diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
index bc9cb85669..0c35b1cb6c 100644
--- a/cmake/px4_add_board.cmake
+++ b/cmake/px4_add_board.cmake
@@ -264,8 +264,8 @@ function(px4_add_board)
 		foreach(driver ${DF_DRIVERS})
 			list(APPEND config_df_driver_list ${driver})
 
-			if(EXISTS "${PX4_SOURCE_DIR}/src/platforms/posix/drivers/df_${driver}_wrapper")
-				list(APPEND config_module_list platforms/posix/drivers/df_${driver}_wrapper)
+			if(EXISTS "${PX4_SOURCE_DIR}/src/drivers/driver_framework_wrapper/df_${driver}_wrapper")
+				list(APPEND config_module_list drivers/driver_framework_wrapper/df_${driver}_wrapper)
 			endif()
 		endforeach()
 		set(config_df_driver_list ${config_df_driver_list} PARENT_SCOPE)
diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt
index e3ab861cf6..491f56bea6 100644
--- a/platforms/posix/src/px4/common/CMakeLists.txt
+++ b/platforms/posix/src/px4/common/CMakeLists.txt
@@ -70,3 +70,10 @@ endif()
 if (EXTRA_DEPENDS)
 	add_dependencies(px4_layer ${EXTRA_DEPENDS})
 endif()
+
+
+if (BUILD_TESTING)
+	add_subdirectory(test_stubs)
+	add_subdirectory(gtest_runner)
+endif()
+
diff --git a/src/platforms/posix/gtest_runner/CMakeLists.txt b/platforms/posix/src/px4/common/gtest_runner/CMakeLists.txt
similarity index 100%
rename from src/platforms/posix/gtest_runner/CMakeLists.txt
rename to platforms/posix/src/px4/common/gtest_runner/CMakeLists.txt
diff --git a/src/platforms/posix/gtest_runner/gtest_functional_main.cpp b/platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp
similarity index 100%
rename from src/platforms/posix/gtest_runner/gtest_functional_main.cpp
rename to platforms/posix/src/px4/common/gtest_runner/gtest_functional_main.cpp
diff --git a/src/platforms/posix/test_stubs/CMakeLists.txt b/platforms/posix/src/px4/common/test_stubs/CMakeLists.txt
similarity index 100%
rename from src/platforms/posix/test_stubs/CMakeLists.txt
rename to platforms/posix/src/px4/common/test_stubs/CMakeLists.txt
diff --git a/src/platforms/posix/test_stubs/stub_daemon.cpp b/platforms/posix/src/px4/common/test_stubs/stub_daemon.cpp
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_daemon.cpp
rename to platforms/posix/src/px4/common/test_stubs/stub_daemon.cpp
diff --git a/src/platforms/posix/test_stubs/stub_daemon.h b/platforms/posix/src/px4/common/test_stubs/stub_daemon.h
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_daemon.h
rename to platforms/posix/src/px4/common/test_stubs/stub_daemon.h
diff --git a/src/platforms/posix/test_stubs/stub_devmgr.cpp b/platforms/posix/src/px4/common/test_stubs/stub_devmgr.cpp
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_devmgr.cpp
rename to platforms/posix/src/px4/common/test_stubs/stub_devmgr.cpp
diff --git a/src/platforms/posix/test_stubs/stub_devmgr.h b/platforms/posix/src/px4/common/test_stubs/stub_devmgr.h
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_devmgr.h
rename to platforms/posix/src/px4/common/test_stubs/stub_devmgr.h
diff --git a/src/platforms/posix/test_stubs/stub_parameter.cpp b/platforms/posix/src/px4/common/test_stubs/stub_parameter.cpp
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_parameter.cpp
rename to platforms/posix/src/px4/common/test_stubs/stub_parameter.cpp
diff --git a/src/platforms/posix/test_stubs/stub_parameter.h b/platforms/posix/src/px4/common/test_stubs/stub_parameter.h
similarity index 100%
rename from src/platforms/posix/test_stubs/stub_parameter.h
rename to platforms/posix/src/px4/common/test_stubs/stub_parameter.h
diff --git a/src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_ak8963_wrapper/CMakeLists.txt
index 50967ea90f..dc9db8bd96 100644
--- a/src/platforms/posix/drivers/df_ak8963_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_ak8963_wrapper
diff --git a/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_bebop_bus_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_bebop_bus_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/CMakeLists.txt
index 9972619715..bd2fada0ee 100644
--- a/src/platforms/posix/drivers/df_bebop_bus_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_bebop_bus_wrapper
diff --git a/src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/CMakeLists.txt
index 4ce56a3813..5273142396 100644
--- a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_bebop_rangefinder_wrapper
diff --git a/src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_bmp280_wrapper/CMakeLists.txt
index de214f4616..b16e02e3cf 100644
--- a/src/platforms/posix/drivers/df_bmp280_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_bmp280_wrapper
diff --git a/src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_bmp280_wrapper/df_bmp280_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_hmc5883_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_hmc5883_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/CMakeLists.txt
index 03c76ed090..b19f4eefc1 100644
--- a/src/platforms/posix/drivers/df_hmc5883_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_hmc5883_wrapper
diff --git a/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_isl29501_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_isl29501_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_isl29501_wrapper/CMakeLists.txt
index 373d1db61b..b48e85238c 100644
--- a/src/platforms/posix/drivers/df_isl29501_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_isl29501_wrapper
diff --git a/src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_isl29501_wrapper/df_isl29501_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_lsm9ds1_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/CMakeLists.txt
index 732421a255..329b4cd21a 100644
--- a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_lsm9ds1_wrapper
diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_ltc2946_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_ltc2946_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/CMakeLists.txt
index 6095aa793e..292c8a5aa7 100644
--- a/src/platforms/posix/drivers/df_ltc2946_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_ltc2946_wrapper
diff --git a/src/platforms/posix/drivers/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/CMakeLists.txt
index 4147bf78db..3ec392d854 100644
--- a/src/platforms/posix/drivers/df_mpu6050_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_mpu6050_wrapper
diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_mpu9250_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/CMakeLists.txt
index 9f60ac1312..f5f87eb754 100644
--- a/src/platforms/posix/drivers/df_mpu9250_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_mpu9250_wrapper
diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_ms5607_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_ms5607_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_ms5607_wrapper/CMakeLists.txt
index 9756a6d164..f0afda81fa 100644
--- a/src/platforms/posix/drivers/df_ms5607_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_ms5607_wrapper
diff --git a/src/platforms/posix/drivers/df_ms5607_wrapper/df_ms5607_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_ms5607_wrapper/df_ms5607_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_ms5611_wrapper/CMakeLists.txt
index d21aa5733c..e18fd85679 100644
--- a/src/platforms/posix/drivers/df_ms5611_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_ms5611_wrapper
diff --git a/src/platforms/posix/drivers/df_ms5611_wrapper/df_ms5611_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_ms5611_wrapper/df_ms5611_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
diff --git a/src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt b/src/drivers/driver_framework_wrapper/df_trone_wrapper/CMakeLists.txt
similarity index 96%
rename from src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt
rename to src/drivers/driver_framework_wrapper/df_trone_wrapper/CMakeLists.txt
index 30b9974c02..2b6d79e821 100644
--- a/src/platforms/posix/drivers/df_trone_wrapper/CMakeLists.txt
+++ b/src/drivers/driver_framework_wrapper/df_trone_wrapper/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(../../../../lib/DriverFramework/drivers)
+include_directories(../../../lib/DriverFramework/drivers)
 
 px4_add_module(
 	MODULE platforms__posix__drivers__df_trone_wrapper
diff --git a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp
similarity index 100%
rename from src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
rename to src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp
diff --git a/src/platforms/CMakeLists.txt b/src/platforms/CMakeLists.txt
index 272e4d66bd..83f9afca82 100644
--- a/src/platforms/CMakeLists.txt
+++ b/src/platforms/CMakeLists.txt
@@ -33,7 +33,3 @@
 
 add_subdirectory(common)
 
-if (${PX4_PLATFORM} STREQUAL "posix" AND BUILD_TESTING)
-	add_subdirectory(posix/test_stubs)
-	add_subdirectory(posix/gtest_runner)
-endif()