diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index ecae71721c..f4a5c8c85a 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -1,7 +1,9 @@
 include(qurt/px4_impl_qurt)
 
+set(CONFIG_SHMEM "1")
+
 # Run a full link with build stubs to make sure qurt target isn't broken
-set(QURT_ENABLE_STUBS "0")
+set(QURT_ENABLE_STUBS "1")
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
 include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index 2aaad07b54..bd17e56913 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -10,13 +10,24 @@ FASTRPC_STUB_GEN(px4muorb.idl)
 
 # Enable build without HexagonSDK to check link dependencies
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
-	add_definitions(-DQURT_EXE_BUILD)
+	add_definitions(-D QURT_EXE_BUILD=1)
+	include_directories(
+                ${CMAKE_CURRENT_BINARY_DIR}
+                ${FASTRPC_DSP_INCLUDES}
+                )
 	add_executable(mainapp 
-		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
 		${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
 		${CMAKE_BINARY_DIR}/apps.h)
-else()
 
+	target_link_libraries(mainapp
+		-Wl,--start-group
+		${module_libraries}
+                ${target_libraries}
+                df_driver_framework
+                ${df_driver_libs}
+		-Wl,--end-group
+		)
+else()
 	message("module_libraries = ${module_libraries}")
 	message("target_libraries = ${target_libraries}")
 	message("df_driver_libs = ${df_driver_libs}")
@@ -33,7 +44,6 @@ else()
 		${df_driver_libs}
 		m
 		)
-		
 endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/platforms/qurt/dspal/dspal_stub.c b/src/platforms/qurt/dspal/dspal_stub.c
deleted file mode 100644
index 72faedb719..0000000000
--- a/src/platforms/qurt/dspal/dspal_stub.c
+++ /dev/null
@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 Mark Charlebois. 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.
- *
- ****************************************************************************/
-#ifdef QURT_EXE_BUILD
-#include <stdio.h>
-#include <dlfcn.h>
-
-int main(int argc, char *argv[])
-{
-	int ret = 0;
-
-	// This code is never run. It is used solely to test linking in the
-	// TravisCI build test
-
-	return ret;
-}
-
-#endif
diff --git a/src/platforms/qurt/stubs/stubs_posix.c b/src/platforms/qurt/stubs/stubs_posix.c
index 3dd4720cb3..bc21907a93 100644
--- a/src/platforms/qurt/stubs/stubs_posix.c
+++ b/src/platforms/qurt/stubs/stubs_posix.c
@@ -135,3 +135,16 @@ int pthread_cond_init(pthread_cond_t *cond, const pthread_condattr_t *attr)
 {
 	return 1;
 }
+int pthread_mutexattr_init(pthread_mutexattr_t *attr)
+{
+	return -1;
+}
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
+{
+	return -1;
+}
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
+{
+	return -1;
+}
+
diff --git a/src/platforms/qurt/stubs/stubs_qurt.c b/src/platforms/qurt/stubs/stubs_qurt.c
index 03da646cb0..09a28f52b4 100644
--- a/src/platforms/qurt/stubs/stubs_qurt.c
+++ b/src/platforms/qurt/stubs/stubs_qurt.c
@@ -1,8 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
 #include <dlfcn.h>
 #include <qurt_log.h>
 #include <dspal_platform.h>
 
-#ifdef CONFIG_ARCH_BOARD_EAGLE
+// This code is never run. It is used solely to test linking in the
+// TravisCI build test to make sure all symbols are resolved.
+__EXPORT int _start_main(void);
 
 void HAP_debug(const char *msg, int level, const char *filename, int line)
 {
@@ -16,4 +50,15 @@ int dlinit(int a, char **b)
 {
 	return 1;
 }
-#endif
+
+int main(int argc, char *argv[])
+{
+	int ret = 0;
+
+	return ret;
+}
+
+int _start_main()
+{
+	return -1;
+}