diff --git a/Build/.keep b/Build/.keep
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/CMakeLists.txt b/CMakeLists.txt
index ecd19b7bce..91d3442899 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -109,13 +109,63 @@ set(verion_patch 2)
 set(version "${version_major}.${version_minor}.${version_patch}")
 set(package-contact "px4users@googlegroups.com")
 
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
+
+#=============================================================================
+# cmake modules
+#
+if (NOT NESTED_CMAKE_CALL)
+	message(STATUS "IN TOP")
+	if (EXISTS ${CMAKE_SOURCE_DIR}/cmake/configs/config_${CONFIG}.cmake)
+
+		# Get the toolchain information
+		include(configs/config_${CONFIG})
+	else()
+		message(FATAL_ERROR "build config not found: config_${CONFIG}.cmake")
+	endif()
+	if (NOT "${USE_TOOLCHAIN}" STREQUAL "")
+		set(TOOLCHAIN -DCMAKE_TOOLCHAIN_FILE=${CMAKE_SOURCE_DIR}/cmake/toolchains/${USE_TOOLCHAIN}.cmake)
+	endif()
+	string(REPLACE "_" ";" TARGET_PARAMS ${CONFIG})
+	list(GET TARGET_PARAMS 0 OS)
+	list(GET TARGET_PARAMS 1 BOARD)
+	list(GET TARGET_PARAMS 2 LABEL)
+	message(STATUS "CONFIG ${OS} ${BOARD} ${LABEL}")
+	if ("${LABEL}" STREQUAL "upload")
+		set(LABEL "simple")
+		set(DOUPLOAD "1")
+	endif()
+	if ("${LABEL}" STREQUAL "test")
+		set(LABEL "simple")
+		set(DOTEST "1")
+	endif()
+	execute_process( COMMAND ${CMAKE_COMMAND} -E make_directory ${CONFIG} )
+	set(NESTED_CMAKE_CALL 1)
+	message(STATUS "Before")
+	execute_process(WORKING_DIRECTORY ${CONFIG}
+			COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR} -DNESTED_CMAKE_CALL=TRUE ${TOOLCHAIN} -DOS=${OS} -DBOARD=${BOARD} -DLABEL=${LABEL}
+			)
+	execute_process( WORKING_DIRECTORY ${CONFIG}
+			COMMAND make -s
+			)
+	message(STATUS "${CMAKE_COMMAND} VERBOSE=1 ${CMAKE_SOURCE_DIR} ${TOOLCHAIN} -DOS=${OS} -DBOARD=${BOARD} -DLABEL=${LABEL}")
+	if ("${DOUPLOAD}" STREQUAL "1")
+	execute_process( WORKING_DIRECTORY ${CONFIG} 
+			COMMAND make upload)
+	endif()
+	if ("${DOTEST}" STREQUAL "1")
+	execute_process( WORKING_DIRECTORY ${CONFIG} 
+			COMMAND make test)
+	endif()
+	return()
+endif(NOT NESTED_CMAKE_CALL)
+
 #=============================================================================
 # cmake modules
 #
 
 # set module path
 message("OS = ${OS}")
-list(APPEND CMAKE_MODULE_PATH ${CMAKE_SOURCE_DIR}/cmake)
 
 # prefer board implementation module over os implmementation module
 set(config_module "configs/config_${OS}_${BOARD}_${LABEL}")
diff --git a/cmake/configs/config_nuttx_sim_simple.cmake b/cmake/configs/config_nuttx_sim_simple.cmake
index 0440bfed14..79446ae7bc 100644
--- a/cmake/configs/config_nuttx_sim_simple.cmake
+++ b/cmake/configs/config_nuttx_sim_simple.cmake
@@ -2,7 +2,12 @@ include(nuttx/px4_impl_nuttx)
 
 message(WARNING "this is a work in progress and doesn't build yet")
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		platforms/nuttx
diff --git a/cmake/configs/config_posix_eagle_default.mk b/cmake/configs/config_posix_eagle_default.cmake
similarity index 83%
rename from cmake/configs/config_posix_eagle_default.mk
rename to cmake/configs/config_posix_eagle_default.cmake
index 589c44a05e..04f80c7523 100644
--- a/cmake/configs/config_posix_eagle_default.mk
+++ b/cmake/configs/config_posix_eagle_default.cmake
@@ -1,6 +1,11 @@
 include(posix/px4_impl_posix-arm)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
diff --git a/cmake/configs/config_posix_eagle_hil.cmake b/cmake/configs/config_posix_eagle_hil.cmake
index ebe148ab37..115f70d406 100644
--- a/cmake/configs/config_posix_eagle_hil.cmake
+++ b/cmake/configs/config_posix_eagle_hil.cmake
@@ -1,6 +1,11 @@
 include(posix/px4_impl_posix-arm)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
diff --git a/cmake/configs/config_posix_eagle_muorb.cmake b/cmake/configs/config_posix_eagle_muorb.cmake
index 70235928ec..44fe4cebe0 100644
--- a/cmake/configs/config_posix_eagle_muorb.cmake
+++ b/cmake/configs/config_posix_eagle_muorb.cmake
@@ -1,6 +1,11 @@
 include(posix/px4_impl_posix-arm)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
diff --git a/cmake/configs/config_posix_eagle_release.cmake b/cmake/configs/config_posix_eagle_release.cmake
index 745fa36826..90c81fd411 100644
--- a/cmake/configs/config_posix_eagle_release.cmake
+++ b/cmake/configs/config_posix_eagle_release.cmake
@@ -1,6 +1,11 @@
 include(posix/px4_impl_posix-arm)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES OUT_FW_OPTS OUT_EXTRA_CMDS
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
diff --git a/cmake/configs/config_qurt_eagle_hello.cmake b/cmake/configs/config_qurt_eagle_hello.cmake
index 6da3d11574..4969d2af34 100644
--- a/cmake/configs/config_qurt_eagle_hello.cmake
+++ b/cmake/configs/config_qurt_eagle_hello.cmake
@@ -1,6 +1,12 @@
 include(qurt/px4_impl_qurt)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
@@ -26,5 +32,8 @@ function(px4_set_config_modules out_module_list)
 		)
 	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
 
+	# output
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
+
 endfunction()
 
diff --git a/cmake/configs/config_qurt_eagle_hil.cmake b/cmake/configs/config_qurt_eagle_hil.cmake
index 5e7e7fc16c..378915c373 100644
--- a/cmake/configs/config_qurt_eagle_hil.cmake
+++ b/cmake/configs/config_qurt_eagle_hil.cmake
@@ -1,6 +1,14 @@
 include(qurt/px4_impl_qurt)
 
-function(px4_set_config_modules out_module_list)
+set(USE_TOOLCHAIN Toolchain-hexagon)
+
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
@@ -60,7 +68,8 @@ function(px4_set_config_modules out_module_list)
 		#
 		modules/muorb/adsp
 		)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_qurt_eagle_muorb.cmake b/cmake/configs/config_qurt_eagle_muorb.cmake
index 5cf884baf1..1ef1711c30 100644
--- a/cmake/configs/config_qurt_eagle_muorb.cmake
+++ b/cmake/configs/config_qurt_eagle_muorb.cmake
@@ -1,6 +1,12 @@
 include(qurt/px4_impl_qurt)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
@@ -38,7 +44,7 @@ function(px4_set_config_modules out_module_list)
 		#
 		modules/muorb/adsp
 		)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_qurt_eagle_release.cmake b/cmake/configs/config_qurt_eagle_release.cmake
index 3bf19fb16f..87b1592757 100644
--- a/cmake/configs/config_qurt_eagle_release.cmake
+++ b/cmake/configs/config_qurt_eagle_release.cmake
@@ -19,7 +19,13 @@ set(target_libraries
 	rc_receiver
 	)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
+		ARGN ${ARGN})
 
 	set(config_module_list
 		#
@@ -81,6 +87,6 @@ function(px4_set_config_modules out_module_list)
 		#
 		modules/muorb/adsp
 		)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
diff --git a/cmake/configs/config_qurt_eagle_test.cmake b/cmake/configs/config_qurt_eagle_test.cmake
index bbb837b363..a607a0be2b 100644
--- a/cmake/configs/config_qurt_eagle_test.cmake
+++ b/cmake/configs/config_qurt_eagle_test.cmake
@@ -1,6 +1,12 @@
 include(qurt/px4_impl_qurt)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
@@ -35,7 +41,7 @@ function(px4_set_config_modules out_module_list)
 		platforms/qurt/tests/hrt_test
 		platforms/qurt/tests/wqueue
 		)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()
 
diff --git a/cmake/configs/config_qurt_eagle_travis.cmake b/cmake/configs/config_qurt_eagle_travis.cmake
index b8a21017b6..d55c7597e5 100644
--- a/cmake/configs/config_qurt_eagle_travis.cmake
+++ b/cmake/configs/config_qurt_eagle_travis.cmake
@@ -3,7 +3,13 @@ include(qurt/px4_impl_qurt)
 # Run a full link with build stubs to make sure qurt target isn't broken
 set(QURT_ENABLE_STUBS 1)
 
-function(px4_set_config_modules out_module_list)
+function(px4_get_config)
+
+	px4_parse_function_args(
+		NAME px4_set_config_modules
+		ONE_VALUE OUT_MODULES
+		REQUIRED OUT_MODULES
+		ARGN ${ARGN})
 
 	set(config_module_list
 		drivers/device
@@ -63,7 +69,7 @@ function(px4_set_config_modules out_module_list)
 		#
 		modules/muorb/adsp
 		)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
+	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
 
 endfunction()