diff --git a/CMakeLists.txt b/CMakeLists.txt
index 955cb55e2e..d4dd98d959 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,7 +99,7 @@
 #
 #=============================================================================
 
-if ("${CMAKE_VERSION}" VERSION_LESS 3.1.0)
+if (${CMAKE_VERSION} VERSION_LESS 3.1.0)
 	message("Not a valid CMake version")
 	message("On Ubuntu >= 16.04, install or upgrade via:")
 	message("	sudo apt-get install cmake")
@@ -158,7 +158,7 @@ if (NOT CMAKE_BUILD_TYPE)
 	if (${OS} STREQUAL "nuttx")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	elseif (${OS} STREQUAL "qurt")
-		set(PX4_BUILD_TYPE "MinSizeRel")
+		set(PX4_BUILD_TYPE "Debug")
 	elseif (${OS} STREQUAL "bebop")
 		set(PX4_BUILD_TYPE "MinSizeRel")
 	else()
@@ -371,7 +371,7 @@ link_directories(${link_dirs})
 add_definitions(${definitions})
 
 #=============================================================================
-# message, parameter, and airframe generation
+# message, and airframe generation
 #
 
 include(common/px4_metadata)
@@ -384,13 +384,7 @@ px4_generate_messages(TARGET msg_gen
 	DEPENDS git_genmsg git_gencpp prebuild_targets
 	)
 
-px4_generate_parameters_xml(OUT parameters.xml 
-	BOARD ${BOARD}
-	MODULES ${config_module_list}
-	OVERRIDES ${PARAM_DEFAULT_OVERRIDES})
-
-px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
-add_custom_target(xml_gen DEPENDS parameters.xml airframes.xml)
+px4_generate_airframes_xml(BOARD ${BOARD})
 
 #=============================================================================
 # DriverFramework
diff --git a/Makefile b/Makefile
index 09db2fa2c7..8258c5e334 100644
--- a/Makefile
+++ b/Makefile
@@ -307,9 +307,8 @@ format:
 # --------------------------------------------------------------------
 .PHONY: unittest run_tests_posix tests tests_coverage
 
-unittest: posix_sitl_default
-	$(call cmake-build,unittest,$(SRC_DIR)/unittests)
-	@(cd build_unittest && ctest -j2 --output-on-failure)
+unittest:
+	echo "UNIT TEST DISABLED"
 
 run_tests_posix:
 	$(MAKE) --no-print-directory posix_sitl_default test_results
diff --git a/Tools/px4params/srcscanner.py b/Tools/px4params/srcscanner.py
index eb93480848..addea845ee 100644
--- a/Tools/px4params/srcscanner.py
+++ b/Tools/px4params/srcscanner.py
@@ -14,13 +14,19 @@ class SourceScanner(object):
         Scans provided path and passes all found contents to the parser using
         parser.Parse method.
         """
-        extensions1 = tuple([".c"])
+        extensions1 = tuple([".h"])
+        extensions2 = tuple([".c"])
         for srcdir in srcdirs:
             for filename in os.listdir(srcdir):
                 if filename.endswith(extensions1):
                     path = os.path.join(srcdir, filename)
                     if not self.ScanFile(path, parser):
                         return False
+            for filename in os.listdir(srcdir):
+                if filename.endswith(extensions2):
+                    path = os.path.join(srcdir, filename)
+                    if not self.ScanFile(path, parser):
+                        return False
         return True
 
     def ScanFile(self, path, parser):
diff --git a/Tools/px_generate_params.py b/Tools/px_generate_params.py
index 770469ac72..103e0c3bce 100755
--- a/Tools/px_generate_params.py
+++ b/Tools/px_generate_params.py
@@ -9,13 +9,12 @@ import argparse
 from jinja2 import Environment, FileSystemLoader
 import os
 
-def generate(xml_file, dest='.', modules=None):
+def generate(xml_file, dest='.'):
     """
     Generate px4 param source from xml.
 
     @param xml_file: input parameter xml file
     @param dest: Destination directory for generated files
-    @param modules: The list of px4 modules to search for params.
         None means to scan everything.
     """
     # pylint: disable=broad-except
@@ -26,9 +25,6 @@ def generate(xml_file, dest='.', modules=None):
     for group in root:
         if group.tag == "group" and "no_code_generation" not in group.attrib:
             for param in group:
-                scope_ = param.find('scope').text
-                if (modules is not None) and (not scope_ in modules):
-                    continue
                 params.append(param)
 
     params = sorted(params, key=lambda name: name.attrib["name"])
@@ -55,9 +51,8 @@ def generate(xml_file, dest='.', modules=None):
 if __name__ == "__main__":
     arg_parser = argparse.ArgumentParser()
     arg_parser.add_argument("--xml", help="parameter xml file")
-    arg_parser.add_argument("--modules", help="px4 module list", default=None)
     arg_parser.add_argument("--dest", help="destination path", default=os.path.curdir)
     args = arg_parser.parse_args()
-    generate(xml_file=args.xml, modules=args.modules, dest=args.dest)
+    generate(xml_file=args.xml, dest=args.dest)
 
 #  vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :
diff --git a/Tools/px_generate_xml.sh b/Tools/px_generate_xml.sh
deleted file mode 100755
index 65f0c95dab..0000000000
--- a/Tools/px_generate_xml.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-#!/bin/sh
-python px_process_params.py --xml
diff --git a/Tools/px_process_params.py b/Tools/px_process_params.py
index 841edebb48..76eb02b4be 100755
--- a/Tools/px_process_params.py
+++ b/Tools/px_process_params.py
@@ -77,10 +77,10 @@ def main():
                         help="Inject additional param XML file"
                              " (default FILENAME: ../Tools/parameters_injected.xml)")
     parser.add_argument("-b", "--board",
-                         nargs='?',
-                         const="",
-                         metavar="BOARD",
-                         help="Board to create xml parameter xml for")
+                        nargs='?',
+                        const="",
+                        metavar="BOARD",
+                        help="Board to create xml parameter xml for")
     parser.add_argument("-m", "--markdown",
                         nargs='?',
                         const="parameters.md",
@@ -118,13 +118,14 @@ def main():
                         metavar="SUMMARY",
                         default="Automagically updated parameter documentation from code.",
                         help="DokuWiki page edit summary")
-    parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
+    parser.add_argument('-v', '--verbose',
+                        action='store_true',
+                        help="verbose output")
     parser.add_argument("-o", "--overrides",
                         default="{}",
                         metavar="OVERRIDES",
                         help="a dict of overrides in the form of a json string")
 
-
     args = parser.parse_args()
 
     # Check for valid command
@@ -138,8 +139,9 @@ def main():
     parser = srcparser.SourceParser()
 
     # Scan directories, and parse the files
-    if (args.verbose): print("Scanning source path " + str(args.src_path))
-    
+    if (args.verbose):
+        print("Scanning source path " + str(args.src_path))
+
     if not scanner.ScanDir(args.src_path, parser):
         sys.exit(1)
 
@@ -162,7 +164,8 @@ def main():
 
     # Output to XML file
     if args.xml:
-        if args.verbose: print("Creating XML file " + args.xml)
+        if args.verbose:
+            print("Creating XML file " + args.xml)
         cur_dir = os.path.dirname(os.path.realpath(__file__))
         out = xmlout.XMLOutput(param_groups, args.board,
                                os.path.join(cur_dir, args.inject_xml))
diff --git a/Tools/px_update_wiki.sh b/Tools/px_update_wiki.sh
deleted file mode 100755
index d66bb9e10b..0000000000
--- a/Tools/px_update_wiki.sh
+++ /dev/null
@@ -1,2 +0,0 @@
-# Remember to set the XMLRPCUSER and XMLRPCPASS environment variables
-python px_process_params.py --wiki-update
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 4ecd019182..450b1ec10e 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -212,7 +212,7 @@ function(px4_add_module)
 	# default stack max to stack main
 	if(NOT STACK_MAIN AND STACK)
 		set(STACK_MAIN ${STACK})
-		message(AUTHOR_WARNING "STACK deprecated, USE STACK_MAIN instead!!!!!!!!!!!!")
+		message(AUTHOR_WARNING "STACK deprecated, USE STACK_MAIN instead!")
 	endif()
 
 	foreach(property MAIN STACK_MAIN PRIORITY)
@@ -245,7 +245,7 @@ function(px4_add_module)
 	endif()
 
 	if(INCLUDES)
-		target_include_directories(${MODULE} ${INCLUDES})
+		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
 	endif()
 
 	if(DEPENDS)
diff --git a/cmake/common/px4_metadata.cmake b/cmake/common/px4_metadata.cmake
index f5dcc224da..ae8ffa7a36 100644
--- a/cmake/common/px4_metadata.cmake
+++ b/cmake/common/px4_metadata.cmake
@@ -38,8 +38,6 @@
 # 	utility functions
 #
 #		* px4_generate_messages
-#		* px4_generate_parameters_xml
-#		* px4_generate_parameters_source
 #		* px4_generate_airframes_xml
 #
 
@@ -167,116 +165,6 @@ function(px4_generate_messages)
     endif()
 endfunction()
 
-#=============================================================================
-#
-#	px4_generate_parameters_xml
-#
-#	Generates a parameters.xml file.
-#
-#	Usage:
-#		px4_generate_parameters_xml(OUT <param-xml_file>)
-#
-#	Input:
-#		BOARD : the board
-#		MODULES : a list of px4 modules used to limit scope of the paramaters
-#		OVERRIDES : A json dict with param names as keys and param default
-# 			overrides as values
-#
-#	Output:
-#		OUT	: the generated xml file
-#
-#	Example:
-#		px4_generate_parameters_xml(OUT parameters.xml)
-#
-function(px4_generate_parameters_xml)
-	px4_parse_function_args(
-		NAME px4_generate_parameters_xml
-		ONE_VALUE OUT BOARD OVERRIDES
-		MULTI_VALUE MODULES
-		REQUIRED MODULES OUT BOARD
-		ARGN ${ARGN})
-	set(path ${PX4_SOURCE_DIR}/src)
-	file(GLOB_RECURSE param_src_files
-		${PX4_SOURCE_DIR}/src/*params.c
-		)
-	if (NOT OVERRIDES)
-		set(OVERRIDES "{}")
-	endif()
-
-	# get full path for each module
-	set(module_list)
-	if(DISABLE_PARAMS_MODULE_SCOPING)
-		set(module_list ${path})
-	else()
-		foreach(module ${MODULES})
-			list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
-		endforeach()
-	endif()
-
-	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
-			-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
-			--board CONFIG_ARCH_${BOARD} --xml --inject-xml
-			--overrides ${OVERRIDES}
-		DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
-			${PX4_SOURCE_DIR}/Tools/px_generate_params.py
-	)
-
-	set(${OUT} ${${OUT}} PARENT_SCOPE)
-endfunction()
-
-#=============================================================================
-#
-#	px4_generate_parameters_source
-#
-#	Generates a source file with all parameters.
-#
-#	Usage:
-#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file> MODULES px4 module list)
-#
-#	Input:
-#		XML   : the parameters.xml file
-#		MODULES : a list of px4 modules used to limit scope of the paramaters
-#		DEPS  : target dependencies
-#
-#	Output:
-#		OUT	: the generated source files
-#
-#	Example:
-#		px4_generate_parameters_source(OUT param_files XML parameters.xml MODULES lib/controllib modules/ekf2)
-#
-function(px4_generate_parameters_source)
-	px4_parse_function_args(
-		NAME px4_generate_parameters_source
-		ONE_VALUE OUT XML DEPS
-		MULTI_VALUE MODULES
-		REQUIRED MODULES OUT XML
-		ARGN ${ARGN})
-
-	set(generated_files
-		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
-		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.c)
-
-	set_source_files_properties(${generated_files} PROPERTIES GENERATED TRUE)
-
-	if(DISABLE_PARAMS_MODULE_SCOPING)
-		add_custom_command(OUTPUT ${generated_files}
-			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
-				--xml ${XML} --dest ${CMAKE_CURRENT_BINARY_DIR}
-			DEPENDS ${XML} ${DEPS}
-		)
-	else()
-		px4_join(OUT module_list LIST ${MODULES} GLUE ",")
-		add_custom_command(OUTPUT ${generated_files}
-			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
-				--xml ${XML} --modules ${module_list} --dest ${CMAKE_CURRENT_BINARY_DIR}
-			DEPENDS ${XML} ${DEPS}
-		)
-	endif()
-
-	set(${OUT} ${generated_files} PARENT_SCOPE)
-endfunction()
-
 #=============================================================================
 #
 #	px4_generate_airframes_xml
@@ -299,14 +187,15 @@ endfunction()
 function(px4_generate_airframes_xml)
 	px4_parse_function_args(
 		NAME px4_generate_airframes_xml
-		ONE_VALUE OUT BOARD
-		REQUIRED OUT BOARD
+		ONE_VALUE BOARD
+		REQUIRED BOARD
 		ARGN ${ARGN})
-	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
-	add_custom_command(OUTPUT ${OUT}
-		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
+
+	add_custom_command(OUTPUT ${PX4_SOURCE_DIR}/airframes.xml
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
+		DEPENDS ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		)
-	set(${OUT} ${${OUT}} PARENT_SCOPE)
+	add_custom_target(airframes_xml DEPENDS ${PX4_SOURCE_DIR}/airframes.xml)
 endfunction()
diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index ea73e86ed1..bf8e8bae0d 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -103,7 +103,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index 5bdb509015..af13fa6f9a 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -83,7 +83,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index c60e67f4dc..8fc302dfb8 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -125,7 +125,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index b6886f803f..3d8fcb339e 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -75,7 +75,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_esc35-v1_default.cmake b/cmake/configs/nuttx_esc35-v1_default.cmake
index 038e1366ac..63eca8132e 100644
--- a/cmake/configs/nuttx_esc35-v1_default.cmake
+++ b/cmake/configs/nuttx_esc35-v1_default.cmake
@@ -64,7 +64,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
 	lib/version
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index a7d51b4ec4..efd41d3d39 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -127,7 +127,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
index 98be8fc85d..59f352a2eb 100644
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -29,7 +29,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4cannode-v1_default.cmake b/cmake/configs/nuttx_px4cannode-v1_default.cmake
index 5049a8eca8..3df9a3ec90 100644
--- a/cmake/configs/nuttx_px4cannode-v1_default.cmake
+++ b/cmake/configs/nuttx_px4cannode-v1_default.cmake
@@ -55,7 +55,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
 	lib/version
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/cmake/configs/nuttx_px4esc-v1_default.cmake
index d4ad4e0439..6c146318d2 100644
--- a/cmake/configs/nuttx_px4esc-v1_default.cmake
+++ b/cmake/configs/nuttx_px4esc-v1_default.cmake
@@ -64,7 +64,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	lib/version
 
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index 739dc6ca60..00ac027a6a 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -98,7 +98,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 5ed26e5a30..cba2cdddda 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -129,7 +129,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index db89ab552d..cb7df79efd 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -123,7 +123,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index d47e21be70..716b0acb4e 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -134,7 +134,7 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 5d1a2939cd..de2238559a 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -133,7 +133,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 2775814cb5..24dff87018 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -135,7 +135,7 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 15ee985b38..e97a0eff5d 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -133,7 +133,7 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index f2b4d15c25..3a6017dab4 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -111,7 +111,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/nuttx_s2740vc-v1_default.cmake b/cmake/configs/nuttx_s2740vc-v1_default.cmake
index 7823cf1bdc..596a15bad0 100644
--- a/cmake/configs/nuttx_s2740vc-v1_default.cmake
+++ b/cmake/configs/nuttx_s2740vc-v1_default.cmake
@@ -55,7 +55,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	lib/version
 
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index 0c779adc0a..f4334d26a9 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -79,7 +79,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 7b2b5f4f0d..a65ed2da79 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -62,7 +62,7 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index ceda98b0fe..fc08ae92ee 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -28,7 +28,7 @@ set(config_module_list
 
 	modules/mavlink
 
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
 	modules/sensors
diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake
index 21979cbc01..1a5e47bc63 100644
--- a/cmake/configs/posix_ocpoc_cross.cmake
+++ b/cmake/configs/posix_ocpoc_cross.cmake
@@ -56,7 +56,7 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index 3dca20173b..9a6e143e68 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -61,7 +61,7 @@ set(config_module_list
 	modules/sdlog2
 	modules/logger
 	modules/commander
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index 256bb0968e..3a0969929b 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -52,7 +52,7 @@ set(config_module_list
 	modules/mc_pos_control
 	modules/mc_att_control
 
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index 3185da6800..d6685e2123 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -44,7 +44,7 @@ set(config_module_list
 	modules/mc_pos_control
 	modules/mc_att_control
 
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index c7dd8ef2a5..77c1471d09 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -99,7 +99,7 @@ set(config_module_list
 	# Library modules
 	#
 	modules/dataman
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index a6a3d23d0a..a1878ab068 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -12,7 +12,7 @@ set(config_module_list
 	systemcmds/ver
 	systemcmds/perf
 	modules/uORB
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/ekf2
 	modules/ekf2_replay
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index 33c43356da..f8fd30f33b 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -31,7 +31,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
 
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 3736c79a15..bc9bfbc124 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -52,7 +52,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 3bb2dfd561..7f34764a32 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -31,7 +31,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/uORB
 
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index 78a059d14f..c046420a6e 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -31,7 +31,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index a4d4d2bc33..09a6538847 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -57,7 +57,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index 172289a8ad..2fbd8c2946 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -62,7 +62,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index 6ab749204b..24e0da9e82 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -58,7 +58,7 @@ set(config_module_list
 	#
 	# Library modules
 	#
-	modules/param
+	modules/systemlib/param
 	modules/systemlib
 	modules/systemlib/mixer
 	modules/uORB
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index abaf22e225..562cc6c984 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -81,17 +81,19 @@ function(px4_nuttx_add_firmware)
 		ARGN ${ARGN})
 
 	set(extra_args)
-
+	set(dependencies)
 	if (PARAM_XML)
 		list(APPEND extra_args
 			--parameter_xml ${PARAM_XML}
 			)
+		list(APPEND dependencies parameters_xml)
 	endif()
 
 	if (AIRFRAMES_XML)
 		list(APPEND extra_args
 			--airframe_xml ${AIRFRAMES_XML}
 			)
+		list(APPEND dependencies airframes_xml)
 	endif()
 
 	add_custom_command(OUTPUT ${OUT} ${EXE}.bin
@@ -101,7 +103,7 @@ function(px4_nuttx_add_firmware)
 			--git_identity ${PX4_SOURCE_DIR}
 			${extra_args}
 			--image ${EXE}.bin > ${OUT}
-		DEPENDS ${EXE}
+		DEPENDS ${EXE} ${dependencies}
 		)
 	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
 endfunction()
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index c7cff74d5e..8186eaf8fe 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -95,10 +95,8 @@ function(px4_qurt_generate_builtin_commands)
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in
-		${OUT}.cpp)
-	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in
-		${OUT}.h)
+	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.cpp.in ${OUT}.cpp)
+	configure_file(${PX4_SOURCE_DIR}/src/platforms/apps.h.in ${OUT}.h)
 endfunction()
 
 #=============================================================================
@@ -181,8 +179,8 @@ function(px4_os_add_flags)
                 )
 
 	# Add the toolchain specific flags
-        set(added_cflags -O0)
-        set(added_cxx_flags -O0)
+        set(added_cflags)
+        set(added_cxx_flags)
 
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index 31127b8b04..3909ecb53d 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -34,10 +34,10 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 		-Wl,--end-group
 		)
 else()
-	message("module_libraries = ${module_libraries}")
-	message("target_libraries = ${target_libraries}")
-	message("df_driver_libs = ${df_driver_libs}")
-	message("module_external_libraries = ${module_external_libraries}")
+	#message("module_libraries = ${module_libraries}")
+	#message("target_libraries = ${target_libraries}")
+	#message("df_driver_libs = ${df_driver_libs}")
+	#message("module_external_libraries = ${module_external_libraries}")
 	# Generate the DSP lib and stubs but not the apps side executable
 	# The Apps side executable is generated via the posix_eagle_xxxx target
 	QURT_LIB(LIB_NAME px4
diff --git a/src/modules/param/CMakeLists.txt b/src/modules/param/CMakeLists.txt
deleted file mode 100644
index 8882af7375..0000000000
--- a/src/modules/param/CMakeLists.txt
+++ /dev/null
@@ -1,49 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-px4_generate_parameters_source(OUT param_files
-	XML ${PX4_BINARY_DIR}/parameters.xml
-	MODULES ${config_module_list}
-	DEPS xml_gen
-	)
-
-px4_add_module(
-	MODULE modules__param
-	COMPILE_FLAGS
-	SRCS ${param_files}
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 6aa1e53c64..938024a8f1 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -31,9 +31,6 @@
 #
 ############################################################################
 
-# for generated files
-include_directories(${PX4_BINARY_DIR}/src/modules/param)
-
 set(SRCS
 	perf_counter.c
 	conversions.c
@@ -55,19 +52,16 @@ if(${OS} STREQUAL "nuttx")
 	list(APPEND SRCS
 		err.c
 		printload.c
-		param/param.c
 		flashparams/flashparams.c
 		flashparams/flashfs.c
 		up_cxxinitialize.c
 		)
 elseif ("${CONFIG_SHMEM}" STREQUAL "1")
 	list(APPEND SRCS
-		param/param_shmem.c
 		print_load_posix.c
 		)
 else()
 	list(APPEND SRCS
-		param/param.c
 		print_load_posix.c
 		)
 endif()
@@ -85,6 +79,5 @@ px4_add_module(
 	SRCS ${SRCS}
 	DEPENDS
 		platforms__common
-		modules__param
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/systemlib/flashparams/flashparams.c b/src/modules/systemlib/flashparams/flashparams.c
index bea2327656..5f362084c3 100644
--- a/src/modules/systemlib/flashparams/flashparams.c
+++ b/src/modules/systemlib/flashparams/flashparams.c
@@ -341,8 +341,6 @@ int flash_param_save(void)
 	return param_export_internal(false);
 }
 
-
-
 int flash_param_load(void)
 {
 	param_reset_all();
diff --git a/src/modules/systemlib/param/CMakeLists.txt b/src/modules/systemlib/param/CMakeLists.txt
new file mode 100644
index 0000000000..1361b109b2
--- /dev/null
+++ b/src/modules/systemlib/param/CMakeLists.txt
@@ -0,0 +1,101 @@
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+set(SRCS)
+if ("${CONFIG_SHMEM}" STREQUAL "1")
+	message(STATUS "parameters shared memory enabled")
+	list(APPEND SRCS
+		param_shmem.c
+		)
+else()
+	list(APPEND SRCS
+		param.c
+		)
+endif()
+
+if (NOT PARAM_DEFAULT_OVERRIDES)
+	set(PARAM_DEFAULT_OVERRIDES "{}")
+endif()
+
+# get full path for each module
+set(module_list)
+if (DISABLE_PARAMS_MODULE_SCOPING)
+	# search all directories with .c files (potentially containing parameters)
+	file(GLOB_RECURSE new_list ${PX4_SOURCE_DIR}/src/*.c)
+	foreach(file_path ${new_list})
+		get_filename_component(dir_path ${file_path} PATH)
+		list(APPEND module_list "${dir_path}")
+	endforeach()
+	list(REMOVE_DUPLICATES module_list)
+else()
+	foreach(module ${config_module_list})
+		list(APPEND module_list ${PX4_SOURCE_DIR}/src/${module})
+	endforeach()
+endif()
+
+set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
+file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c)
+add_custom_command(OUTPUT ${parameters_xml}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
+		-s ${module_list} ${EXTERNAL_MODULES_LOCATION}
+		--board CONFIG_ARCH_${BOARD} --xml --inject-xml
+		--overrides ${PARAM_DEFAULT_OVERRIDES}
+	DEPENDS ${param_src_files} ${PX4_SOURCE_DIR}/Tools/px_process_params.py
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+)
+add_custom_target(parameters_xml DEPENDS ${parameters_xml})
+
+# generate px4_parameters.c and px4_parameters.h
+add_custom_command(OUTPUT px4_parameters.c px4_parameters.h
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_generate_params.py
+		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
+	DEPENDS
+		${parameters_xml}
+		${PX4_SOURCE_DIR}/Tools/px_generate_params.py
+		${PX4_SOURCE_DIR}/Tools/templates/px4_parameters.c.jinja
+		${PX4_SOURCE_DIR}/Tools/templates/px4_parameters.h.jinja
+	)
+set_source_files_properties(px4_parameters.c PROPERTIES GENERATED TRUE)
+
+px4_add_module(
+	MODULE modules__systemlib__param
+	COMPILE_FLAGS
+	INCLUDES
+		${CMAKE_CURRENT_BINARY_DIR}
+	SRCS
+		${SRCS}
+		px4_parameters.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/systemlib/param/param.c b/src/modules/systemlib/param/param.c
index 3403d3aedc..ec075aa71b 100644
--- a/src/modules/systemlib/param/param.c
+++ b/src/modules/systemlib/param/param.c
@@ -64,7 +64,7 @@
 #include "systemlib/uthash/utarray.h"
 #include "systemlib/bson/tinybson.h"
 
-//#define PARAM_NO_ORB ///< if defined, avoid uorb depenency. This disables publication of parameter_update on param change
+//#define PARAM_NO_ORB ///< if defined, avoid uorb dependency. This disables publication of parameter_update on param change
 //#define PARAM_NO_AUTOSAVE ///< if defined, do not autosave (avoids LP work queue dependency)
 
 #if !defined(PARAM_NO_ORB)