diff --git a/cmake/px4_impl_qurt.cmake b/cmake/px4_impl_qurt.cmake
index 5337840727..ebfdc9f45b 100644
--- a/cmake/px4_impl_qurt.cmake
+++ b/cmake/px4_impl_qurt.cmake
@@ -236,7 +236,7 @@ endfunction()
 #
 #	Usage:
 #		px4_os_prebuild_targets(
-#			OUT <out-list_of_targets>
+#			OUT_MODULES <module-subdir-list>
 #			BOARD <in-string>
 #			)
 #
@@ -244,16 +244,16 @@ 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/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} ${config_module_list} PARENT_SCOPE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index e69837558c..1bc4e961fb 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,3 +1,6 @@
+#=============================================================================
+# module subdirectories, need to include first
+#
 add_subdirectory(./lib)
 add_subdirectory(./drivers)
 add_subdirectory(./platforms)
@@ -5,5 +8,77 @@ add_subdirectory(./systemcmds)
 add_subdirectory(./examples)
 add_subdirectory(./modules)
 add_subdirectory(./firmware)
+#=============================================================================
+# executable
+#
+
+if (${OS} STREQUAL "nuttx")
+
+	# a list of modules that will be linked to main
+	set(module_list)
+
+	if (${LABEL} STREQUAL "simple")
+		list(APPEND module_list
+			drivers__led
+			drivers__device
+			platforms__common
+			modules__systemlib
+			modules__uORB
+			examples__px4_simple_app
+			lib__mathlib__math__filter
+			lib__conversion
+		)
+	endif()
+
+	if (${LABEL} STREQUAL "simple")
+		list(APPEND module_list ${module_list_simple})
+	endif()
+
+	list(APPEND module_list
+		platforms__nuttx
+		platforms__nuttx__px4_layer
+		drivers__boards__px4fmu-v2
+		drivers__stm32
+	)
+
+	px4_nuttx_generate_builtin_commands(
+		OUT builtin_commands.c
+		MODULE_LIST ${module_list})
+
+	px4_nuttx_generate_romfs(OUT romfs.o
+		ROOT ROMFS/px4fmu_common)
+
+	# add executable
+	add_executable(main builtin_commands.c romfs.o)
+	set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(main_link_flags
+		"-T${nuttx_export_dir}/build/ld.script"
+		"-Wl,-Map=${CMAKE_BINARY_DIR}/main.map"
+		)
+	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+	set_target_properties(main PROPERTIES LINK_FLAGS ${main_link_flags})
+
+	target_link_libraries(main
+		-Wl,--start-group
+		${module_list}
+		apps nuttx nosys m gcc
+		-Wl,--end-group)
+
+	px4_nuttx_add_firmware(OUT ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4
+		EXE ${CMAKE_CURRENT_BINARY_DIR}/main)
+
+	px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
+		BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
+
+elseif(${OS} STREQUAL "qurt")
+	set(module_list)
+	px4_qurt_add_modules(module_list ${BOARD})
+	message(STATUS "module list: ${module_list}")
+
+	foreach(directory ${module_list})
+		message(STATUS "directory: ${directory}")
+        	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
+	endforeach()
+endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :