diff --git a/cmake/px4_impl_qurt.cmake b/cmake/px4_impl_qurt.cmake
index ebfdc9f45b..e6df99cd27 100644
--- a/cmake/px4_impl_qurt.cmake
+++ b/cmake/px4_impl_qurt.cmake
@@ -98,13 +98,13 @@ function(px4_qurt_generate_builtin_commands)
 		endforeach()
 		if (MAIN)
 			set(builtin_apps_string
-				"${builtin_apps_string}\t{\"${MAIN}\", ${PRIORITY}, ${STACK}, ${MAIN}_main},\n")
+				"${builtin_apps_string}\tapps[\"${MAIN}\"] = ${MAIN}_main;\n")
 			set(builtin_apps_decl_string
 				"${builtin_apps_decl_string}extern int ${MAIN}_main(int argc, char *argv[]);\n")
 			math(EXPR command_count "${command_count}+1")
 		endif()
 	endforeach()
-	configure_file(${CMAKE_SOURCE_DIR}/cmake/builtin_commands.c.in
+	configure_file(${CMAKE_SOURCE_DIR}/cmake/qurt/builtin_commands.cpp_stub
 		${OUT})
 endfunction()
 
@@ -226,6 +226,7 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
+	add_custom_target(${OUT})
 endfunction()
 
 #=============================================================================
diff --git a/cmake/qurt/builtin_commands.cpp_stub b/cmake/qurt/builtin_commands.cpp_stub
new file mode 100644
index 0000000000..f4d240d529
--- /dev/null
+++ b/cmake/qurt/builtin_commands.cpp_stub
@@ -0,0 +1,84 @@
+/* builtin command list - automatically generated, do not edit */
+#include <string>
+#include <map>
+#include <stdio.h>
+
+#include <px4_tasks.h>
+#include <px4_posix.h>
+#include <px4_log.h>
+#include <stdlib.h>
+
+using namespace std;
+
+extern void px4_show_devices(void);
+
+extern "C" {
+${builtin_apps_decl_string}
+static int shutdown_main(int argc, char *argv[]);
+static int list_tasks_main(int argc, char *argv[]);
+static int list_files_main(int argc, char *argv[]);
+static int list_devices_main(int argc, char *argv[]);
+static int list_topics_main(int argc, char *argv[]);
+static int sleep_main(int argc, char *argv[]);
+}
+
+
+void init_app_map(map<string,px4_main_t> &apps)
+{
+${builtin_apps_string}
+	apps["shutdown"] = shutdown_main;
+	apps["list_tasks"] = list_tasks_main;
+	apps["list_files"] = list_files_main;
+	apps["list_devices"] = list_devices_main;
+	apps["list_topics"] = list_topics_main;
+	apps["sleep"] = sleep_main;
+}
+
+void list_builtins(map<string,px4_main_t> &apps)
+{
+	printf("Builtin Commands:\\n");
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		printf("\\t%s\\n", (it->first).c_str());
+}
+
+static int shutdown_main(int argc, char *argv[])
+{
+	printf("Shutting down\\n");
+	exit(0);
+}
+
+static int list_tasks_main(int argc, char *argv[])
+{
+	px4_show_tasks();
+	return 0;
+}
+
+static int list_devices_main(int argc, char *argv[])
+{
+	px4_show_devices();
+	return 0;
+}
+
+static int list_topics_main(int argc, char *argv[])
+{
+	px4_show_topics();
+	return 0;
+}
+static int list_files_main(int argc, char *argv[])
+{
+	px4_show_files();
+	return 0;
+}
+static int sleep_main(int argc, char *argv[])
+{
+        if (argc != 2) {
+           PX4_WARN( "Usage: sleep <seconds>" );
+           return 1;
+        }
+
+        unsigned long usecs = ( (unsigned long) atol( argv[1] ) ) * 1000 * 1000;
+        PX4_WARN("Sleeping for %s, %ld",argv[1],usecs);
+        usleep( usecs );
+        return 0;
+}
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1bc4e961fb..c76007edd0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -12,6 +12,12 @@ add_subdirectory(./firmware)
 # executable
 #
 
+function(px4_mangle_name dirname newname)
+	set(tmp)
+	string(REPLACE "/" "__" tmp ${dirname})
+	set(${newname} ${tmp} PARENT_SCOPE)
+endfunction()
+
 if (${OS} STREQUAL "nuttx")
 
 	# a list of modules that will be linked to main
@@ -71,14 +77,33 @@ if (${OS} STREQUAL "nuttx")
 		BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
 
 elseif(${OS} STREQUAL "qurt")
+	set(module_dir_list)
 	set(module_list)
-	px4_qurt_add_modules(module_list ${BOARD})
-	message(STATUS "module list: ${module_list}")
+	px4_qurt_add_modules(module_dir_list ${BOARD})
+	message(STATUS "module list: ${module_dir_list}")
 
-	foreach(directory ${module_list})
+	foreach(directory ${module_dir_list})
 		message(STATUS "directory: ${directory}")
-        	add_subdirectory(${directory} EXCLUDE_FROM_ALL)
+		px4_mangle_name(${directory} mangled_name)
+		list(APPEND module_list
+			${mangled_name})
 	endforeach()
+	px4_qurt_generate_builtin_commands(
+		OUT builtin_commands.cpp
+		MODULE_LIST ${module_list})
+
+	# FIXME @jgoppert - how to work around issues like this?
+        # Without changing global variables?
+        # Clear -rdynamic flag which fails for hexagon
+        set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+        set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+
+	add_executable(main builtin_commands.cpp)
+	target_link_libraries(main
+		-Wl,--start-group
+		${module_list}
+		apps nuttx nosys m gcc
+		-Wl,--end-group)
 endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/CMakeLists.txt b/src/drivers/CMakeLists.txt
index 7a504e9326..a435bdc94d 100644
--- a/src/drivers/CMakeLists.txt
+++ b/src/drivers/CMakeLists.txt
@@ -8,6 +8,7 @@ set(directories
 	./boards/px4io-v1
 	./boards/px4fmu-v1
 	./boards/aerocore
+	./boards/sitl
 	./mpu6000
 	./gimbal
 	./camera_trigger
diff --git a/src/modules/muorb/adsp/CMakeLists.txt b/src/modules/muorb/adsp/CMakeLists.txt
index ade682dbfd..185264a85f 100644
--- a/src/modules/muorb/adsp/CMakeLists.txt
+++ b/src/modules/muorb/adsp/CMakeLists.txt
@@ -30,6 +30,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+include_directories("../../uORB")
+
 px4_add_module(
 	MODULE modules__muorb__adsp
 	COMPILE_FLAGS
diff --git a/src/modules/muorb/adsp/px4muorb.cpp b/src/modules/muorb/adsp/px4muorb.cpp
index e6cad0aba3..53318f8e49 100644
--- a/src/modules/muorb/adsp/px4muorb.cpp
+++ b/src/modules/muorb/adsp/px4muorb.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 #include "px4muorb.hpp"
-#include "qurt.h"
+//#include "qurt.h"
 #include "uORBFastRpcChannel.hpp"
 #include "uORBManager.hpp"
 
@@ -44,12 +44,11 @@
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
 
-#include "HAP_power.h"
-
 #define _ENABLE_MUORB 1
 
 extern "C" {
 int dspal_main(int argc, const char *argv[]);
+void HAP_power_request(int a, int b, int c);
 };
 
 
diff --git a/src/modules/systemlib/perf_counter.c b/src/modules/systemlib/perf_counter.c
index 8ec9b1a444..105b958898 100644
--- a/src/modules/systemlib/perf_counter.c
+++ b/src/modules/systemlib/perf_counter.c
@@ -47,6 +47,9 @@
 
 #ifdef __PX4_QURT
 #define dprintf(...)
+#define ddeclare(...)
+#else
+#define ddeclare(...) __VA_ARGS_
 #endif
 
 /**
@@ -417,8 +420,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 		break;
 
 	case PC_ELAPSED: {
-			struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;
-			float rms = sqrtf(pce->M2 / (pce->event_count - 1));
+			ddeclare(struct perf_ctr_elapsed *pce = (struct perf_ctr_elapsed *)handle;)
+			ddeclare(float rms = sqrtf(pce->M2 / (pce->event_count - 1));)
 			dprintf(fd, "%s: %llu events, %llu overruns, %lluus elapsed, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
 				(unsigned long long)pce->event_count,
@@ -432,8 +435,8 @@ perf_print_counter_fd(int fd, perf_counter_t handle)
 		}
 
 	case PC_INTERVAL: {
-			struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;
-			float rms = sqrtf(pci->M2 / (pci->event_count - 1));
+			ddeclare(struct perf_ctr_interval *pci = (struct perf_ctr_interval *)handle;)
+			ddeclare(float rms = sqrtf(pci->M2 / (pci->event_count - 1));)
 
 			dprintf(fd, "%s: %llu events, %lluus avg, min %lluus max %lluus %5.3fus rms\n",
 				handle->name,
diff --git a/src/platforms/px4_log.h b/src/platforms/px4_log.h
index a8208313e6..e6540c20d2 100644
--- a/src/platforms/px4_log.h
+++ b/src/platforms/px4_log.h
@@ -70,33 +70,33 @@ static inline void do_nothing(int level, ...)
 /****************************************************************************
  * Messages that should never be filtered or compiled out
  ****************************************************************************/
-#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_LOG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_INFO(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #if defined(TRACE_BUILD)
 /****************************************************************************
  * Extremely Verbose settings for a Trace build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(DEBUG_BUILD)
 /****************************************************************************
  * Verbose settings for a Debug build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILENAME__, __LINE__,  FMT, ##__VA_ARGS__)
-#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN, __FILE__, __LINE__,  FMT, ##__VA_ARGS__)
+#define PX4_DEBUG(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_DEBUG, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 
 #elif defined(RELEASE_BUILD)
 /****************************************************************************
  * Non-verbose settings for a Release build to minimize strings in build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_WARN(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_WARN, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
@@ -104,14 +104,14 @@ static inline void do_nothing(int level, ...)
 /****************************************************************************
  * Medium verbose settings for a default build
  ****************************************************************************/
-#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
-#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILENAME__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_PANIC(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_PANIC, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_ERR(FMT, ...)	qurt_log(_PX4_LOG_LEVEL_ERROR, __FILE__, __LINE__, FMT, ##__VA_ARGS__)
+#define PX4_WARN(FMT, ...) 	qurt_log(_PX4_LOG_LEVEL_WARN,  __FILE__, __LINE__, FMT, ##__VA_ARGS__)
 #define PX4_DEBUG(FMT, ...) 	__px4_log_omit(_PX4_LOG_LEVEL_DEBUG, FMT, ##__VA_ARGS__)
 
 #endif
-#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
-#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILENAME__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
+#define PX4_LOG_NAMED(name, FMT, ...) 	qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name, ##__VA_ARGS__)
+#define PX4_LOG_NAMED_COND(name, cond, FMT, ...) if( cond ) qurt_log( _PX4_LOG_LEVEL_ALWAYS, __FILE__, __LINE__, "%s " FMT, name,  ##__VA_ARGS__)
 
 #else