diff --git a/.gitignore b/.gitignore
index cd3f8f26c2..029a45346f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,4 +49,5 @@ unittests/build
 *.pretty
 xcode
 src/platforms/posix/px4_messages/
+src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
diff --git a/Makefile b/Makefile
index 0075022892..1532f7ed35 100644
--- a/Makefile
+++ b/Makefile
@@ -33,7 +33,7 @@
 # Top-level Makefile for building PX4 firmware images.
 #
 
-TARGETS	:= nuttx posix qurt
+TARGETS	:= nuttx posix posix-arm qurt
 EXPLICIT_TARGET	:= $(filter $(TARGETS),$(MAKECMDGOALS))
 ifneq ($(EXPLICIT_TARGET),)
     export PX4_TARGET_OS=$(EXPLICIT_TARGET)
@@ -241,6 +241,9 @@ endif
 ifeq ($(PX4_TARGET_OS),posix)
 include $(PX4_BASE)makefiles/firmware_posix.mk
 endif
+ifeq ($(PX4_TARGET_OS),posix-arm)
+include $(PX4_BASE)makefiles/firmware_posix.mk
+endif
 ifeq ($(PX4_TARGET_OS),qurt)
 include $(PX4_BASE)makefiles/firmware_qurt.mk
 endif
@@ -285,7 +288,7 @@ testbuild:
 	$(Q) (cd $(PX4_BASE) && $(MAKE) distclean && $(MAKE) archives && $(MAKE) -j8)
 	$(Q) (zip -r Firmware.zip $(PX4_BASE)/Images)
 
-nuttx posix qurt: 
+nuttx posix posix-arm qurt: 
 ifeq ($(GOALS),)
 	make PX4_TARGET_OS=$@ $(GOALS)
 else
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index f5f5d8188d..43cbfb59c0 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -548,6 +548,9 @@ endif
 ifeq ($(PX4_TARGET_OS),posix)
 include $(MK_DIR)/posix_elf.mk
 endif
+ifeq ($(PX4_TARGET_OS),posix-arm)
+include $(MK_DIR)/posix_elf.mk
+endif
 ifeq ($(PX4_TARGET_OS),qurt)
 include $(MK_DIR)/qurt_elf.mk
 endif
diff --git a/makefiles/nuttx/board_aerocore.mk b/makefiles/nuttx/board_aerocore.mk
index 6f4b932666..71a0f264d0 100644
--- a/makefiles/nuttx/board_aerocore.mk
+++ b/makefiles/nuttx/board_aerocore.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM4F
 CONFIG_BOARD			 = AEROCORE
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4-stm32f4discovery.mk b/makefiles/nuttx/board_px4-stm32f4discovery.mk
index fe761ba444..2477f55858 100644
--- a/makefiles/nuttx/board_px4-stm32f4discovery.mk
+++ b/makefiles/nuttx/board_px4-stm32f4discovery.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM4F
 CONFIG_BOARD			 = PX4_STM32F4DISCOVERY
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4fmu-v1.mk b/makefiles/nuttx/board_px4fmu-v1.mk
index 4d692e31ab..45156efcdc 100644
--- a/makefiles/nuttx/board_px4fmu-v1.mk
+++ b/makefiles/nuttx/board_px4fmu-v1.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM4F
 CONFIG_BOARD			 = PX4FMU_V1
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4fmu-v2.mk b/makefiles/nuttx/board_px4fmu-v2.mk
index e9a2985b7f..7c3e00c5d0 100644
--- a/makefiles/nuttx/board_px4fmu-v2.mk
+++ b/makefiles/nuttx/board_px4fmu-v2.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM4F
 CONFIG_BOARD			 = PX4FMU_V2
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4io-v1.mk b/makefiles/nuttx/board_px4io-v1.mk
index 1872a4124f..66731a5694 100644
--- a/makefiles/nuttx/board_px4io-v1.mk
+++ b/makefiles/nuttx/board_px4io-v1.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM3
 CONFIG_BOARD			 = PX4IO_V1
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4io-v2.mk b/makefiles/nuttx/board_px4io-v2.mk
index 50a4068fb2..94c3318199 100644
--- a/makefiles/nuttx/board_px4io-v2.mk
+++ b/makefiles/nuttx/board_px4io-v2.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = CORTEXM3
 CONFIG_BOARD			 = PX4IO_V2
 
-include $(PX4_MK_DIR)/toolchain_gnu-arm-eabi.mk
+include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/nuttx/toolchain_gnu-arm-eabi.mk
similarity index 100%
rename from makefiles/toolchain_gnu-arm-eabi.mk
rename to makefiles/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/posix-arm.mk b/makefiles/posix-arm.mk
new file mode 100644
index 0000000000..13cb97f0db
--- /dev/null
+++ b/makefiles/posix-arm.mk
@@ -0,0 +1,40 @@
+#
+#   Copyright (C) 2012 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.
+#
+
+#
+# Rules and definitions related to handling the Linux specific impl when
+# building firmware.
+#
+
+MODULES += \
+		platforms/common \
+		platforms/posix/px4_layer 
+
diff --git a/makefiles/posix-arm/board_eagle.mk b/makefiles/posix-arm/board_eagle.mk
new file mode 100644
index 0000000000..94dd049367
--- /dev/null
+++ b/makefiles/posix-arm/board_eagle.mk
@@ -0,0 +1,11 @@
+#
+# Board-specific definitions for the POSIX port of PX4
+#
+
+#
+# Configure the toolchain
+#
+CONFIG_ARCH			 = CORTEXA8
+CONFIG_BOARD			 = EAGLE
+
+include $(PX4_MK_DIR)/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
diff --git a/makefiles/posix-arm/config_eagle_default.mk b/makefiles/posix-arm/config_eagle_default.mk
new file mode 100644
index 0000000000..30dada7bbd
--- /dev/null
+++ b/makefiles/posix-arm/config_eagle_default.mk
@@ -0,0 +1,85 @@
+#
+# Makefile for the POSIXTEST *default* configuration
+#
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/blinkm
+MODULES		+= drivers/hil
+MODULES		+= drivers/rgbled
+MODULES		+= drivers/led
+MODULES		+= modules/sensors
+#MODULES		+= drivers/ms5611
+
+#
+# System commands
+#
+MODULES	+= systemcmds/param
+MODULES += systemcmds/mixer
+MODULES += systemcmds/topic_listener
+
+#
+# General system control
+#
+MODULES		+= modules/mavlink
+
+#
+# Estimation modules (EKF/ SO3 / other filters)
+#
+MODULES		+= modules/attitude_estimator_ekf
+MODULES		+= modules/ekf_att_pos_estimator
+
+#
+# Vehicle Control
+#
+MODULES 	+= modules/navigator
+MODULES 	+= modules/mc_pos_control
+MODULES		+= modules/mc_att_control
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/systemlib/mixer
+MODULES		+= modules/uORB
+MODULES		+= modules/dataman
+MODULES		+= modules/sdlog2
+MODULES		+= modules/simulator
+MODULES		+= modules/commander
+MODULES 	+= modules/controllib
+
+#
+# Libraries
+#
+MODULES		+= lib/mathlib
+MODULES		+= lib/mathlib/math/filter
+MODULES		+= lib/geo
+MODULES		+= lib/geo_lookup
+MODULES		+= lib/conversion
+
+#
+# Linux port
+#
+MODULES		+= platforms/posix/px4_layer
+MODULES		+= platforms/posix/drivers/accelsim
+MODULES		+= platforms/posix/drivers/gyrosim
+MODULES		+= platforms/posix/drivers/adcsim
+MODULES		+= platforms/posix/drivers/barosim
+MODULES		+= platforms/posix/drivers/tonealrmsim
+MODULES		+= platforms/posix/drivers/airspeedsim
+MODULES 	+= platforms/posix/drivers/gpssim
+
+#
+# Unit tests
+#
+#MODULES		+= platforms/posix/tests/hello
+#MODULES		+= platforms/posix/tests/vcdev_test
+#MODULES		+= platforms/posix/tests/hrt_test
+#MODULES		+= platforms/posix/tests/wqueue
+
+#
+# muorb fastrpc changes.
+#
+#MODULES		+= $(PX4_BASE)../muorb_krait
diff --git a/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk b/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
new file mode 100644
index 0000000000..a5964e07d9
--- /dev/null
+++ b/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
@@ -0,0 +1,329 @@
+#
+#   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+
+#
+# Definitions for a generic GNU ARM-EABI toolchain
+#
+
+#$(info TOOLCHAIN  arm-linux-gnueabihf)
+
+# Toolchain commands. Normally only used inside this file.
+#
+CROSSDEV		 = arm-linux-gnueabihf-
+
+CC			 = $(CROSSDEV)gcc
+CXX			 = $(CROSSDEV)g++
+CPP			 = $(CROSSDEV)gcc -E
+LD			 = $(CROSSDEV)ld
+AR			 = $(CROSSDEV)ar rcs
+NM			 = $(CROSSDEV)nm
+OBJCOPY			 = $(CROSSDEV)objcopy
+OBJDUMP			 = $(CROSSDEV)objdump
+
+# Check if the right version of the toolchain is available
+#
+CROSSDEV_VER_SUPPORTED	 = 4.7.4 4.7.5 4.7.6 4.8.2 4.8.4 4.9.3
+CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
+
+ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
+$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
+endif
+
+
+# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
+
+MAXOPTIMIZATION		 ?= -O3
+
+# Base CPU flags for each of the supported architectures.
+#
+ARCHCPUFLAGS_CORTEXA8    = -mtune=cortex-a8 \
+                           -mthumb-interwork \
+                           -march=armv7-a \
+                           -mfloat-abi=hard \
+                           -mfpu=neon
+ 
+ARCHCPUFLAGS_CORTEXM4F	 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfpu=fpv4-sp-d16 \
+			   -mfloat-abi=hard
+
+ARCHCPUFLAGS_CORTEXM4	 = -mcpu=cortex-m4 \
+			   -mthumb \
+			   -march=armv7e-m \
+			   -mfloat-abi=soft
+
+ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
+			   -mthumb \
+			   -march=armv7-m \
+			   -mfloat-abi=soft
+
+# Enabling stack checks if OS was build with them
+#
+TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
+TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
+ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
+ifeq ("$(ENABLE_STACK_CHECKS)","0")
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4  = -finstrument-functions -ffixed-r10
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3  =
+else
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
+ARCHINSTRUMENTATIONDEFINES_CORTEXM4  =
+ARCHINSTRUMENTATIONDEFINES_CORTEXM3  =
+endif
+
+# Pick the right set of flags for the architecture.
+#
+ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
+ifeq ($(ARCHCPUFLAGS),)
+$(error Must set CONFIG_ARCH to one of CORTEXA8 CORTEXM4F, CORTEXM4 or CORTEXM3)
+endif
+
+# Set the board flags
+#
+ifeq ($(CONFIG_BOARD),)
+$(error Board config does not define CONFIG_BOARD)
+endif
+ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
+                   -D__PX4_LINUX -D__PX4_POSIX \
+			       -Dnoreturn_function= \
+			       -I$(PX4_BASE)/src/modules/systemlib \
+			       -I$(PX4_BASE)/src/lib/eigen \
+			       -I$(PX4_BASE)/src/platforms/posix/include \
+			       -I$(PX4_BASE)/mavlink/include/mavlink \
+			       -Wno-error=shadow
+
+# optimisation flags
+#
+ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
+			   -g3 \
+			   -fno-strict-aliasing \
+			   -fomit-frame-pointer \
+			   -funsafe-math-optimizations \
+			   -fno-builtin-printf \
+			   -ffunction-sections \
+			   -fdata-sections
+
+# Language-specific flags
+#
+ARCHCFLAGS		 = -std=gnu99
+ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
+
+# Generic warnings
+#
+ARCHWARNINGS		 = -Wall \
+			   -Wextra \
+			   -Werror \
+			   -Wfloat-equal \
+			   -Wpointer-arith \
+			   -Wmissing-declarations \
+			   -Wpacked \
+			   -Wno-unused-parameter \
+			   -Wno-packed \
+			   -Werror=format-security \
+			   -Werror=array-bounds \
+			   -Wfatal-errors \
+			   -Werror=unused-variable \
+			   -Werror=reorder \
+			   -Werror=uninitialized \
+			   -Werror=init-self \
+               		   -Wno-error=logical-op \
+			   -Wdouble-promotion \
+			   -Wlogical-op \
+			   -Wformat=1 \
+			   -Werror=unused-but-set-variable \
+			   -Werror=double-promotion \
+			   -fno-strength-reduce \
+                           -Wno-error=unused-value
+
+ARCHOPTIMIZATION	+= -fno-strength-reduce
+
+#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
+#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+
+# C-specific warnings
+#
+ARCHCWARNINGS		 = $(ARCHWARNINGS) \
+			   -Wbad-function-cast \
+			   -Wstrict-prototypes \
+			   -Wmissing-prototypes \
+			   -Wnested-externs
+
+# C++-specific warnings
+#
+ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
+			   -Wno-missing-field-initializers
+
+# pull in *just* libm from the toolchain ... this is grody
+LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
+#EXTRA_LIBS		+= $(LIBM)
+#EXTRA_LIBS		+= ${PX4_BASE}../muorb_krait/lib/libmuorb.so
+EXTRA_LIBS		+= -pthread -lm -lrt
+
+# Flags we pass to the C compiler
+#
+CFLAGS			 = $(ARCHCFLAGS) \
+			   $(ARCHCWARNINGS) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   $(EXTRADEFINES) \
+			   $(EXTRACFLAGS) \
+			   -fno-common \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the C++ compiler
+#
+CXXFLAGS		 = $(ARCHCXXFLAGS) \
+			   $(ARCHWARNINGSXX) \
+			   $(ARCHOPTIMIZATION) \
+			   $(ARCHCPUFLAGS) \
+			   $(ARCHXXINCLUDES) \
+			   $(INSTRUMENTATIONDEFINES) \
+			   $(ARCHDEFINES) \
+			   -DCONFIG_WCHAR_BUILTIN \
+			   $(EXTRADEFINES) \
+			   $(EXTRACXXFLAGS) \
+			   -Wno-effc++ \
+			   $(addprefix -I,$(INCLUDE_DIRS))
+
+# Flags we pass to the assembler
+#
+AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
+			   $(EXTRADEFINES) \
+			   $(EXTRAAFLAGS)
+
+LDSCRIPT		 = $(PX4_BASE)/posix-configs/posixtest/scripts/ld.script
+# Flags we pass to the linker
+#
+LDFLAGS			+= $(EXTRALDFLAGS) \
+			   $(addprefix -L,$(LIB_DIRS))
+
+# Compiler support library
+#
+LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
+
+# Files that the final link depends on
+#
+#LINK_DEPS		+= $(LDSCRIPT)
+LINK_DEPS		+=
+
+# Files to include to get automated dependencies
+#
+DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
+
+# Compile C source $1 to object $2
+# as a side-effect, generate a dependency file
+#
+define COMPILE
+	@$(ECHO) "CC:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
+endef
+
+# Compile C++ source $1 to $2
+# as a side-effect, generate a dependency file
+#
+define COMPILEXX
+	@$(ECHO) "CXX:     $1"
+	@$(MKDIR) -p $(dir $2)
+	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
+endef
+
+# Assemble $1 into $2
+#
+define ASSEMBLE
+	@$(ECHO) "AS:      $1"
+	@$(MKDIR) -p $(dir $2)
+	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
+endef
+
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINK
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -o $1 $2
+
+endef
+# Produce partially-linked $1 from files in $2
+#
+#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
+define PRELINKF
+	@$(ECHO) "PRELINK: $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
+
+endef
+#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
+
+# Update the archive $1 with the files in $2
+#
+define ARCHIVE
+	@$(ECHO) "AR:      $2"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_A
+	@$(ECHO) "LINK_A:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(AR) $1 $2"
+	$(Q) $(AR) $1 $2
+endef
+
+# Link the objects in $2 into the shared library $1
+#
+define LINK_SO
+	@$(ECHO) "LINK_SO:    $1"
+	@$(MKDIR) -p $(dir $1)
+	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
+	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
+endef
+
+# Link the objects in $2 into the application $1
+#
+define LINK
+	@$(ECHO) "LINK:    $1"
+	@$(MKDIR) -p $(dir $1)
+	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
+
+endef
+
diff --git a/makefiles/posix/board_posix.mk b/makefiles/posix/board_posix.mk
index 93146b6a2e..9982680f92 100644
--- a/makefiles/posix/board_posix.mk
+++ b/makefiles/posix/board_posix.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = NATIVE
 CONFIG_BOARD			 = POSIXTEST
 
-include $(PX4_MK_DIR)/toolchain_native.mk
+include $(PX4_MK_DIR)/posix/toolchain_native.mk
diff --git a/makefiles/toolchain_native.mk b/makefiles/posix/toolchain_native.mk
similarity index 100%
rename from makefiles/toolchain_native.mk
rename to makefiles/posix/toolchain_native.mk
diff --git a/makefiles/qurt/board_qurt.mk b/makefiles/qurt/board_qurt.mk
index 6d145f1c33..1038a90b76 100644
--- a/makefiles/qurt/board_qurt.mk
+++ b/makefiles/qurt/board_qurt.mk
@@ -8,4 +8,4 @@
 CONFIG_ARCH			 = HEXAGON
 CONFIG_BOARD			 = QURTTEST
 
-include $(PX4_MK_DIR)/toolchain_hexagon.mk
+include $(PX4_MK_DIR)/qurt/toolchain_hexagon.mk
diff --git a/makefiles/toolchain_hexagon.mk b/makefiles/qurt/toolchain_hexagon.mk
similarity index 100%
rename from makefiles/toolchain_hexagon.mk
rename to makefiles/qurt/toolchain_hexagon.mk
diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk
index bb6d4ea98b..30a997b317 100644
--- a/src/modules/uORB/module.mk
+++ b/src/modules/uORB/module.mk
@@ -52,6 +52,9 @@ endif
 ifeq ($(PX4_TARGET_OS),posix)
 SRCS += uORBTest_UnitTest.cpp
 endif
+ifeq ($(PX4_TARGET_OS),posix-arm)
+SRCS += uORBTest_UnitTest.cpp
+endif
 
 SRCS	+= 		  objects_common.cpp \
 			  Publication.cpp \