diff --git a/CMakeLists.txt b/CMakeLists.txt
index 56aacd2bbe..607fafb9ee 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -336,8 +336,9 @@ endforeach()
 
 add_subdirectory(src/firmware/${OS})
 
+add_subdirectory(src/lib/DriverFramework/framework/src)
+#add_dependencies(df_driver_framework nuttx_export_${CONFIG}.stamp)
 if (NOT "${OS}" STREQUAL "nuttx")
-	add_subdirectory(src/lib/DriverFramework)
 endif()
 
 if (config_io_board)
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 8a3a844886..fa34b1584d 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -619,6 +619,7 @@ function(px4_add_common_flags)
 		${CMAKE_BINARY_DIR}/src/modules/px4_messages
 		${CMAKE_BINARY_DIR}/src/modules
 		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
+		${CMAKE_SOURCE_DIR}/src/lib/DriverFramework/framework/include
 		)
 
 	list(APPEND added_include_dirs
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 47a3ea8c5b..df9a74e1c7 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -423,7 +423,6 @@ function(px4_os_add_flags)
 		${nuttx_export_dir}/include/cxx
 		${nuttx_export_dir}/arch/chip
 		${nuttx_export_dir}/arch/common
-		src/lib/DriverFramework/framework/include
 		)
 	set(added_link_dirs
 		${nuttx_export_dir}/libs
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index ca6033448d..4c2dfbb709 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -164,7 +164,6 @@ function(px4_os_add_flags)
                 src/lib/eigen
                 src/platforms/posix/include
                 mavlink/include/mavlink
-                src/lib/DriverFramework/framework/include
                 )
 
 if(UNIX AND APPLE)
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index 01025ce270..5c40dfebd7 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -165,7 +165,6 @@ function(px4_os_add_flags)
                 ${DSPAL_ROOT}/sys/sys 
                 ${DSPAL_ROOT}/mpu_spi/inc
                 ${DSPAL_ROOT}/uart_esc/inc
-		src/lib/DriverFramework/framework/include
                 src/platforms/qurt/include
                 src/platforms/posix/include
                 )
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index a759ad3142..10bc08d31f 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit a759ad3142b3b30d4e3a3157ec684966f7dcc83c
+Subproject commit 10bc08d31fe0cddb997b3349f34a7ea38c5c7b9d