diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 59e82a2c1f..ea38903e37 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -171,7 +171,7 @@ typedef struct  {
 
 int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 	int fd;
 #endif
 
@@ -191,7 +191,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 	/* reset all sensors */
 	for (unsigned s = 0; s < max_accel_sens; s++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
 		/* reset all offsets to zero and all scales to one */
 		fd = px4_open(str, 0);
@@ -387,7 +387,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 			return PX4_ERROR;
 		}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 		sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, uorb_index);
 		fd = px4_open(str, 0);
 
@@ -482,7 +482,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
 			struct accel_report report = {};
 			orb_copy(ORB_ID(sensor_accel), worker_data.subs[cur_accel], &report);
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 
 			// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
 			// and match it up with the one from the uORB subscription, because the
@@ -497,7 +497,7 @@ calibrate_return do_accel_calibration_measurements(orb_advert_t *mavlink_log_pub
 				orb_unsubscribe(worker_data.subs[cur_accel]);
 			}
 
-#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
+#else
 
 			// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
 			device_id[cur_accel] = report.device_id;
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index f320a31dea..7fe1f0111b 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -243,7 +243,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 
 		// Reset all offsets to 0 and scales to 1
 		(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 		sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 		int fd = px4_open(str, 0);
 		if (fd >= 0) {
@@ -310,7 +310,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 			struct gyro_report report;
 			orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[cur_gyro], &report);
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 
 			// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
 			// and match it up with the one from the uORB subscription, because the
@@ -323,7 +323,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				orb_unsubscribe(worker_data.gyro_sensor_sub[cur_gyro]);
 			}
 
-#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
+#else
 
 			// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
 			worker_data.device_id[cur_gyro] = report.device_id;
@@ -473,7 +473,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 				(void)sprintf(str, "CAL_GYRO%u_ID", uorb_index);
 				failed |= (PX4_OK != param_set_no_notification(param_find(str), &(worker_data.device_id[uorb_index])));
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_EAGLE) && !defined(__PX4_POSIX_EXCELSIOR) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 				/* apply new scaling and offsets */
 				(void)sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, uorb_index);
 				int fd = px4_open(str, 0);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index a3873e51bd..4767e3a6d9 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -138,7 +138,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 	_last_mag_progress = 0;
 
 	for (unsigned cur_mag = 0; cur_mag < max_mags; cur_mag++) {
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 		// Reset mag id to mag not available
 		(void)sprintf(str, "CAL_MAG%u_ID", cur_mag);
 		result = param_set_no_notification(param_find(str), &(device_ids[cur_mag]));
@@ -193,8 +193,7 @@ int do_mag_calibration(orb_advert_t *mavlink_log_pub)
 
 #endif
 
-		/* for calibration, commander will run on apps, so orb messages are used to get info from dsp */
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 		// Attempt to open mag
 		(void)sprintf(str, "%s%u", MAG_BASE_DEVICE_PATH, cur_mag);
 		int fd = px4_open(str, O_RDONLY);
@@ -598,7 +597,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 				struct mag_report report;
 				orb_copy(ORB_ID(sensor_mag), worker_data.sub_mag[cur_mag], &report);
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 
 				// For NuttX, we get the UNIQUE device ID from the sensor driver via an IOCTL
 				// and match it up with the one from the uORB subscription, because the
@@ -611,7 +610,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 					orb_unsubscribe(worker_data.sub_mag[cur_mag]);
 				}
 
-#elif defined(__PX4_QURT) || defined(__PX4_POSIX_RPI) || defined(__PX4_POSIX_BEBOP)
+#else
 
 				// For the DriverFramework drivers, we fill device ID (this is the first time) by copying one report.
 				device_ids[cur_mag] = report.device_id;
@@ -792,7 +791,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 				mscale.y_scale = 1.0;
 				mscale.z_scale = 1.0;
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 				int fd_mag = -1;
 
 				// Set new scale
@@ -821,7 +820,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 					mscale.y_scale = diag_y[cur_mag];
 					mscale.z_scale = diag_z[cur_mag];
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 
 					if (px4_ioctl(fd_mag, MAGIOCSSCALE, (long unsigned int)&mscale) != PX4_OK) {
 						calibration_log_critical(mavlink_log_pub, CAL_ERROR_APPLY_CAL_MSG, cur_mag);
@@ -831,7 +830,7 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
 #endif
 				}
 
-#if !defined(__PX4_QURT) && !defined(__PX4_POSIX_RPI) && !defined(__PX4_POSIX_BEBOP)
+#ifdef __PX4_NUTTX
 
 				// Mag device no longer needed
 				if (fd_mag >= 0) {