diff --git a/makefiles/qurt/toolchain_hexagon.mk b/makefiles/qurt/toolchain_hexagon.mk
index 4574574999..8f44a84946 100644
--- a/makefiles/qurt/toolchain_hexagon.mk
+++ b/makefiles/qurt/toolchain_hexagon.mk
@@ -38,9 +38,7 @@
 # Toolchain commands. Normally only used inside this file.
 #
 HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
-#HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
-HEXAGON_SDK_ROOT	 = /prj/atlanticus/users/rkintada/Hexagon_SDK/2.0
-#V_ARCH			 = v4
+HEXAGON_SDK_ROOT	 = /opt/Hexagon_SDK/2.0
 V_ARCH			 = v5
 CROSSDEV		 = hexagon-
 HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 07fe6b35eb..f90a0a6237 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -395,12 +395,14 @@ private:
 	float			_rate_txerr;
 	float			_rate_rx;
 
+#ifdef __PX4_POSIX
 	int _socket_fd;
 	struct sockaddr_in _myaddr;
 	struct sockaddr_in _src_addr;
 
 	Protocol	_protocol;
 	unsigned short _udp_port;
+#endif
 
 	struct telemetry_status_s	_rstatus;			///< receive status
 
diff --git a/src/modules/uORB/uORBDevices_posix.cpp b/src/modules/uORB/uORBDevices_posix.cpp
index 037ff395b3..ddbce3ff55 100644
--- a/src/modules/uORB/uORBDevices_posix.cpp
+++ b/src/modules/uORB/uORBDevices_posix.cpp
@@ -91,7 +91,7 @@ uORB::DeviceNode::open(device::file_t *filp)
     lock();
 
     if (_publisher == 0) {
-      _publisher = getpid();
+      _publisher = px4_getpid();
       ret = PX4_OK;
 
     } else {
@@ -153,7 +153,7 @@ uORB::DeviceNode::close(device::file_t *filp)
 {
   //warnx("uORB::DeviceNode::close fd = %d", filp->fd);
   /* is this the publisher closing? */
-  if (getpid() == _publisher) {
+  if (px4_getpid() == _publisher) {
     _publisher = 0;
 
   } else {
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index 0461689f2a..d655fa91d6 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -52,7 +52,7 @@
 }
 #if defined(__PX4_QURT)
 #include <stdio.h>
-#include "HAP_farf.h"
+#define FARF printf
 
 #define __FARF_omit(level, ...)   { }
 #define __FARF_log(level, ...)   { \
@@ -66,10 +66,10 @@
 	FARF(" (file %s line %d)\n", __FILE__, __LINE__);\
 }
 
-#define PX4_DEBUG(...)	__FARF_omit(HIGH, __VA_ARGS__)
-#define PX4_INFO(...) 	__FARF_log(HIGH, __VA_ARGS__)
-#define PX4_WARN(...) 	__FARF_log_verbose(HIGH, __VA_ARGS__)
-#define PX4_ERR(...)	__FARF_log_verbose(HIGH, __VA_ARGS__)
+#define PX4_DEBUG(...)	__FARF_omit("DEBUG", __VA_ARGS__)
+#define PX4_INFO(...) 	__FARF_log("INFO", __VA_ARGS__)
+#define PX4_WARN(...) 	__FARF_log_verbose("WARN", __VA_ARGS__)
+#define PX4_ERR(...)	__FARF_log_verbose("ERROR", __VA_ARGS__)
 
 #elif defined(__PX4_LINUX)
 #include <stdio.h>
diff --git a/src/platforms/px4_posix.h b/src/platforms/px4_posix.h
index 9c392ac42a..da3e584b80 100644
--- a/src/platforms/px4_posix.h
+++ b/src/platforms/px4_posix.h
@@ -68,6 +68,7 @@ typedef struct pollfd px4_pollfd_struct_t;
 #define px4_poll 	_GLOBAL poll
 #define px4_fsync 	_GLOBAL fsync
 #define px4_access 	_GLOBAL access
+#define px4_getpid 	_GLOBAL getpid
 
 #elif defined(__PX4_POSIX)
 
@@ -98,6 +99,12 @@ __EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
 __EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
 __EXPORT int		px4_fsync(int fd);
 __EXPORT int		px4_access(const char *pathname, int mode);
+#ifdef __PX4_QURT
+typedef int 		pid_t;
+__EXPORT int		px4_getpid(void);
+#else
+#define  px4_getpid	getpid
+#endif
 
 __END_DECLS
 #else
diff --git a/src/platforms/px4_time.h b/src/platforms/px4_time.h
index 0c9b7f24c9..a54a18b9ab 100644
--- a/src/platforms/px4_time.h
+++ b/src/platforms/px4_time.h
@@ -28,7 +28,6 @@ struct timespec
 int px4_clock_gettime(clockid_t clk_id, struct timespec *tp);
 int px4_clock_settime(clockid_t clk_id, struct timespec *tp);
 
-__EXPORT int usleep(useconds_t usec);
 __EXPORT unsigned int sleep(unsigned int sec);
 
 __END_DECLS
diff --git a/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp b/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
index 0987c6feb1..9087fd873e 100644
--- a/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_impl.cpp
@@ -48,7 +48,6 @@
 #include <errno.h>
 #include <unistd.h>
 #include <semaphore.h>
-#include <qurt.h>
 #include "systemlib/param/param.h"
 
 
@@ -57,14 +56,10 @@ __BEGIN_DECLS
 // FIXME - sysconf(_SC_CLK_TCK) not supported
 long PX4_TICKS_PER_SEC = 1000;
 
-void usleep(useconds_t usec) {
-	qurt_timer_sleep(usec);
-}
-
 unsigned int sleep(unsigned int sec) 
 { 
 	for (unsigned int i=0; i< sec; i++)
-		qurt_timer_sleep(1000000);
+		usleep(1000000);
 	return 0; 
 }
 
diff --git a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
index d688f1104a..75239b91d6 100644
--- a/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
+++ b/src/platforms/qurt/px4_layer/px4_qurt_tasks.cpp
@@ -245,6 +245,20 @@ int px4_task_kill(px4_task_t id, int sig)
 	return rv;
 }
 
+pid_t px4_getpid()
+{
+	pthread_t pid = pthread_self();
+
+	// Get pthread ID from the opaque ID
+	for (int i=0; i<PX4_MAX_TASKS; ++i) {
+		if (taskmap[i].pid == pid) {
+			return i;
+		}
+	}
+	PX4_ERR("px4_getpid() called from non-thread context!");
+	return -EINVAL;
+}
+
 void px4_show_tasks()
 {
 	int idx;
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 153a16abaf..1609ddcf6a 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -213,7 +213,9 @@ do_save(const char *param_file_name)
 	close(fd);
 
 	if (result < 0) {
+#ifndef __PX4_QURT
 		(void)unlink(param_file_name);
+#endif
 		warnx("error exporting to '%s'", param_file_name);
 		return 1;
 	}