diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 2ed2382db4..1de4dddb01 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -510,9 +510,12 @@ function(px4_add_common_flags)
 	endif()
 
 	if (${CMAKE_C_COMPILER_ID} STREQUAL "Clang")
-		list(APPEND warnings
-			-Wno-unused-const-variable
-		)
+		# QuRT 6.4.X compiler identifies as Clang but does not support this option
+		if (NOT ${OS} STREQUAL "qurt")
+			list(APPEND warnings
+				-Wno-unused-const-variable
+			)
+		endif()
 	else()
 		list(APPEND warnings
 			-Werror=unused-but-set-variable
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 70184a976a..ec10d2a10c 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -41,6 +41,7 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
+	modules/controllib
 
 	#
 	# Libraries
@@ -50,7 +51,7 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
-	modules/controllib
+	lib/ecl
 
 	#
 	# QuRT port
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index a0bc87cf0b..496e272d62 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -44,7 +44,7 @@
 #define __STDC_FORMAT_MACROS
 #include <inttypes.h>
 
-#include <time.h>
+#include <px4_time.h>
 #include <queue.h>
 
 __BEGIN_DECLS
diff --git a/src/lib/dspal b/src/lib/dspal
index 229f2f4d84..95e91546f4 160000
--- a/src/lib/dspal
+++ b/src/lib/dspal
@@ -1 +1 @@
-Subproject commit 229f2f4d8471564f01fe8330e5de1554a9b7aeb6
+Subproject commit 95e91546f42e6d88d34a2bb29d0f428a8706c9e4
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 86df382df8..5c2ec02be0 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -366,7 +366,7 @@ private:
 
 
 	int		init_sensor_class(const struct orb_metadata *meta, int *subs,
-				unsigned *priorities, unsigned *errcount);
+				uint32_t *priorities, uint32_t *errcount);
 
 	/**
 	 * Update our local parameter cache.
@@ -1949,7 +1949,7 @@ Sensors::task_main_trampoline(int argc, char *argv[])
 
 int
 Sensors::init_sensor_class(const struct orb_metadata *meta, int *subs,
-	unsigned *priorities, unsigned *errcount)
+	uint32_t *priorities, uint32_t *errcount)
 {
 	unsigned group_count = orb_group_count(meta);
 
diff --git a/src/platforms/posix/work_queue/hrt_thread.c b/src/platforms/posix/work_queue/hrt_thread.c
index ece3a72e79..efe09ea860 100644
--- a/src/platforms/posix/work_queue/hrt_thread.c
+++ b/src/platforms/posix/work_queue/hrt_thread.c
@@ -40,6 +40,7 @@
 
 #include <px4_config.h>
 #include <px4_defines.h>
+#include <px4_posix.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>
diff --git a/src/platforms/qurt/px4_layer/drv_hrt.c b/src/platforms/qurt/px4_layer/drv_hrt.c
index 45be19ec8a..b5d6bd20ff 100644
--- a/src/platforms/qurt/px4_layer/drv_hrt.c
+++ b/src/platforms/qurt/px4_layer/drv_hrt.c
@@ -37,10 +37,12 @@
  * High-resolution timer with callouts and timekeeping.
  */
 
+#include <px4_defines.h>
 #include <px4_workqueue.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
+#include <dspal_time.h>
 #include <string.h>
 #include <stdio.h>