diff --git a/Tools/adb_upload_to_bebop.sh b/Tools/adb_upload_to_bebop.sh
index 3bc6f3a210..48edf0007e 100755
--- a/Tools/adb_upload_to_bebop.sh
+++ b/Tools/adb_upload_to_bebop.sh
@@ -42,10 +42,6 @@ if [[ $adb_return == "" ]]; then
     restart_px4=true
 fi
 
-${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin/arm-linux-gnueabihf-strip \
-  -R .comment -R .gnu.version \
-  ../build_posix_bebop_default/src/firmware/posix/px4
-
 ../Tools/adb_upload.sh $@
 
 # restart the process after uploading
diff --git a/cmake/configs/posix_bebop_default.cmake b/cmake/configs/posix_bebop_default.cmake
index 664a6c6933..638f88a0b3 100644
--- a/cmake/configs/posix_bebop_default.cmake
+++ b/cmake/configs/posix_bebop_default.cmake
@@ -8,11 +8,6 @@ add_definitions(
 	-D__DF_BEBOP # Define needed DriverFramework
 	)
 
-set(CMAKE_PROGRAM_PATH
-	"${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin"
-	${CMAKE_PROGRAM_PATH}
-	)
-
 set(config_module_list
 
   # examples/px4_simple_app
diff --git a/cmake/configs/posix_rpi_cross.cmake b/cmake/configs/posix_rpi_cross.cmake
index 6d5220f227..46626ac8f6 100644
--- a/cmake/configs/posix_rpi_cross.cmake
+++ b/cmake/configs/posix_rpi_cross.cmake
@@ -1,13 +1,3 @@
 include(configs/posix_rpi_common)
 
-if("$ENV{RPI_USE_CLANG}" STREQUAL "1")
-	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-clang.cmake)
-else()
-	set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-endif()
-
-
-set(CMAKE_PROGRAM_PATH
-	"${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin"
-	${CMAKE_PROGRAM_PATH}
-)
+SET(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index caff485447..2d797137a4 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -267,22 +267,36 @@ elseif ("${BOARD}" STREQUAL "excelsior")
 		--sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork
 
 		)
-elseif ("${BOARD}" STREQUAL "rpi" AND "$ENV{RPI_USE_CLANG}" STREQUAL "1")
+elseif ("${BOARD}" STREQUAL "rpi")
+	SET(RPI_COMPILE_FLAGS
+		-mcpu=cortex-a53
+		-mfpu=neon
+		-mfloat-abi=hard
+	)
+	LIST(APPEND added_c_flags ${RPI_COMPILE_FLAGS})
+	LIST(APPEND added_cxx_flags ${RPI_COMPILE_FLAGS})
 
-	# Add the toolchain specific flags
-	set(clang_added_flags
-		-m32
-		--target=arm-linux-gnueabihf
-		-ccc-gcc-name arm-linux-gnueabihf
-		--sysroot=${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/arm-linux-gnueabihf/libc/)
+	FIND_PROGRAM(CXX_COMPILER_PATH ${CMAKE_CXX_COMPILER})
 
-	set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${clang_added_flags})
-	list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${clang_added_flags})
-	list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${clang_added_flags})
+	GET_FILENAME_COMPONENT(CXX_COMPILER_PATH ${CXX_COMPILER_PATH} DIRECTORY)
+	GET_FILENAME_COMPONENT(CXX_COMPILER_PATH "${CXX_COMPILER_PATH}/../" ABSOLUTE)
+
+	IF ("${CMAKE_C_COMPILER_ID}" STREQUAL "Clang")
+		set(CLANG_COMPILE_FLAGS
+			--target=arm-pc-linux-gnueabihf
+			-ccc-gcc-name arm-linux-gnueabihf-gcc
+			--sysroot=${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc
+			-I${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/include/
+		)
+
+		set(added_c_flags ${POSIX_CMAKE_C_FLAGS} ${CLANG_COMPILE_FLAGS})
+		list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS} ${CLANG_COMPILE_FLAGS})
+		list(APPEND added_exe_linker_flags ${POSIX_CMAKE_EXE_LINKER_FLAGS} ${CLANG_COMPILE_FLAGS}
+			-B${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
+			-L${CXX_COMPILER_PATH}/arm-linux-gnueabihf/libc/usr/lib
+		)
+	ENDIF()
 else()
-	# Add the toolchain specific flags
-        set(added_cflags ${POSIX_CMAKE_C_FLAGS})
-	list(APPEND added_cxx_flags ${POSIX_CMAKE_CXX_FLAGS})
 endif()
 
 	# output
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf-clang.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf-clang.cmake
deleted file mode 100644
index fbe06b3aff..0000000000
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf-clang.cmake
+++ /dev/null
@@ -1,65 +0,0 @@
-include(CMakeForceCompiler)
-
-if ($ENV{PX4_TOOLCHAIN_DIR} STREQUAL "")
-        message(FATAL_ERROR "PX4_TOOLCHAIN_DIR not set")
-else()
-        set(PX4_TOOLCHAIN_DIR $ENV{PX4_TOOLCHAIN_DIR})
-endif()
-
-# this one is important
-set(CMAKE_SYSTEM_NAME Generic)
-
-#this one not so much
-set(CMAKE_SYSTEM_VERSION 1)
-
-# specify the cross compiler
-# requires a symbolic link typically from /usr/bin/clang
-find_program(C_COMPILER clang
-	PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-	NO_DEFAULT_PATH
-	)
-
-if(NOT C_COMPILER)
-	message(FATAL_ERROR "could not find C compiler")
-endif()
-cmake_force_c_compiler(${C_COMPILER} Clang)
-
-find_program(CXX_COMPILER clang++
-	PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-	NO_DEFAULT_PATH
-	)
-
-if(NOT CXX_COMPILER)
-	message(FATAL_ERROR "could not find C++ compiler")
-endif()
-cmake_force_cxx_compiler(${CXX_COMPILER} Clang)
-
-# compiler tools
-foreach(tool objcopy nm ld)
-	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} arm-linux-gnueabihf-${tool}
-		PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-		NO_DEFAULT_PATH
-		)
-	if(NOT ${TOOL})
-		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
-	endif()
-endforeach()
-
-# os tools
-foreach(tool echo grep rm mkdir nm cp touch make unzip)
-	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} ${tool})
-	if(NOT ${TOOL})
-		message(FATAL_ERROR "could not find ${TOOL}")
-	endif()
-endforeach()
-
-# where is the target environment
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-# search for programs in the build host directories
-set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
-set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
index 77949d3206..1ca1a542ea 100644
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
@@ -1,65 +1,13 @@
-# defines:
-#
-# NM
-# OBJCOPY
-# LD
-# CXX_COMPILER
-# C_COMPILER
-# CMAKE_SYSTEM_NAME
-# CMAKE_SYSTEM_VERSION
-# LINKER_FLAGS
-# CMAKE_EXE_LINKER_FLAGS
-# CMAKE_FIND_ROOT_PATH
-# CMAKE_FIND_ROOT_PATH_MODE_PROGRAM
-# CMAKE_FIND_ROOT_PATH_MODE_LIBRARY
-# CMAKE_FIND_ROOT_PATH_MODE_INCLUDE
+# More on cross-compilation: https://cmake.org/cmake/help/latest/manual/cmake-toolchains.7.html
 
-include(CMakeForceCompiler)
-
-if ("$ENV{PX4_TOOLCHAIN_DIR}" STREQUAL "")
-        message(FATAL_ERROR "PX4_TOOLCHAIN_DIR not set")
-else()
-        set(PX4_TOOLCHAIN_DIR $ENV{PX4_TOOLCHAIN_DIR})
-endif()
-
-# this one is important
-set(CMAKE_SYSTEM_NAME Generic)
-
-#this one not so much
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR arm)
 set(CMAKE_SYSTEM_VERSION 1)
 
-# specify the cross compiler
-find_program(C_COMPILER arm-linux-gnueabihf-gcc
-	PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-	NO_DEFAULT_PATH
-	)
-
-if(NOT C_COMPILER)
-	message(FATAL_ERROR "could not find arm-linux-gnueabihf-gcc compiler")
-endif()
-cmake_force_c_compiler(${C_COMPILER} GNU)
-
-find_program(CXX_COMPILER arm-linux-gnueabihf-g++
-	PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-	NO_DEFAULT_PATH
-	)
-
-if(NOT CXX_COMPILER)
-	message(FATAL_ERROR "could not find arm-linux-gnueabihf-g++ compiler")
-endif()
-cmake_force_cxx_compiler(${CXX_COMPILER} GNU)
-
-# compiler tools
-foreach(tool objcopy nm ld)
-	string(TOUPPER ${tool} TOOL)
-	find_program(${TOOL} arm-linux-gnueabihf-${tool}
-		PATHS ${PX4_TOOLCHAIN_DIR}/gcc-linaro-arm-linux-gnueabihf/bin
-		NO_DEFAULT_PATH
-		)
-	if(NOT ${TOOL})
-		message(FATAL_ERROR "could not find arm-linux-gnueabihf-${tool}")
-	endif()
-endforeach()
+IF (NOT CMAKE_C_COMPILER OR NOT CMAKE_CXX_COMPILER)
+	SET(CMAKE_C_COMPILER arm-linux-gnueabihf-gcc)
+	SET(CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++)
+ENDIF()
 
 # os tools
 foreach(tool echo grep rm mkdir nm cp touch make unzip)
@@ -70,16 +18,11 @@ foreach(tool echo grep rm mkdir nm cp touch make unzip)
 	endif()
 endforeach()
 
-set(LINKER_FLAGS "-Wl,-gc-sections")
-set(CMAKE_EXE_LINKER_FLAGS ${LINKER_FLAGS})
-set(CMAKE_C_FLAGS ${C_FLAGS})
-set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
+set(CMAKE_EXE_LINKER_FLAGS "-Wl,-gc-sections")
+#set(CMAKE_C_FLAGS ${C_FLAGS})
+#set(CMAKE_CXX_LINKER_FLAGS ${C_FLAGS})
 
-# where is the target environment
-set(CMAKE_FIND_ROOT_PATH  get_file_component(${C_COMPILER} PATH))
-
-# search for programs in the build host directories
 set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
-# for libraries and headers in the target directories
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index d1a50c84ad..b152517cd0 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -140,4 +140,14 @@ install(TARGETS px4 DESTINATION ${CMAKE_INSTALL_BINDIR})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/ROMFS DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 install(DIRECTORY ${PROJECT_SOURCE_DIR}/posix-configs DESTINATION ${CMAKE_INSTALL_DATADIR}/${PROJECT_NAME})
 
+FIND_PROGRAM(STRIP_TOOL "arm-linux-gnueabihf-strip")
+
+add_custom_target(strip
+			DEPENDS px4.stripped
+)
+
+add_custom_command(OUTPUT px4.stripped
+			COMMAND arm-linux-gnueabihf-strip -R .comment -R .gnu.version $<TARGET_FILE:px4>
+			DEPENDS px4)
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :