diff --git a/cmake/configs/posix_eagle_legacy_driver_default.cmake b/cmake/configs/posix_eagle_legacy_driver_default.cmake
index 4c638e8af5..e36e686c24 100644
--- a/cmake/configs/posix_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@@ -10,7 +10,7 @@ set(CONFIG_SHMEM "1")
 # or if it is for the Snapdragon.
 add_definitions(
 	-D__PX4_POSIX_EAGLE
-	-D__USING_SNAPDRAGON_LEGACY_DRIVER
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
 	)
 
 set(config_module_list
diff --git a/cmake/configs/posix_eagle_legacy_driver_release.cmake b/cmake/configs/posix_eagle_legacy_driver_release.cmake
index a9659b9146..8e7e2c9287 100644
--- a/cmake/configs/posix_eagle_legacy_driver_release.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_release.cmake
@@ -6,6 +6,7 @@ set(CONFIG_SHMEM "1")
 
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 
+# A temporary build option to support the use of the legacy (non DriverFramework) drivers.
 add_definitions(
    -D__USING_SNAPDRAGON_LEGACY_DRIVER
    )
diff --git a/cmake/configs/qurt_eagle_legacy_driver_default.cmake b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
index d6953bde54..4962896ed9 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@@ -25,6 +25,7 @@ set(config_module_list
 	platforms/posix/drivers/df_mpu9250_wrapper
 	platforms/posix/drivers/df_bmp280_wrapper
 	platforms/posix/drivers/df_hmc5883_wrapper
+	platforms/posix/drivers/df_trone_wrapper
 
 	#
 	# System commands
@@ -54,7 +55,6 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
-	modules/controllib
 	modules/land_detector
 
 	#
@@ -67,6 +67,7 @@ set(config_module_list
 	#
 	# Libraries
 	#
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/geo
@@ -94,4 +95,5 @@ set(config_df_driver_list
 	mpu9250
 	bmp280
 	hmc5883
+	trone
 	)
diff --git a/cmake/configs/qurt_eagle_legacy_driver_release.cmake b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
index 80397d40ea..b43cd54874 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_release.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
@@ -73,11 +73,11 @@ set(config_module_list
 	modules/systemlib/mixer
 	modules/uORB
 	modules/commander
-	modules/controllib
 
 	#
 	# Libraries
 	#
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/geo