diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ca1287d16..cbec24e59f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -111,6 +111,7 @@ set(package-contact "px4users@googlegroups.com")
 
 # set module path
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake/${OS})
 
 # prefer board implementation module over os implmementation module
 set(board_impl_module px4_impl_${OS}_${BOARD})
diff --git a/cmake/builtin_commands.c.in b/cmake/nuttx/builtin_commands.c.in
similarity index 100%
rename from cmake/builtin_commands.c.in
rename to cmake/nuttx/builtin_commands.c.in
diff --git a/cmake/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
similarity index 99%
rename from cmake/px4_impl_nuttx.cmake
rename to cmake/nuttx/px4_impl_nuttx.cmake
index 8f36855bd9..4e4724b184 100644
--- a/cmake/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -143,7 +143,7 @@ function(px4_nuttx_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/nuttx/builtin_commands.c.in
 		${OUT})
 endfunction()
 
diff --git a/cmake/px4_base.cmake b/cmake/px4_base.cmake
index cf808a8152..888011fe76 100644
--- a/cmake/px4_base.cmake
+++ b/cmake/px4_base.cmake
@@ -610,4 +610,29 @@ function(px4_add_common_flags)
 
 endfunction()
 
+#=============================================================================
+#
+#	px4_mangle_name
+#
+#	Convert a path name to a module name
+#
+#	Usage:
+#		px4_mangle_name(dirname newname)
+#
+#	Input:
+#		dirname					: path to module dir
+#
+#	Output: 
+#		newname					: module name
+#
+#	Example:
+#		px4_mangle_name(${dirpath} mangled_name)
+#		message(STATUS "module name is ${mangled_name}")
+#
+function(px4_mangle_name dirname newname)
+	set(tmp)
+	string(REPLACE "/" "__" tmp ${dirname})
+	set(${newname} ${tmp} PARENT_SCOPE)
+endfunction()
+
 # vim: set noet fenc=utf-8 ff=unix nowrap:
diff --git a/cmake/qurt/builtin_commands.cpp_in b/cmake/qurt/builtin_commands.cpp_in
new file mode 100644
index 0000000000..f4d240d529
--- /dev/null
+++ b/cmake/qurt/builtin_commands.cpp_in
@@ -0,0 +1,84 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+}
+
+void list_builtins(map<string,px4_main_t> &apps)
+{
+	printf("Builtin Commands:\\n");
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		printf("\\t%s\\n", (it->first).c_str());
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
+
diff --git a/cmake/qurt/configs/config-qurt-hil.cmake b/cmake/qurt/configs/config-qurt-hil.cmake
index 6c68043868..694aa8d0ea 100644
--- a/cmake/qurt/configs/config-qurt-hil.cmake
+++ b/cmake/qurt/configs/config-qurt-hil.cmake
@@ -77,7 +77,7 @@ function(px4_set_config_modules out_module_list)
 	#
 	# sources for muorb over fastrpc
 	#
-		modules/muorb/adsp/
+		modules/muorb/adsp
 		)
 	message(STATUS "modules: ${config_module_list}")
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
diff --git a/cmake/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
similarity index 94%
rename from cmake/px4_impl_qurt.cmake
rename to cmake/qurt/px4_impl_qurt.cmake
index 5337840727..1874787f57 100644
--- a/cmake/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -98,13 +98,13 @@ function(px4_qurt_generate_builtin_commands)
 		endforeach()
 		if (MAIN)
 			set(builtin_apps_string
-				"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
 			set(builtin_apps_decl_string
 				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/builtin_commands.cpp_in
 		${OUT})
 endfunction()
 
@@ -226,6 +226,7 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
+	add_custom_target(${OUT})
 endfunction()
 
 #=============================================================================
@@ -236,7 +237,7 @@ endfunction()
 #
 #	Usage:
 #		px4_os_prebuild_targets(
-#			OUT <out-list_of_targets>
+#			OUT_MODULES <module-subdir-list>
 #			BOARD <in-string>
 #			)
 #
@@ -244,16 +245,16 @@ endfunction()
 #		BOARD 		: board
 #
 #	Output:
-#		MODULE_LIST	: the updated module list
+#		OUT_MODULES	: the updated module list
 #
 #	Example:
-#		px4_qurt_add_modules(MODULE_LIST module_list BOARD hil)
+#		px4_qurt_add_modules(module_list "hil")
 #
-function(px4_qurt_add_modules out_modules BOARD)
+function(px4_qurt_add_modules OUT_MODULES BOARD)
 	include(config-qurt-${BOARD})
 	set(config_modules)
 	px4_set_config_modules(config_modules)
-	set(${out_modules} ${out_modules} ${config_modules} PARENT_SCOPE)
+	set(${OUT_MODULES} ${${OUT_MODULES}} ${config_modules} PARENT_SCOPE)
 endfunction()
 
 # vim: set noet fenc=utf-8 ff=unix nowrap:
diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt
index 7a504e9326..a435bdc94d 100644
--- a/src/drivers/CMakeLists.txt
+++ b/src/drivers/CMakeLists.txt
@@ -8,6 +8,7 @@ set(directories
 	./boards/px4io-v1
 	./boards/px4fmu-v1
 	./boards/aerocore
+	./boards/sitl
 	./mpu6000
 	./gimbal
 	./camera_trigger
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index b9b3f37101..fa0720c743 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -1,11 +1,36 @@
-set(module_list)
-px4_qurt_add_modules(module_list ${BOARD})
-message(STATUS "module list: ${module_list}")
+include(px4_base)
 
+set(V_ARCH v5)
+set(HEXAGON_TOOLS_ROOT /opt/6.4.03)
+set(TOOLSLIB 
+	${HEXAGON_TOOLS_ROOT}/dinkumware/lib/${V_ARCH}/G0)
+set(module_dir_list)
+set(module_list)
+px4_qurt_add_modules(module_dir_list ${BOARD})
+message(STATUS "module list: ${module_dir_list}")
+
+foreach(directory ${module_dir_list})
+	message(STATUS "directory: ${directory}")
+	px4_mangle_name(${directory} mangled_name)
+	list(APPEND module_list
+		${mangled_name})
+endforeach()
 px4_qurt_generate_builtin_commands(
-	OUT builtin_commands.c
+	OUT builtin_commands.cpp
 	MODULE_LIST ${module_list})
 
-add_executable(firmware_qurt builtin_commands.c)
+# FIXME @jgoppert - how to work around issues like this?
+# Without changing global variables?
+# Clear -rdynamic flag which fails for hexagon
+set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+
+add_executable(mainapp builtin_commands.cpp)
+target_link_libraries(mainapp
+	-Wl,--whole-archive
+	${module_list}
+	m
+	-Wl,--no-whole-archive
+	-Wl,${TOOLSLIB}/pic/libstdc++.a)
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/muorb/adsp/CMakeLists.txt b/src/modules/muorb/adsp/CMakeLists.txt
index ade682dbfd..185264a85f 100644
--- a/src/modules/muorb/adsp/CMakeLists.txt
+++ b/src/modules/muorb/adsp/CMakeLists.txt
@@ -30,6 +30,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+include_directories("../../uORB")
+
 px4_add_module(
 	MODULE modules__muorb__adsp
 	COMPILE_FLAGS
diff --git a/src/modules/muorb/adsp/px4muorb.cpp b/src/modules/muorb/adsp/px4muorb.cpp
index e6cad0aba3..53318f8e49 100644
--- a/src/modules/muorb/adsp/px4muorb.cpp
+++ b/src/modules/muorb/adsp/px4muorb.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 #include "px4muorb.hpp"
-#include "qurt.h"
+//#include "qurt.h"
 #include "uORBFastRpcChannel.hpp"
 #include "uORBManager.hpp"
 
@@ -44,12 +44,11 @@
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
 
-#include "HAP_power.h"
-
 #define _ENABLE_MUORB 1
 
 extern "C" {
 int dspal_main(int argc, const char *argv[]);
+void HAP_power_request(int a, int b, int c);
 };
 
 
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 8ec9b1a444..a9d9db9748 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -47,6 +47,9 @@
 
 #ifdef __PX4_QURT
 #define dprintf(...)
+#define ddeclare(...)
+#else
+#define ddeclare(...) __VA_ARGS__
 #endif
 
 /**
@@ -417,8 +420,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 		break;
 
 	case PC_ELAPSED: {
-			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-			float rms = sqrtf(pce->M2 / (pce->event_count - 1));
+			ddeclare(struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;)
+			ddeclare(float rms = sqrtf(pce->M2 / (pce->event_count - 1));)
 			dprintf(fd, "%s: %llu events, %llu overruns, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
 				(unsigned long long)pce->event_count,
@@ -432,8 +435,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 		}
 
 	case PC_INTERVAL: {
-			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-			float rms = sqrtf(pci->M2 / (pci->event_count - 1));
+			ddeclare(struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;)
+			ddeclare(float rms = sqrtf(pci->M2 / (pci->event_count - 1));)
 
 			dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index a8208313e6..e6540c20d2 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -70,33 +70,33 @@ static inline void do_nothing(int level, ...)
 /****************************************************************************
  * Messages that should never be filtered or compiled out
  ****************************************************************************/
-#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #if defined(TRACE_BUILD)
 /****************************************************************************
  * Extremely Verbose settings for a Trace build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(DEBUG_BUILD)
 /****************************************************************************
  * Verbose settings for a Debug build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__,  FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(RELEASE_BUILD)
 /****************************************************************************
  * Non-verbose settings for a Release build to minimize strings in build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
@@ -104,14 +104,14 @@ static inline void do_nothing(int level, ...)
 /****************************************************************************
  * Medium verbose settings for a default build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
 #endif
-#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
-#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
+#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
+#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
 
 #else
 
diff --git a/src/platforms/qurt/px4_layer/qurt_stubs.c b/src/platforms/qurt/px4_layer/qurt_stubs.c
index 937393bc65..e8c08f2d14 100644
--- a/src/platforms/qurt/px4_layer/qurt_stubs.c
+++ b/src/platforms/qurt/px4_layer/qurt_stubs.c
@@ -60,6 +60,7 @@ void _Parse_csd( void )
    block_indefinite(); 
 }
 
+#if 0
 void _Locksyslock( int x )
 {
    PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
@@ -70,7 +71,7 @@ void _Unlocksyslock( int x )
 {
    PX4_WARN( "Error: Calling unresolved symbol stub[%s]", __FUNCTION__ );
    block_indefinite(); 
-}
+#endif}
 
 void _Valbytes( void )
 {