diff --git a/platforms/common/uORB/CMakeLists.txt b/platforms/common/uORB/CMakeLists.txt
index 5838d8c40e..e3f09b1941 100644
--- a/platforms/common/uORB/CMakeLists.txt
+++ b/platforms/common/uORB/CMakeLists.txt
@@ -34,7 +34,9 @@
 # this includes the generated topics directory
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-px4_add_library(uORB
+set(SRCS)
+
+set(SRCS_COMMON
 	ORBSet.hpp
 	Publication.hpp
 	PublicationMulti.hpp
@@ -47,15 +49,48 @@ px4_add_library(uORB
 	uORB.h
 	uORBCommon.hpp
 	uORBCommunicator.hpp
-	uORBDeviceMaster.cpp
-	uORBDeviceMaster.hpp
-	uORBDeviceNode.cpp
-	uORBDeviceNode.hpp
-	uORBManager.cpp
 	uORBManager.hpp
 	uORBUtils.cpp
 	uORBUtils.hpp
-)
+	uORBDeviceMaster.hpp
+	uORBDeviceNode.hpp
+	)
+
+set(SRCS_KERNEL
+	uORBDeviceMaster.cpp
+	uORBDeviceNode.cpp
+	uORBManager.cpp
+	)
+
+set(SRCS_USER
+	uORBManagerUsr.cpp
+	)
+
+if (NOT DEFINED CONFIG_BUILD_FLAT AND "${PX4_PLATFORM}" MATCHES "nuttx")
+	# This is the kernel side library in nuttx kernel/protected build
+	px4_add_library(uORB_kernel
+			${SRCS_COMMON}
+			${SRCS_KERNEL}
+		)
+
+	# Sources for the user side library in nuttx kernel/protected build
+	list(APPEND SRCS
+		${SRCS_COMMON}
+		${SRCS_USER}
+		)
+	target_compile_options(uORB_kernel PRIVATE ${MAX_CUSTOM_OPT_LEVEL} -D__KERNEL__)
+
+else()
+	# Sources for all other targets (flat build, posix...)
+	list(APPEND SRCS
+		${SRCS_COMMON}
+		${SRCS_KERNEL}
+		)
+endif()
+
+px4_add_library(uORB
+		${SRCS}
+	)
 
 target_compile_options(uORB PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 target_link_libraries(uORB PRIVATE cdev uorb_msgs)
diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp
index 7e3b96904d..4ef069e307 100644
--- a/platforms/common/uORB/uORB.cpp
+++ b/platforms/common/uORB/uORB.cpp
@@ -41,6 +41,10 @@
 #include "uORBManager.hpp"
 #include "uORBCommon.hpp"
 
+#ifdef __PX4_NUTTX
+#include <sys/boardctl.h>
+#endif
+
 static uORB::DeviceMaster *g_dev = nullptr;
 
 int uorb_start(void)
@@ -56,6 +60,7 @@ int uorb_start(void)
 		return -ENOMEM;
 	}
 
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
 	/* create the driver */
 	g_dev = uORB::Manager::get_instance()->get_device_master();
 
@@ -63,11 +68,15 @@ int uorb_start(void)
 		return -errno;
 	}
 
+#endif
+
 	return OK;
 }
 
 int uorb_status(void)
 {
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
+
 	if (g_dev != nullptr) {
 		g_dev->printStatistics();
 
@@ -75,11 +84,16 @@ int uorb_status(void)
 		PX4_INFO("uorb is not running");
 	}
 
+#else
+	boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_STATUS);
+#endif
 	return OK;
 }
 
 int uorb_top(char **topic_filter, int num_filters)
 {
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT) || defined(__KERNEL__)
+
 	if (g_dev != nullptr) {
 		g_dev->showTop(topic_filter, num_filters);
 
@@ -87,10 +101,12 @@ int uorb_top(char **topic_filter, int num_filters)
 		PX4_INFO("uorb is not running");
 	}
 
+#else
+	boardctl(ORBIOCDEVMASTERCMD, ORB_DEVMASTER_TOP);
+#endif
 	return OK;
 }
 
-
 orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 {
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);
@@ -117,42 +133,42 @@ int orb_unadvertise(orb_advert_t handle)
 	return uORB::Manager::get_instance()->orb_unadvertise(handle);
 }
 
-int  orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
+int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data)
 {
 	return uORB::Manager::get_instance()->orb_publish(meta, handle, data);
 }
 
-int  orb_subscribe(const struct orb_metadata *meta)
+int orb_subscribe(const struct orb_metadata *meta)
 {
 	return uORB::Manager::get_instance()->orb_subscribe(meta);
 }
 
-int  orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
+int orb_subscribe_multi(const struct orb_metadata *meta, unsigned instance)
 {
 	return uORB::Manager::get_instance()->orb_subscribe_multi(meta, instance);
 }
 
-int  orb_unsubscribe(int handle)
+int orb_unsubscribe(int handle)
 {
 	return uORB::Manager::get_instance()->orb_unsubscribe(handle);
 }
 
-int  orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
+int orb_copy(const struct orb_metadata *meta, int handle, void *buffer)
 {
 	return uORB::Manager::get_instance()->orb_copy(meta, handle, buffer);
 }
 
-int  orb_check(int handle, bool *updated)
+int orb_check(int handle, bool *updated)
 {
 	return uORB::Manager::get_instance()->orb_check(handle, updated);
 }
 
-int  orb_exists(const struct orb_metadata *meta, int instance)
+int orb_exists(const struct orb_metadata *meta, int instance)
 {
 	return uORB::Manager::get_instance()->orb_exists(meta, instance);
 }
 
-int  orb_group_count(const struct orb_metadata *meta)
+int orb_group_count(const struct orb_metadata *meta)
 {
 	unsigned instance = 0;