool.gnu.assembler.base.900091175" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
 								<option id="gnu.both.asm.option.include.paths.2025449581" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/platforms}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl/attitude_fw}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
@@ -88,26 +110,10 @@
 		</configuration>
 	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-	<storageModule moduleId="scannerConfiguration">
-		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139;cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.c.compiler.595284732;cdt.managedbuild.tool.gnu.c.compiler.input.2047539569">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.c.compiler.base.1055476396;cdt.managedbuild.tool.gnu.c.compiler.input.1650107366">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1747549746;cdt.managedbuild.tool.gnu.cpp.compiler.input.576083683">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-	</storageModule>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 		<buildTargets>
 			<target name="px4fmu-v1_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>px4fmu-v1_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -115,7 +121,6 @@
 			</target>
 			<target name="px4fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>px4fmu-v2_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -123,6 +128,7 @@
 			</target>
 			<target name="px4fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>px4fmu-v4_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -130,7 +136,6 @@
 			</target>
 			<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -138,6 +143,7 @@
 			</target>
 			<target name="posix_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>posix_sitl_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -145,6 +151,7 @@
 			</target>
 			<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>check</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -152,7 +159,6 @@
 			</target>
 			<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -160,7 +166,6 @@
 			</target>
 			<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>distclean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -168,6 +173,7 @@
 			</target>
 			<target name="tests" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
@@ -175,12 +181,34 @@
 			</target>
 			<target name="submodulesclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>submodulesclean</buildTarget>
 				<stopOnError>false</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="quick_check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>quick_check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 		</buildTargets>
 	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1747549746;cdt.managedbuild.tool.gnu.cpp.compiler.input.576083683">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139;cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.c.compiler.base.1055476396;cdt.managedbuild.tool.gnu.c.compiler.input.1650107366">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.c.compiler.595284732;cdt.managedbuild.tool.gnu.c.compiler.input.2047539569">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
 </cproject>
diff --git a/eclipse.project b/eclipse.project
index 43fd0f515b..d6a0ce17ff 100644
--- a/eclipse.project
+++ b/eclipse.project
@@ -25,6 +25,11 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
 	<linkedResources>
+		<link>
+			<name>topics_sources</name>
+			<type>2</type>
+			<locationURI>uORB_SRC</locationURI>
+		</link>
 		<link>
 			<name>uORB</name>
 			<type>2</type>
@@ -54,7 +59,11 @@
 	<variableList>
 		<variable>
 			<name>uORB_LOC</name>
-			<value>$%7BPROJECT_LOC%7D/build_posix_sitl_default/src/modules/uORB/topics</value>
+			<value>$%7BPROJECT_LOC%7D/build_posix_sitl_default/src/modules/uORB</value>
+		</variable>
+		<variable>
+			<name>uORB_SRC</name>
+			<value>$%7BPROJECT_LOC%7D/build_posix_sitl_default/topics_sources</value>
 		</variable>
 	</variableList>
 </projectDescription>