diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 9292c68182..0e6c4300fb 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -2,12 +2,18 @@
     "configurations": [
         {
             "name": "PX4",
-            "includePath": [
-                "${workspaceFolder}/**"
-            ],
-            "defines": [],
-            "macFrameworkPath": [],
             "configurationProvider": "ms-vscode.cmake-tools",
+            "compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
+            "includePath": [
+                ".",
+                "${workspaceFolder}/platforms/common",
+                "${workspaceFolder}/platforms/common/include",
+                "${workspaceFolder}/src",
+                "${workspaceFolder}/src/include",
+                "${workspaceFolder}/src/lib",
+                "${workspaceFolder}/src/lib/matrix",
+                "${workspaceFolder}/src/modules"
+            ],
             "cppStandard": "c++14",
             "cStandard": "c11"
         }
diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml
index 9db3e448f4..300dd76dcf 100644
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@@ -6,6 +6,16 @@ CONFIG:
       buildType: RelWithDebInfo
       settings:
         CONFIG: px4_sitl_default
+    px4_sitl_asan:
+      short: px4_sitl (AddressSanitizer)
+      buildType: AddressSanitizer
+      settings:
+        CONFIG: px4_sitl_default
+    px4_sitl_ubsan:
+      short: px4_sitl (UndefinedBehaviorSanitizer)
+      buildType: UndefinedBehaviorSanitizer
+      settings:
+        CONFIG: px4_sitl_default
     px4_sitl_replay:
       short: px4_sitl_replay
       buildType: RelWithDebInfo
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f8ce7d827b..141fadb0ed 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -5,7 +5,9 @@
         "breadcrumbs.enabled": true,
         "C_Cpp.autoAddFileAssociations": false,
         "C_Cpp.clang_format_fallbackStyle": "none",
+        "C_Cpp.configurationWarnings": "Disabled",
         "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
+        "C_Cpp.default.compileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
         "C_Cpp.default.cppStandard": "c++14",
         "C_Cpp.default.cStandard": "c11",
         "C_Cpp.formatting": "Disabled",
@@ -16,8 +18,10 @@
         "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
         "cmake.buildTask": true,
         "cmake.configureOnOpen": true,
+        "cmake.copyCompileCommands": "${workspaceFolder}/.vscode/compile_commands.json",
         "cmake.ctest.parallelJobs": 1,
-        "cmake.skipConfigureIfCachePresent": true,
+        "cmake.ignoreKitEnv": true,
+        "cmake.skipConfigureIfCachePresent": false,
         "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
         "cmakeExplorer.parallelJobs": 1,
         "cmakeExplorer.suiteDelimiter": "-",
diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
index d718359f41..307a8b2b24 100644
--- a/cmake/px4_add_board.cmake
+++ b/cmake/px4_add_board.cmake
@@ -210,7 +210,6 @@ function(px4_add_board)
 	foreach(metadata ${EMBEDDED_METADATA})
 		if(${metadata} STREQUAL "parameters")
 			list(APPEND romfs_extra_files ${PX4_BINARY_DIR}/params.json.xz)
-			list(APPEND romfs_extra_dependencies parameters_xml)
 		else()
 			message(FATAL_ERROR "invalid value for EMBEDDED_METADATA: ${metadata}")
 		endif()
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index b66c6e41b5..ef1e62abce 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -261,6 +261,18 @@ endif()
 set(msg_files ${msg_files} PARENT_SCOPE)
 
 # Generate uORB headers
+execute_process(
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--headers
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${msg_out_path}
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
+		-q
+		${added_arguments}
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+)
 add_custom_command(OUTPUT ${uorb_headers}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
 		--headers
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 93c34ffc80..c966939d1f 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -166,7 +166,7 @@ add_custom_command(OUTPUT ${PX4_BINARY_OUTPUT}
 )
 
 # create .px4 with parameter and airframe metadata
-if (TARGET parameters_xml AND TARGET airframes_xml)
+if(TARGET airframes_xml)
 
 	string(REPLACE ".elf" ".px4" fw_package ${PX4_BINARY_DIR}/${FW_NAME})
 
@@ -182,7 +182,6 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 		DEPENDS
 			${PX4_BINARY_DIR}/${PX4_BOARD}.bin
 			airframes_xml
-			parameters_xml
 		COMMENT "Creating ${fw_package}"
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		)
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 5ae550bb30..76a2aae447 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -202,6 +202,7 @@ else()
 endif()
 
 # context
+execute_process(COMMAND make --no-print-directory --quiet pass1dep WORKING_DIRECTORY ${NUTTX_DIR} OUTPUT_QUIET)
 add_custom_command(
 	OUTPUT
 		${NUTTX_DIR}/include/nuttx/config.h
diff --git a/src/drivers/adc/ads1115/CMakeLists.txt b/src/drivers/adc/ads1115/CMakeLists.txt
index d65265709d..6e69594d8d 100644
--- a/src/drivers/adc/ads1115/CMakeLists.txt
+++ b/src/drivers/adc/ads1115/CMakeLists.txt
@@ -37,5 +37,6 @@ px4_add_module(
 	SRCS
 		ads1115_main.cpp
 		ADS1115.cpp
+		ADS1115.h
 	DEPENDS
-	)
\ No newline at end of file
+	)
diff --git a/src/drivers/barometer/bmp388/CMakeLists.txt b/src/drivers/barometer/bmp388/CMakeLists.txt
index 35474254de..6d1c55d003 100644
--- a/src/drivers/barometer/bmp388/CMakeLists.txt
+++ b/src/drivers/barometer/bmp388/CMakeLists.txt
@@ -35,10 +35,11 @@ px4_add_module(
 	MODULE drivers__barometer__bmp388
 	MAIN bmp388
 	SRCS
-		bmp388_spi.cpp
 		bmp388_i2c.cpp
-		bmp388.cpp
 		bmp388_main.cpp
+		bmp388_spi.cpp
+		bmp388.cpp
+		bmp388.h
 	DEPENDS
 		drivers_barometer
 		px4_work_queue
diff --git a/src/drivers/barometer/dps310/CMakeLists.txt b/src/drivers/barometer/dps310/CMakeLists.txt
index 088e56e6b5..55fe5ed350 100644
--- a/src/drivers/barometer/dps310/CMakeLists.txt
+++ b/src/drivers/barometer/dps310/CMakeLists.txt
@@ -39,6 +39,7 @@ px4_add_module(
 		DPS310_I2C.cpp
 		DPS310_SPI.cpp
 		dps310_main.cpp
+		Infineon_DPS310_Registers.hpp
 	DEPENDS
 		drivers_barometer
 		px4_work_queue
diff --git a/src/drivers/barometer/ms5611/CMakeLists.txt b/src/drivers/barometer/ms5611/CMakeLists.txt
index f67fb270d8..6e07aad9b1 100644
--- a/src/drivers/barometer/ms5611/CMakeLists.txt
+++ b/src/drivers/barometer/ms5611/CMakeLists.txt
@@ -37,11 +37,12 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
-		ms5611_spi.cpp
 		ms5611_i2c.cpp
+		ms5611_spi.cpp
 		ms5611.cpp
-		ms5611_main.cpp
+		ms5611.h
 		MS5611.hpp
+		ms5611_main.cpp
 	DEPENDS
 		cdev
 		drivers__device
diff --git a/src/drivers/batt_smbus/CMakeLists.txt b/src/drivers/batt_smbus/CMakeLists.txt
index bf60e80af3..db7857357d 100644
--- a/src/drivers/batt_smbus/CMakeLists.txt
+++ b/src/drivers/batt_smbus/CMakeLists.txt
@@ -36,7 +36,7 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		batt_smbus.cpp
-
+		batt_smbus.h
 	DEPENDS
 		drivers__smbus
 	)
diff --git a/src/drivers/camera_capture/CMakeLists.txt b/src/drivers/camera_capture/CMakeLists.txt
index 44016de586..82b3011664 100644
--- a/src/drivers/camera_capture/CMakeLists.txt
+++ b/src/drivers/camera_capture/CMakeLists.txt
@@ -36,5 +36,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		camera_capture.cpp
+		camera_capture.hpp
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/camera_trigger/CMakeLists.txt b/src/drivers/camera_trigger/CMakeLists.txt
index 176e223403..fd109770c3 100644
--- a/src/drivers/camera_trigger/CMakeLists.txt
+++ b/src/drivers/camera_trigger/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
+#   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
@@ -35,11 +35,14 @@ px4_add_module(
 	MAIN camera_trigger
 	COMPILE_FLAGS
 	SRCS
-		camera_trigger.cpp
 		interfaces/src/camera_interface.cpp
-		interfaces/src/pwm.cpp
-		interfaces/src/seagull_map2.cpp
+		interfaces/src/camera_interface.h
 		interfaces/src/gpio.cpp
+		interfaces/src/gpio.h
+		interfaces/src/pwm.cpp
+		interfaces/src/pwm.h
+		interfaces/src/seagull_map2.cpp
+		interfaces/src/seagull_map2.h
+		camera_trigger.cpp
 	DEPENDS
-		px4_work_queue
-	)
+)
diff --git a/src/drivers/dshot/CMakeLists.txt b/src/drivers/dshot/CMakeLists.txt
index 177629738c..3313520dc3 100644
--- a/src/drivers/dshot/CMakeLists.txt
+++ b/src/drivers/dshot/CMakeLists.txt
@@ -36,7 +36,9 @@ px4_add_module(
 	STACK_MAIN 1200
 	SRCS
 		DShot.cpp
+		DShot.h
 		DShotTelemetry.cpp
+		DShotTelemetry.h
 	DEPENDS
 		arch_io_pins
 		arch_dshot
diff --git a/src/drivers/gps/CMakeLists.txt b/src/drivers/gps/CMakeLists.txt
index 065c29e6a6..1fcb0918b6 100644
--- a/src/drivers/gps/CMakeLists.txt
+++ b/src/drivers/gps/CMakeLists.txt
@@ -40,13 +40,25 @@ px4_add_module(
 		-Wno-cast-align # TODO: fix and enable
 		-Wno-stringop-overflow # due to https://gcc.gnu.org/bugzilla/show_bug.cgi?id=91707
 	SRCS
-		gps.cpp
-		devices/src/gps_helper.cpp
-		devices/src/mtk.cpp
 		devices/src/ashtech.cpp
-		devices/src/ubx.cpp
-		devices/src/rtcm.cpp
+		devices/src/ashtech.h
+		devices/src/base_station.h
 		devices/src/emlid_reach.cpp
+		devices/src/emlid_reach.h
+		devices/src/femtomes.cpp
+		devices/src/femtomes.h
+		devices/src/gps_helper.cpp
+		devices/src/gps_helper.h
+		devices/src/mtk.cpp
+		devices/src/mtk.h
+		devices/src/rtcm.cpp
+		devices/src/rtcm.h
+		#devices/src/sbf.cpp
+		#devices/src/sbf.h
+		devices/src/ubx.cpp
+		devices/src/ubx.h
+		definitions.h
+		gps.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
diff --git a/src/drivers/gps/devices b/src/drivers/gps/devices
index 8ba8d9f19c..e7f0b23f47 160000
--- a/src/drivers/gps/devices
+++ b/src/drivers/gps/devices
@@ -1 +1 @@
-Subproject commit 8ba8d9f19c2328955424d035d6ce5a08ef11a371
+Subproject commit e7f0b23f47d65490b72e9bacaff191bda2d99496
diff --git a/src/drivers/heater/CMakeLists.txt b/src/drivers/heater/CMakeLists.txt
index 6f1fe2e249..595de4470e 100644
--- a/src/drivers/heater/CMakeLists.txt
+++ b/src/drivers/heater/CMakeLists.txt
@@ -36,4 +36,5 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		heater.cpp
+		heater.h
 	)
diff --git a/src/drivers/optical_flow/paw3902/CMakeLists.txt b/src/drivers/optical_flow/paw3902/CMakeLists.txt
index 1683937e5c..9e8dd2ec32 100644
--- a/src/drivers/optical_flow/paw3902/CMakeLists.txt
+++ b/src/drivers/optical_flow/paw3902/CMakeLists.txt
@@ -37,4 +37,6 @@ px4_add_module(
 	SRCS
 		paw3902_main.cpp
 		PAW3902.cpp
+		PAW3902.hpp
+		PixArt_PAW3902JF_Registers.hpp
 	)
diff --git a/src/lib/component_information/CMakeLists.txt b/src/lib/component_information/CMakeLists.txt
index 02960e4005..7414e82b62 100644
--- a/src/lib/component_information/CMakeLists.txt
+++ b/src/lib/component_information/CMakeLists.txt
@@ -60,8 +60,6 @@ add_custom_command(OUTPUT ${component_information_header}
 		--output ${component_information_header}
 	DEPENDS
 		generate_hashes.py
-		parameters_xml
-		${PX4_BINARY_DIR}/params.json.xz
 		${component_version_json}
 	COMMENT "Generating component_information/hashes.h"
 )
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index 55a2cd15ff..5c43a57ec4 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -71,30 +71,24 @@ list(REMOVE_DUPLICATES module_list)
 
 set(generated_params_dir ${PX4_BINARY_DIR}/generated_params)
 set(generated_serial_params_file ${generated_params_dir}/serial_params.c)
-file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
-if (px4_constrained_flash_build)
+
+if(px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
-if(PX4_ETHERNET)
-	set(added_arguments ${added_arguments} --ethernet)
-endif()
-add_custom_command(OUTPUT ${generated_serial_params_file}
+
+execute_process(
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
+)
+execute_process(
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--params-file ${generated_serial_params_file}
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	DEPENDS
-		${module_config_files}
-		${jinja_templates}
-		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
-	COMMENT "Generating serial_params.c"
 )
 
 set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/params.json) # file name needs to be kept short to fit into url (metadata_uri)
-file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c)
-add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
+execute_process(
 	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
 		--src-path ${module_list} ${generated_params_dir}
 		--xml ${parameters_xml}
@@ -104,29 +98,12 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
 		#--verbose
-	DEPENDS
-		${param_src_files}
-		${generated_serial_params_file}
-		parameters_injected.xml
-		px4params/srcparser.py
-		px4params/srcscanner.py
-		px4params/jsonout.py
-		px4params/xmlout.py
-		px_process_params.py
-		parameters_injected.xml
-	COMMENT "Generating parameters.xml"
 )
-add_custom_target(parameters_xml DEPENDS ${parameters_xml})
 
 # generate px4_parameters.hpp
-add_custom_command(OUTPUT px4_parameters.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
-		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
-	DEPENDS
-		${PX4_BINARY_DIR}/parameters.xml
-		px_generate_params.py
-		templates/px4_parameters.hpp.jinja
-	)
+execute_process(
+	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py --xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
+)
 
 set(SRCS)
 if ("${CONFIG_SHMEM}" STREQUAL "1")
diff --git a/src/modules/airship_att_control/CMakeLists.txt b/src/modules/airship_att_control/CMakeLists.txt
index 9771e2ad51..ac458f715d 100644
--- a/src/modules/airship_att_control/CMakeLists.txt
+++ b/src/modules/airship_att_control/CMakeLists.txt
@@ -38,6 +38,7 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		airship_att_control_main.cpp
+		airship_att_control.hpp
 	DEPENDS
 		px4_work_queue
 	)
diff --git a/src/modules/angular_velocity_controller/AngularVelocityControl/CMakeLists.txt b/src/modules/angular_velocity_controller/AngularVelocityControl/CMakeLists.txt
index 05bb7dd7b2..4df4aa9499 100644
--- a/src/modules/angular_velocity_controller/AngularVelocityControl/CMakeLists.txt
+++ b/src/modules/angular_velocity_controller/AngularVelocityControl/CMakeLists.txt
@@ -33,6 +33,7 @@
 
 px4_add_library(AngularVelocityControl
 	AngularVelocityControl.cpp
+	AngularVelocityControl.hpp
 )
 target_compile_options(AngularVelocityControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_include_directories(AngularVelocityControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/src/modules/battery_status/CMakeLists.txt b/src/modules/battery_status/CMakeLists.txt
index df7c9967d4..e0c977039f 100644
--- a/src/modules/battery_status/CMakeLists.txt
+++ b/src/modules/battery_status/CMakeLists.txt
@@ -35,8 +35,9 @@ px4_add_module(
 	MODULE modules__battery_status
 	MAIN battery_status
 	SRCS
-		battery_status.cpp
 		analog_battery.cpp
+		analog_battery.h
+		battery_status.cpp
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index f9568a0c3b..633555f902 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -40,20 +40,37 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		accelerometer_calibration.cpp
+		accelerometer_calibration.h
 		airspeed_calibration.cpp
+		airspeed_calibration.h
+		calibration_messages.h
 		calibration_routines.cpp
-		Commander.cpp
+		calibration_routines.h
 		commander_helper.cpp
+		commander_helper.h
+		Commander.cpp
+		Commander.hpp
 		esc_calibration.cpp
+		esc_calibration.h
 		factory_calibration_storage.cpp
+		factory_calibration_storage.h
 		gyro_calibration.cpp
+		gyro_calibration.h
 		level_calibration.cpp
+		level_calibration.h
 		lm_fit.cpp
+		lm_fit.hpp
 		mag_calibration.cpp
+		mag_calibration.h
 		ManualControl.cpp
+		ManualControl.hpp
+		px4_custom_mode.h
 		rc_calibration.cpp
+		rc_calibration.h
 		state_machine_helper.cpp
+		state_machine_helper.h
 		worker_thread.cpp
+		worker_thread.hpp
 	DEPENDS
 		circuit_breaker
 		failure_detector
diff --git a/src/modules/dataman/CMakeLists.txt b/src/modules/dataman/CMakeLists.txt
index 6c0a1ab695..1cc74c002e 100644
--- a/src/modules/dataman/CMakeLists.txt
+++ b/src/modules/dataman/CMakeLists.txt
@@ -37,4 +37,5 @@ px4_add_module(
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		dataman.cpp
+		dataman.h
 	)
diff --git a/src/modules/ekf2/Utility/CMakeLists.txt b/src/modules/ekf2/Utility/CMakeLists.txt
index 7a635acebe..e6533c3bfa 100644
--- a/src/modules/ekf2/Utility/CMakeLists.txt
+++ b/src/modules/ekf2/Utility/CMakeLists.txt
@@ -32,7 +32,9 @@
 #############################################################################
 
 px4_add_library(EKF2Utility
+	InnovationLpf.hpp
 	PreFlightChecker.cpp
+	PreFlightChecker.hpp
 )
 
 target_include_directories(EKF2Utility
diff --git a/src/modules/events/CMakeLists.txt b/src/modules/events/CMakeLists.txt
index 8c54833d4e..fc12954a9a 100644
--- a/src/modules/events/CMakeLists.txt
+++ b/src/modules/events/CMakeLists.txt
@@ -37,7 +37,10 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		rc_loss_alarm.cpp
+		rc_loss_alarm.h
 		send_event.cpp
+		send_event.h
 		set_leds.cpp
 		status_display.cpp
+		status_display.h
 	)
diff --git a/src/modules/fw_att_control/CMakeLists.txt b/src/modules/fw_att_control/CMakeLists.txt
index a8c79cf31c..f58f68bbbc 100644
--- a/src/modules/fw_att_control/CMakeLists.txt
+++ b/src/modules/fw_att_control/CMakeLists.txt
@@ -34,14 +34,18 @@ px4_add_module(
 	MODULE modules__fw_att_control
 	MAIN fw_att_control
 	SRCS
+		ecl_controller.cpp
+		ecl_controller.h
+		ecl_pitch_controller.cpp
+		ecl_pitch_controller.h
+		ecl_roll_controller.cpp
+		ecl_roll_controller.h
+		ecl_wheel_controller.cpp
+		ecl_wheel_controller.h
+		ecl_yaw_controller.cpp
+		ecl_yaw_controller.h
 		FixedwingAttitudeControl.cpp
 		FixedwingAttitudeControl.hpp
-
-		ecl_controller.cpp
-		ecl_pitch_controller.cpp
-		ecl_roll_controller.cpp
-		ecl_wheel_controller.cpp
-		ecl_yaw_controller.cpp
 	DEPENDS
 		px4_work_queue
 	)
diff --git a/src/modules/fw_pos_control_l1/launchdetection/CMakeLists.txt b/src/modules/fw_pos_control_l1/launchdetection/CMakeLists.txt
index d7be8b54b2..e7b1ebb513 100644
--- a/src/modules/fw_pos_control_l1/launchdetection/CMakeLists.txt
+++ b/src/modules/fw_pos_control_l1/launchdetection/CMakeLists.txt
@@ -32,6 +32,9 @@
 ############################################################################
 
 px4_add_library(launchdetection
-	LaunchDetector.cpp
 	CatapultLaunchMethod.cpp
-)
\ No newline at end of file
+	CatapultLaunchMethod.h
+	LaunchDetector.cpp
+	LaunchDetector.h
+	LaunchMethod.h
+)
diff --git a/src/modules/land_detector/CMakeLists.txt b/src/modules/land_detector/CMakeLists.txt
index 632c90d5cf..5a76d214d2 100644
--- a/src/modules/land_detector/CMakeLists.txt
+++ b/src/modules/land_detector/CMakeLists.txt
@@ -35,14 +35,21 @@ px4_add_module(
 	MAIN land_detector
 	COMPILE_FLAGS
 	SRCS
+		AirshipLandDetector.cpp
+		AirshipLandDetector.h
+		FixedwingLandDetector.cpp
+		FixedwingLandDetector.h
 		land_detector_main.cpp
 		LandDetector.cpp
+		LandDetector.h
 		MulticopterLandDetector.cpp
-		FixedwingLandDetector.cpp
-		VtolLandDetector.cpp
+		MulticopterLandDetector.h
 		RoverLandDetector.cpp
-		AirshipLandDetector.cpp
+		RoverLandDetector.h
+		VtolLandDetector.cpp
+		VtolLandDetector.h
 	DEPENDS
 		hysteresis
+		px4_work_queue
 	)
 
diff --git a/src/modules/landing_target_estimator/CMakeLists.txt b/src/modules/landing_target_estimator/CMakeLists.txt
index 146869aa3f..49ca7bddfb 100644
--- a/src/modules/landing_target_estimator/CMakeLists.txt
+++ b/src/modules/landing_target_estimator/CMakeLists.txt
@@ -36,9 +36,11 @@ px4_add_module(
 	MAIN landing_target_estimator
 	COMPILE_FLAGS
 	SRCS
+		KalmanFilter.cpp
+		KalmanFilter.h
 		landing_target_estimator_main.cpp
 		LandingTargetEstimator.cpp
-		KalmanFilter.cpp
+		LandingTargetEstimator.h
 	DEPENDS
 	)
 
diff --git a/src/modules/local_position_estimator/CMakeLists.txt b/src/modules/local_position_estimator/CMakeLists.txt
index a54534e6d0..3cb2a0006c 100644
--- a/src/modules/local_position_estimator/CMakeLists.txt
+++ b/src/modules/local_position_estimator/CMakeLists.txt
@@ -37,16 +37,17 @@ px4_add_module(
 	STACK_MAIN 5700
 	STACK_MAX 3700
 	SRCS
-		BlockLocalPositionEstimator.cpp
-		sensors/flow.cpp
-		sensors/lidar.cpp
-		sensors/sonar.cpp
-		sensors/gps.cpp
 		sensors/baro.cpp
-		sensors/vision.cpp
-		sensors/mocap.cpp
+		sensors/flow.cpp
+		sensors/gps.cpp
 		sensors/land.cpp
 		sensors/landing_target.cpp
+		sensors/lidar.cpp
+		sensors/mocap.cpp
+		sensors/sonar.cpp
+		sensors/vision.cpp
+		BlockLocalPositionEstimator.cpp
+		BlockLocalPositionEstimator.hpp
 	DEPENDS
 		controllib
 		git_ecl
diff --git a/src/modules/logger/CMakeLists.txt b/src/modules/logger/CMakeLists.txt
index 9d60069745..789dcec51f 100644
--- a/src/modules/logger/CMakeLists.txt
+++ b/src/modules/logger/CMakeLists.txt
@@ -38,13 +38,21 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
-		logged_topics.cpp
-		logger.cpp
-		log_writer.cpp
 		log_writer_file.cpp
+		log_writer_file.h
 		log_writer_mavlink.cpp
+		log_writer_mavlink.h
+		log_writer.cpp
+		log_writer.h
+		logged_topics.cpp
+		logged_topics.h
+		logger.cpp
+		logger.h
+		messages.h
 		util.cpp
+		util.h
 		watchdog.cpp
+		watchdog.h
 	DEPENDS
 		version
 	)
diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt
index 4a237ccc5b..b75631e2d9 100644
--- a/src/modules/navigator/CMakeLists.txt
+++ b/src/modules/navigator/CMakeLists.txt
@@ -37,20 +37,35 @@ px4_add_module(
 	MODULE modules__navigator
 	MAIN navigator
 	SRCS
+		enginefailure.cpp
+		enginefailure.h
+		follow_target.cpp
+		follow_target.h
+		geofence.cpp
+		geofence.h
+		gpsfailure.cpp
+		gpsfailure.h
+		land.cpp
+		land.h
+		loiter.cpp
+		loiter.h
+		mission_block.cpp
+		mission_block.h
+		mission_feasibility_checker.cpp
+		mission_feasibility_checker.h
+		mission.cpp
+		mission.h
+		navigation.h
 		navigator_main.cpp
 		navigator_mode.cpp
-		mission_block.cpp
-		mission.cpp
-		loiter.cpp
-		rtl.cpp
-		takeoff.cpp
-		land.cpp
+		navigator_mode.h
+		navigator.h
 		precland.cpp
-		mission_feasibility_checker.cpp
-		geofence.cpp
-		enginefailure.cpp
-		gpsfailure.cpp
-		follow_target.cpp
+		precland.h
+		rtl.cpp
+		rtl.h
+		takeoff.cpp
+		takeoff.h
 	DEPENDS
 		git_ecl
 		ecl_geo
@@ -59,4 +74,4 @@ px4_add_module(
 		motion_planning
 	)
 
-px4_add_functional_gtest(SRC RangeRTLTest.cpp LINKLIBS modules__navigator modules__dataman)
\ No newline at end of file
+px4_add_functional_gtest(SRC RangeRTLTest.cpp LINKLIBS modules__navigator modules__dataman)
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 3b76556342..8c1d6a3f93 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -37,7 +37,9 @@ add_library(px4iofirmware
 	adc.c
 	controls.c
 	mixer.cpp
+	protocol.h
 	px4io.c
+	px4io.h
 	registers.c
 	safety.c
 	serial.c
diff --git a/src/modules/sensors/CMakeLists.txt b/src/modules/sensors/CMakeLists.txt
index e2f605325a..980f3c83d6 100644
--- a/src/modules/sensors/CMakeLists.txt
+++ b/src/modules/sensors/CMakeLists.txt
@@ -45,8 +45,9 @@ px4_add_module(
 	MODULE modules__sensors
 	MAIN sensors
 	SRCS
-		voted_sensors_update.cpp
 		sensors.cpp
+		voted_sensors_update.cpp
+		voted_sensors_update.h
 	DEPENDS
 		airspeed
 		conversion
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index fdc6837154..140f0352e5 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -47,9 +47,9 @@ endif()
 configure_file(simulator_config.h.in simulator_config.h @ONLY)
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-set(SIMULATOR_SRCS simulator.cpp)
+set(SIMULATOR_EXTRA_SRCS)
 if (NOT ${PX4_PLATFORM} STREQUAL "qurt")
-	list(APPEND SIMULATOR_SRCS
+	list(APPEND SIMULATOR_EXTRA_SRCS
 		simulator_mavlink.cpp)
 endif()
 
@@ -63,7 +63,9 @@ px4_add_module(
 	INCLUDES
 		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS
-		${SIMULATOR_SRCS}
+		${SIMULATOR_EXTRA_SRCS}
+		simulator.cpp
+		simulator.h
 	DEPENDS
 		git_mavlink_v2
 		conversion
diff --git a/src/modules/temperature_compensation/CMakeLists.txt b/src/modules/temperature_compensation/CMakeLists.txt
index 50e6a181e0..69d19e3e66 100644
--- a/src/modules/temperature_compensation/CMakeLists.txt
+++ b/src/modules/temperature_compensation/CMakeLists.txt
@@ -35,12 +35,20 @@ px4_add_module(
 	MODULE modules__temperature_compensation
 	MAIN temperature_compensation
 	SRCS
-		TemperatureCompensationModule.cpp
 		TemperatureCompensation.cpp
+		TemperatureCompensation.h
+		TemperatureCompensationModule.cpp
+		TemperatureCompensationModule.h
 		temperature_calibration/accel.cpp
+		temperature_calibration/accel.h
 		temperature_calibration/baro.cpp
+		temperature_calibration/baro.h
+		temperature_calibration/common.h
 		temperature_calibration/gyro.cpp
+		temperature_calibration/gyro.h
+		temperature_calibration/polyfit.hpp
 		temperature_calibration/task.cpp
+		temperature_calibration/temperature_calibration.h
 	DEPENDS
 		mathlib
 	)
diff --git a/src/modules/uuv_att_control/CMakeLists.txt b/src/modules/uuv_att_control/CMakeLists.txt
index 37dc0d728c..a848223b29 100644
--- a/src/modules/uuv_att_control/CMakeLists.txt
+++ b/src/modules/uuv_att_control/CMakeLists.txt
@@ -33,8 +33,8 @@
 px4_add_module(
 	MODULE modules__uuv_att_control
 	MAIN uuv_att_control
-	STACK_MAIN 1200
 	COMPILE_FLAGS
 	SRCS
 		uuv_att_control.cpp
+		uuv_att_control.hpp
 	)
diff --git a/src/modules/uuv_pos_control/CMakeLists.txt b/src/modules/uuv_pos_control/CMakeLists.txt
index f97dd0ea42..d91f3d6ddc 100644
--- a/src/modules/uuv_pos_control/CMakeLists.txt
+++ b/src/modules/uuv_pos_control/CMakeLists.txt
@@ -33,8 +33,8 @@
 px4_add_module(
 	MODULE modules__uuv_pos_control
 	MAIN uuv_pos_control
-	STACK_MAIN 1200
 	COMPILE_FLAGS
 	SRCS
 		uuv_pos_control.cpp
+		uuv_pos_control.hpp
 	)
diff --git a/src/modules/vmount/CMakeLists.txt b/src/modules/vmount/CMakeLists.txt
index 069a1cca13..3c565c34a1 100644
--- a/src/modules/vmount/CMakeLists.txt
+++ b/src/modules/vmount/CMakeLists.txt
@@ -35,16 +35,23 @@ px4_add_module(
 	MAIN vmount
 	COMPILE_FLAGS
 	SRCS
-		input.cpp
+		common.h
 		input_mavlink.cpp
+		input_mavlink.h
 		input_rc.cpp
+		input_rc.h
 		input_test.cpp
-		output.cpp
+		input_test.h
+		input.cpp
+		input.h
 		output_mavlink.cpp
+		output_mavlink.h
 		output_rc.cpp
+		output_rc.h
+		output.cpp
+		output.h
 		vmount.cpp
 	DEPENDS
 		git_ecl
 		ecl_geo
 	)
-
diff --git a/src/modules/vtol_att_control/CMakeLists.txt b/src/modules/vtol_att_control/CMakeLists.txt
index e6316b1459..7acc562e91 100644
--- a/src/modules/vtol_att_control/CMakeLists.txt
+++ b/src/modules/vtol_att_control/CMakeLists.txt
@@ -34,10 +34,14 @@ px4_add_module(
 	MODULE modules__vtol_att_control
 	MAIN vtol_att_control
 	SRCS
-		vtol_att_control_main.cpp
-		tiltrotor.cpp
-		vtol_type.cpp
-		tailsitter.cpp
 		standard.cpp
+		standard.h
+		tailsitter.cpp
+		tailsitter.h
+		tiltrotor.cpp
+		tiltrotor.h
+		vtol_att_control_main.cpp
+		vtol_att_control_main.h
+		vtol_type.cpp
+		vtol_type.h
 	)
-