diff --git a/CMakeLists.txt b/CMakeLists.txt
index b67f202bd4..c358ff4972 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -155,6 +155,7 @@ if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	get_filename_component(EXTERNAL_MODULES_LOCATION "${EXTERNAL_MODULES_LOCATION}" ABSOLUTE)
 endif()
 
+include(platforms/${OS}/cmake/px4_impl_os.cmake)
 set(config_module "configs/${CONFIG}")
 include(${config_module})
 
diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index 65a74556d0..e8de0b546e 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_aerofc-v1_default.cmake b/cmake/configs/nuttx_aerofc-v1_default.cmake
index a9e3559a3b..3b9d2b1077 100644
--- a/cmake/configs/nuttx_aerofc-v1_default.cmake
+++ b/cmake/configs/nuttx_aerofc-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 263edac2f3..3a938ab14e 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
diff --git a/cmake/configs/nuttx_crazyflie_default.cmake b/cmake/configs/nuttx_crazyflie_default.cmake
index 77d5a2dc7d..33dbb2db74 100644
--- a/cmake/configs/nuttx_crazyflie_default.cmake
+++ b/cmake/configs/nuttx_crazyflie_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_esc35-v1_default.cmake b/cmake/configs/nuttx_esc35-v1_default.cmake
index c909b7c655..c4c52588e8 100644
--- a/cmake/configs/nuttx_esc35-v1_default.cmake
+++ b/cmake/configs/nuttx_esc35-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 87bd61501f..5fecd0edc3 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index 966239f5d4..ea74c9b2fd 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
index 6afe17430d..ae836838ac 100644
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
index bc4dfa8315..d91cb850b6 100644
--- a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_px4cannode-v1_default.cmake b/cmake/configs/nuttx_px4cannode-v1_default.cmake
index e8552e6a1b..6f80dd0f0a 100644
--- a/cmake/configs/nuttx_px4cannode-v1_default.cmake
+++ b/cmake/configs/nuttx_px4cannode-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
diff --git a/cmake/configs/nuttx_px4esc-v1_default.cmake b/cmake/configs/nuttx_px4esc-v1_default.cmake
index 1a1aeb768b..31714c36b7 100644
--- a/cmake/configs/nuttx_px4esc-v1_default.cmake
+++ b/cmake/configs/nuttx_px4esc-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DFLASH_BASED_PARAMS
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 4da0bc4e88..4c109a16af 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 #set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index c3cdb27bdf..f581cd6ebe 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_test)
 
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 2887db89e3..a5e3c2073b 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -5,7 +5,6 @@ set(FW_NAME nuttx_px4fmu-v3_default.elf CACHE string "" FORCE)
 set(FW_PROTOTYPE px4fmu-v3 CACHE string "" FORCE)
 set(LD_SCRIPT ld_full.script CACHE string "" FORCE)
 
-include(nuttx/px4_impl_nuttx)
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
 set(config_uavcan_num_ifaces 2)
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index 2cd54536db..cd9859a0d9 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index 876e340122..eac7e57e02 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common IO px4io-v2)
 
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 6bdef84e7b..ca0d65453d 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_px4io-v2_default.cmake b/cmake/configs/nuttx_px4io-v2_default.cmake
index 27593f720a..78e3abe4d5 100644
--- a/cmake/configs/nuttx_px4io-v2_default.cmake
+++ b/cmake/configs/nuttx_px4io-v2_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
 
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 502f765fff..4a90dae653 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
diff --git a/cmake/configs/nuttx_s2740vc-v1_default.cmake b/cmake/configs/nuttx_s2740vc-v1_default.cmake
index 772ad7bf36..a7d2fe19e6 100644
--- a/cmake/configs/nuttx_s2740vc-v1_default.cmake
+++ b/cmake/configs/nuttx_s2740vc-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 add_definitions(
 	-DPARAM_NO_ORB
diff --git a/cmake/configs/nuttx_tap-v1_default.cmake b/cmake/configs/nuttx_tap-v1_default.cmake
index ae8dab0a91..9154646c31 100644
--- a/cmake/configs/nuttx_tap-v1_default.cmake
+++ b/cmake/configs/nuttx_tap-v1_default.cmake
@@ -1,4 +1,3 @@
-include(nuttx/px4_impl_nuttx)
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT tap_common)
 
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 98837cd8bf..33c518e17c 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index 1037d7d030..65d48e7200 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
diff --git a/cmake/configs/posix_eagle_muorb.cmake b/cmake/configs/posix_eagle_muorb.cmake
index a04d645e0f..cf67730062 100644
--- a/cmake/configs/posix_eagle_muorb.cmake
+++ b/cmake/configs/posix_eagle_muorb.cmake
@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-arm-linux-gnueabihf.cmake)
 
diff --git a/cmake/configs/posix_ocpoc_cross.cmake b/cmake/configs/posix_ocpoc_cross.cmake
index ee82f80af6..f1a07260cc 100644
--- a/cmake/configs/posix_ocpoc_cross.cmake
+++ b/cmake/configs/posix_ocpoc_cross.cmake
@@ -6,7 +6,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC
diff --git a/cmake/configs/posix_ocpoc_ubuntu.cmake b/cmake/configs/posix_ocpoc_ubuntu.cmake
index 0678b60bfe..bca299b5a6 100644
--- a/cmake/configs/posix_ocpoc_ubuntu.cmake
+++ b/cmake/configs/posix_ocpoc_ubuntu.cmake
@@ -5,7 +5,6 @@ set(CMAKE_PROGRAM_PATH
 	${CMAKE_PROGRAM_PATH}
 )
 
-include(posix/px4_impl_posix)
 
 add_definitions(
   -D__PX4_POSIX_OCPOC
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index 248f0f35aa..9658c8ffb6 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -1,7 +1,6 @@
 # This file is shared between posix_rpi_native.cmake
 # and posix_rpi_cross.cmake.
 
-include(posix/px4_impl_posix)
 
 # This definition allows to differentiate if this just the usual POSIX build
 # or if it is for the RPi.
diff --git a/cmake/configs/posix_sdflight_default.cmake b/cmake/configs/posix_sdflight_default.cmake
index ce160d7213..1db4dd7096 100644
--- a/cmake/configs/posix_sdflight_default.cmake
+++ b/cmake/configs/posix_sdflight_default.cmake
@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 # Get $QC_SOC_TARGET from environment if existing.
 if (DEFINED ENV{QC_SOC_TARGET})
diff --git a/cmake/configs/posix_sdflight_legacy.cmake b/cmake/configs/posix_sdflight_legacy.cmake
index 476a5aea54..1792b62c90 100644
--- a/cmake/configs/posix_sdflight_legacy.cmake
+++ b/cmake/configs/posix_sdflight_legacy.cmake
@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(posix/px4_impl_posix)
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PX4_SOURCE_DIR}/cmake/cmake_hexagon")
 
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 4963329ea7..7448033ddf 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index 83960ac41b..c61c95f0b4 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -1,4 +1,3 @@
-include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
 
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index f8fd30f33b..741d9ee28d 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index e538475fcf..4756b13620 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/configs/qurt_eagle_muorb.cmake b/cmake/configs/qurt_eagle_muorb.cmake
index 7f34764a32..1089d9dab0 100644
--- a/cmake/configs/qurt_eagle_muorb.cmake
+++ b/cmake/configs/qurt_eagle_muorb.cmake
@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index d8a8c2b142..5ede3b3188 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index a1cd3724d9..6b58ff2174 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -1,4 +1,3 @@
-include(qurt/px4_impl_qurt)
 
 set(CONFIG_SHMEM "1")
 
diff --git a/cmake/configs/qurt_sdflight_default.cmake b/cmake/configs/qurt_sdflight_default.cmake
index 88e9208bb5..2092defdd6 100644
--- a/cmake/configs/qurt_sdflight_default.cmake
+++ b/cmake/configs/qurt_sdflight_default.cmake
@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/configs/qurt_sdflight_legacy.cmake b/cmake/configs/qurt_sdflight_legacy.cmake
index 3cfa61f76f..15c212979f 100644
--- a/cmake/configs/qurt_sdflight_legacy.cmake
+++ b/cmake/configs/qurt_sdflight_legacy.cmake
@@ -1,7 +1,6 @@
 include(common/px4_git)
 px4_add_git_submodule(TARGET git_cmake_hexagon PATH "cmake/cmake_hexagon")
 
-include(qurt/px4_impl_qurt)
 
 if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
 	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
diff --git a/cmake/posix/ld.script b/cmake/posix/ld.script
deleted file mode 100644
index 7069271193..0000000000
--- a/cmake/posix/ld.script
+++ /dev/null
@@ -1,47 +0,0 @@
-/****************************************************************************
- * ld.script
- *
- * Copyright (C) 2015 Mark Charlebois. All rights reserved.
- * Author: Mark Charlebois <charlebm@gmail.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-SECTIONS
-{
-	/*
-	 * Construction data for parameters.
-	 */
-	__param : ALIGN(8) {
-		__param_start = .;
-		KEEP(*(__param*))
-		__param_end = .;
-	}
-}
-INSERT AFTER .rodata;
diff --git a/cmake/qurt/qurt_eigen.patch b/cmake/qurt/qurt_eigen.patch
deleted file mode 100644
index 3b3e76d6ad..0000000000
--- a/cmake/qurt/qurt_eigen.patch
+++ /dev/null
@@ -1,37 +0,0 @@
-diff --git a/Eigen/src/Core/util/Macros.h b/Eigen/src/Core/util/Macros.h
-index 1ca1d66..9bc928b 100644
---- a/Eigen/src/Core/util/Macros.h
-+++ b/Eigen/src/Core/util/Macros.h
-@@ -194,6 +194,12 @@
-   #define EIGEN_ARCH_PPC 0
- #endif
- 
-+/// \internal EIGEN_ARCH_HEXAGON set to 1 if the architecture is Hexagon
-+#ifdef __HEXAGON_ARCH__
-+  #define EIGEN_ARCH_HEXAGON 1
-+#else
-+  #define EIGEN_ARCH_HEXAGON 0
-+#endif
- 
- 
- // Operating system identification, EIGEN_OS_*
-@@ -334,15 +340,16 @@
- #endif
- 
- // Do we support r-value references?
--#if (__has_feature(cxx_rvalue_references) || \
-+#if ((__has_feature(cxx_rvalue_references) || \
-     (defined(__cplusplus) && __cplusplus >= 201103L) || \
-      defined(__GXX_EXPERIMENTAL_CXX0X__) || \
--    (EIGEN_COMP_MSVC >= 1600))
-+    (EIGEN_COMP_MSVC >= 1600)) && (!defined(EIGEN_ARCH_HEXAGON)))
-   #define EIGEN_HAVE_RVALUE_REFERENCES
- #endif
- 
- // Does the compiler support result_of?
--#if (__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L))
-+#if ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)) && \
-+    (!defined(EIGEN_ARCH_HEXAGON)))
- #define EIGEN_HAS_STD_RESULT_OF 1
- #endif
- 
diff --git a/cmake/qurt/qurt_funcs.cmake b/cmake/qurt/qurt_funcs.cmake
deleted file mode 100644
index 9987b84c07..0000000000
--- a/cmake/qurt/qurt_funcs.cmake
+++ /dev/null
@@ -1,47 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 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.
-#
-############################################################################
-
-#=============================================================================
-# FILE: posix/px4_target_impl.cmake
-#
-# Each PX4 target OS must implement the cmake/${OS}/px4_target_impl.cmake
-# rules for their target that implement the following macros:
-#
-#	px4_target_set_flags
-#	px4_target_validate_config
-#	px4_target_firmware
-#	px4_target_rules
-#	px4_target_testing
-#
-# The macros are called from the top level CMakeLists.txt
-#
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake
similarity index 100%
rename from cmake/nuttx/px4_impl_nuttx.cmake
rename to platforms/nuttx/cmake/px4_impl_os.cmake
diff --git a/cmake/posix/px4_impl_posix.cmake b/platforms/posix/cmake/px4_impl_os.cmake
similarity index 100%
rename from cmake/posix/px4_impl_posix.cmake
rename to platforms/posix/cmake/px4_impl_os.cmake
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/platforms/qurt/cmake/px4_impl_os.cmake
similarity index 99%
rename from cmake/qurt/px4_impl_qurt.cmake
rename to platforms/qurt/cmake/px4_impl_os.cmake
index e6ec7f5a26..06ce660f0b 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/platforms/qurt/cmake/px4_impl_os.cmake
@@ -85,7 +85,7 @@ function(px4_qurt_generate_builtin_commands)
 	set(builtin_apps_decl_string)
 	set(command_count 0)
 	foreach(module ${MODULE_LIST})
-		foreach(property MAIN STACK_MAIN PRIORITY) 
+		foreach(property MAIN STACK_MAIN PRIORITY)
 			get_target_property(${property} ${module} ${property})
 		endforeach()
 		if (MAIN)