diff --git a/CMakeLists.txt b/CMakeLists.txt
index 04efb3c89c..041966b1d0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,6 +142,7 @@ project(px4 CXX C ASM)
 if (NOT ${CMAKE_VERSION} VERSION_LESS 3.0.0)
 	cmake_policy(SET CMP0045 NEW) # error on non-existent target in get prop
 	cmake_policy(SET CMP0046 NEW) # no non-existent targets as dependencies
+	cmake_policy(SET CMP0054 NEW) # don't dereference quoted variables
 endif()
 
 set(version_major 1)
@@ -155,7 +156,7 @@ list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 
-message(STATUS "TARGET: OS(${OS})-BOARD(${BOARD})-LABEL(${LABEL})")
+message(STATUS "OS=${OS} BOARD=${BOARD} LABEL=${LABEL}")
 
 #=============================================================================
 # programs
diff --git a/Makefile b/Makefile
index 97551cb68b..e5d4dc01af 100644
--- a/Makefile
+++ b/Makefile
@@ -54,13 +54,14 @@
 # rest are arguments to pass to the makefile generated
 # by cmake in the subdirectory
 ARGS := $(wordlist 2,$(words $(MAKECMDGOALS)),$(MAKECMDGOALS))
+j ?= 1
 
 # Functions
 # --------------------------------------------------------------------
 # define a make function to describe how to build a cmake config
 define cmake-build
-mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -DCONFIG=$(1)
-make -C $(PWD)/build_$@ -s $(ARGS)
++mkdir -p $(PWD)/build_$@ && cd $(PWD)/build_$@ && cmake .. -DCONFIG=$(1)
++make -C $(PWD)/build_$@ --no-print-directory $(ARGS)
 endef
 
 
diff --git a/Tools/px_generate_params.py b/Tools/px_generate_params.py
index b468867523..c73b842875 100755
--- a/Tools/px_generate_params.py
+++ b/Tools/px_generate_params.py
@@ -82,12 +82,12 @@ src += """
 };
 
 #ifdef __PX4_DARWIN
-#define ___param__attributes ;
+#define ___param__attributes
 #else
-#define ___param__attributes __attribute__((alias("px4_parameters_impl")));
+#define ___param__attributes __attribute__((alias("px4_parameters_impl")))
 #endif
 
-extern const struct px4_parameters_t px4_parameters ___param__attributes
+extern const struct px4_parameters_t px4_parameters ___param__attributes;
 """ % i
 
 fp_header.write(header)
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 4b42f388cf..66be1acbe5 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -254,30 +254,45 @@ endfunction()
 #			)
 #
 function(px4_add_module)
+
 	px4_parse_function_args(
 		NAME px4_add_module
 		ONE_VALUE MODULE MAIN STACK PRIORITY
 		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS
 		REQUIRED MODULE
 		ARGN ${ARGN})
+
 	add_library(${MODULE} STATIC EXCLUDE_FROM_ALL ${SRCS})
+
+	if(MAIN)
+		set_target_properties(${MODULE} PROPERTIES
+			COMPILE_DEFINITIONS PX4_MAIN=${MAIN}_app_main)
+	endif()
+
 	if(INCLUDES)
 		target_include_directories(${MODULE} ${INCLUDES})
 	endif()
+
 	if(DEPENDS)
 		add_dependencies(${MODULE} ${DEPENDS})
 	endif()
+
+	# join list variables to get ready to send to compiler
 	foreach(prop LINK_FLAGS COMPILE_FLAGS)
 		if(${prop})
 			px4_join(OUT ${prop} LIST ${${prop}} GLUE " ")
 		endif()
 	endforeach()
-	foreach (prop STACK MAIN COMPILE_FLAGS LINK_FLAGS PRIORITY)
+
+	# store module properties in target
+	# COMPILE_FLAGS and LINK_FLAGS are passed to compiler/linker by cmake
+	# STACK, MAIN, PRIORITY are PX4 specific
+	foreach (prop COMPILE_FLAGS LINK_FLAGS STACK MAIN PRIORITY)
 		if (${prop})
-			set_target_properties(${MODULE} PROPERTIES "${prop}" "${${prop}}")
+			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
 	endforeach()
-	set_target_properties(${MODULE} PROPERTIES LINK_INTERFACE_MULTIPLICITY 4)
+
 endfunction()
 
 #=============================================================================
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 4ba1792a41..a092466010 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -165,8 +165,8 @@ set(config_firmware_options
 	)
 
 set(config_extra_builtin_cmds
-	serdis_main
-	sercon_main
+	serdis
+	sercon
 	)
 
 add_custom_target(sercon)
diff --git a/cmake/configs/nuttx_px4fmu-v2_simple.cmake b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
index d3ee36d1e0..ddd639ac5a 100644
--- a/cmake/configs/nuttx_px4fmu-v2_simple.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
@@ -122,8 +122,8 @@ set(config_firmware_options
 	)
 
 set(config_extra_builtin_cmds
-	serdis_main
-	sercon_main
+	serdis
+	sercon
 	)
 
 add_custom_target(sercon)
diff --git a/cmake/configs/nuttx_sim_simple.cmake b/cmake/configs/nuttx_sim_simple.cmake
index 0721df5a52..a777e915f9 100644
--- a/cmake/configs/nuttx_sim_simple.cmake
+++ b/cmake/configs/nuttx_sim_simple.cmake
@@ -22,8 +22,8 @@ set(config_firmware_options
 	)
 
 set(config_extra_builtin_cmds
-	serdis_main
-	sercon_main
+	serdis
+	sercon
 	)
 
 add_custom_target(sercon)
diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
index 8bee815a8b..36c787edca 100644
--- a/cmake/configs/posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@@ -8,7 +8,7 @@ set(config_module_list
 	drivers/pwm_out_sim
 	drivers/rgbled
 	drivers/led
-	modules/sensors
+	drivers/boards/sitl
 
 	systemcmds/param
 	systemcmds/mixer
@@ -38,6 +38,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 
+	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
 	)
diff --git a/cmake/configs/posix_eagle_hil.cmake b/cmake/configs/posix_eagle_hil.cmake
index fc771f3d89..c4e5375766 100644
--- a/cmake/configs/posix_eagle_hil.cmake
+++ b/cmake/configs/posix_eagle_hil.cmake
@@ -1,5 +1,10 @@
 include(posix/px4_impl_posix)
 
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
@@ -26,6 +31,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 
+	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
 	modules/muorb/krait
diff --git a/cmake/configs/posix_eagle_release.cmake b/cmake/configs/posix_eagle_release.cmake
index cb3019ae2b..36a9ad1be3 100644
--- a/cmake/configs/posix_eagle_release.cmake
+++ b/cmake/configs/posix_eagle_release.cmake
@@ -1,5 +1,10 @@
 include(posix/px4_impl_posix)
 
+# Use build stubs unless explicitly set not to
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "")
+	set(DSPAL_STUBS_ENABLE "1")
+endif()
+
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
 
 set(config_module_list
@@ -20,6 +25,7 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 
+	platforms/common
 	platforms/posix/px4_layer
 	platforms/posix/work_queue
 
diff --git a/cmake/configs/posix_sitl_simple.cmake b/cmake/configs/posix_sitl_simple.cmake
index a00e79743e..10a02fa89f 100644
--- a/cmake/configs/posix_sitl_simple.cmake
+++ b/cmake/configs/posix_sitl_simple.cmake
@@ -60,8 +60,8 @@ set(config_firmware_options
 	)
 
 set(config_extra_builtin_cmds
-	serdis_main
-	sercon_main
+	serdis
+	sercon
 	)
 
 add_custom_target(sercon)
diff --git a/cmake/configs/qurt_eagle_hello.cmake b/cmake/configs/qurt_eagle_hello.cmake
index 43db471f69..9076ec7511 100644
--- a/cmake/configs/qurt_eagle_hello.cmake
+++ b/cmake/configs/qurt_eagle_hello.cmake
@@ -24,10 +24,4 @@ set(config_module_list
 	platforms/posix/work_queue
 	platforms/qurt/tests/hello
 	)
-	set(${out_module_list} ${config_module_list} PARENT_SCOPE)
-
-	# output
-	set(${OUT_MODULES} ${config_module_list} PARENT_SCOPE)
-
-endfunction()
 
diff --git a/cmake/configs/qurt_eagle_test.cmake b/cmake/configs/qurt_eagle_test.cmake
index 501c7fbeb8..c25191f5b9 100644
--- a/cmake/configs/qurt_eagle_test.cmake
+++ b/cmake/configs/qurt_eagle_test.cmake
@@ -14,7 +14,7 @@ set(config_module_list
 	# Library modules
 	#
 	modules/systemlib
-	modules/mixer
+	modules/systemlib/mixer
 	modules/uORB
 
 	#
@@ -31,8 +31,8 @@ set(config_module_list
 	platforms/qurt/px4_layer
 	platforms/posix/work_queue
 	platforms/qurt/tests/hello
-	platforms/qurt/tests/vcdev_test
-	platforms/qurt/tests/hrt_test
-	platforms/qurt/tests/wqueue
+	platforms/posix/tests/vcdev_test
+	platforms/posix/tests/hrt_test
+	platforms/posix/tests/wqueue
 	)
 
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index 61b171d14d..ab766f189c 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -1,7 +1,7 @@
 include(qurt/px4_impl_qurt)
 
 # Run a full link with build stubs to make sure qurt target isn't broken
-set(QURT_ENABLE_STUBS 1)
+set(QURT_ENABLE_STUBS "1")
 
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-hexagon.cmake)
 
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 6c2dbaf25a..15a304fdb9 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -291,21 +291,23 @@ function(px4_nuttx_generate_romfs)
 	set(romfs_pruner ${CMAKE_SOURCE_DIR}/Tools/px_romfs_pruner.py)
 	set(bin_to_obj ${CMAKE_SOURCE_DIR}/cmake/nuttx/bin_to_obj.py)
 
-
 	#message(STATUS "temp_dir: ${romfs_temp_dir}")
 	#message(STATUS "src_dir: ${romfs_src_dir}")
 
 	add_custom_command(OUTPUT rc.autostart
 		COMMAND ${PYTHON_EXECUTABLE} ${romfs_autostart}
-			-a ${romfs_src_dir}/init.d/
+			-a ${romfs_src_dir}/init.d
 			-s rc.autostart
 		)
 
 	add_custom_command(OUTPUT romfs.bin
 		COMMAND cmake -E remove_directory ${romfs_temp_dir}
 		COMMAND cmake -E copy_directory ${romfs_src_dir} ${romfs_temp_dir}
-		COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
-		#TODO add romfs cleanup and pruning
+		# TODO XXX hack to get nsh to work, copying real
+	    # autostart in currently makes nsh fail over usb
+		COMMAND cmake -E touch ${romfs_temp_dir}/init.d/rc.autostart
+		#COMMAND cmake -E copy rc.autostart ${romfs_temp_dir}/init.d
+		#TODO add romfs cleanup of temp file .~, .swp etc
 		COMMAND ${PYTHON_EXECUTABLE} ${romfs_pruner}
 			--folder ${romfs_temp_dir}
 		COMMAND ${GENROMFS} -f ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 13118146f5..83d4a8ea14 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -2,7 +2,7 @@ px4_nuttx_generate_builtin_commands(
 	OUT builtin_commands.c
 	MODULE_LIST
 		${module_libraries}
-		${config_extra_builtins_cmds}
+		${config_extra_builtin_cmds}
 	)
 
 px4_nuttx_generate_romfs(OUT romfs.o
@@ -11,7 +11,7 @@ px4_nuttx_generate_romfs(OUT romfs.o
 px4_generate_parameters()
 
 # add executable
-add_executable(firmware_nuttx builtin_commands.c romfs.o)
+add_executable(firmware_nuttx builtin_commands.c ${CMAKE_BINARY_DIR}/px4_parameters.c romfs.o)
 set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
 set(main_link_flags
 	"-T${nuttx_export_dir}/build/ld.script"
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index 8e8b3ea7f5..b4271ee12e 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -20,19 +20,15 @@ px4_generate_parameters()
 if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	add_executable(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
+		${CMAKE_BINARY_DIR}/px4_parameters.c
 		${CMAKE_BINARY_DIR}/apps.h)
 else("${QURT_ENABLE_STUBS}" STREQUAL "1")
 	add_library(mainapp 
 		${CMAKE_SOURCE_DIR}/src/platforms/qurt/dspal/dspal_stub.c
+		${CMAKE_BINARY_DIR}/px4_parameters.c
 		${CMAKE_BINARY_DIR}/apps.h)
 endif()
 
-set(main_link_flags
-	"-T${CMAKE_SOURCE_DIR}/cmake/posix/ld.script"
-	)
-px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
-set_target_properties(mainapp PROPERTIES LINK_FLAGS ${main_link_flags})
-
 target_link_libraries(mainapp
 	-Wl,--whole-archive
 	${module_libraries}
diff --git a/src/modules/muorb/krait-stubs/px4muorb_KraitRpcWrapper.hpp b/src/modules/muorb/krait-stubs/px4muorb_KraitRpcWrapper.hpp
new file mode 100644
index 0000000000..d6feab2a47
--- /dev/null
+++ b/src/modules/muorb/krait-stubs/px4muorb_KraitRpcWrapper.hpp
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#ifndef _px4muorb_KraitRpcWrapper_hpp_
+#define _px4muorb_KraitRpcWrapper_hpp_
+#include <stdint.h>
+
+namespace px4muorb
+{
+   class KraitRpcWrapper;
+}
+
+class px4muorb::KraitRpcWrapper
+{
+public:
+   /**
+    * Constructor
+    */
+   KraitRpcWrapper() {}
+   
+   /**
+    * destructor
+    */
+   ~KraitRpcWrapper() {}
+
+   /**
+    * Initiatizes the rpc channel px4 muorb
+    */
+   bool Initialize() { return true; }
+
+   /**
+    * Terminate to clean up the resources.  This should be called at program exit
+    */
+   bool Terminate() { return true; }
+
+   /**
+    * Muorb related functions to pub/sub of orb topic from krait to adsp
+    */
+   int32_t AddSubscriber( const char* topic ) { return 1; }
+   int32_t RemoveSubscriber( const char* topic ) { return 1; }
+   int32_t SendData( const char* topic, int32_t length_in_bytes, const uint8_t* data ) { return 1; }
+   int32_t ReceiveData( int32_t* msg_type, char** topic, int32_t* length_in_bytes, uint8_t** data ) { return 1; }
+   int32_t IsSubscriberPresent( const char* topic, int32_t* status ) { return 1; }
+   int32_t ReceiveBulkData( uint8_t** bulk_data, int32_t* length_in_bytes, int32_t* topic_count ) { return 1; }
+   int32_t UnblockReceiveData() { return 1; }
+};
+#endif // _px4muorb_KraitWrapper_hpp_
diff --git a/src/modules/muorb/krait/CMakeLists.txt b/src/modules/muorb/krait/CMakeLists.txt
index 5bb0dd4f7d..1c1d6605ac 100644
--- a/src/modules/muorb/krait/CMakeLists.txt
+++ b/src/modules/muorb/krait/CMakeLists.txt
@@ -30,6 +30,10 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if("${DSPAL_STUBS_ENABLE}" STREQUAL "1")
+	include_directories(../krait-stubs)
+endif()
+
 px4_add_module(
 	MODULE modules__muorb__krait
 	MAIN muorb
diff --git a/src/modules/muorb/krait/muorb_main.cpp b/src/modules/muorb/krait/muorb_main.cpp
index 3a320e6134..006870780c 100644
--- a/src/modules/muorb/krait/muorb_main.cpp
+++ b/src/modules/muorb/krait/muorb_main.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include <string.h>
-#include "uORBManager.hpp"
+#include "modules/uORB/uORBManager.hpp"
 #include "uORBKraitFastRpcChannel.hpp"
 
 extern "C" { __EXPORT int muorb_main(int argc, char *argv[]); }
diff --git a/src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp b/src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp
index a2f6850cbe..0e8d82b44b 100644
--- a/src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp
+++ b/src/modules/muorb/krait/uORBKraitFastRpcChannel.hpp
@@ -38,7 +38,7 @@
 #include <string>
 #include <pthread.h>
 #include "uORB/uORBCommunicator.hpp"
-#include <px4muorb_KraitRpcWrapper.hpp>
+#include "px4muorb_KraitRpcWrapper.hpp"
 #include <map>
 #include "drivers/drv_hrt.h"
 
diff --git a/src/platforms/qurt/tests/muorb/muorb_test_example.cpp b/src/platforms/qurt/tests/muorb/muorb_test_example.cpp
index 2628b56a3b..3b932b5f13 100644
--- a/src/platforms/qurt/tests/muorb/muorb_test_example.cpp
+++ b/src/platforms/qurt/tests/muorb/muorb_test_example.cpp
@@ -45,7 +45,7 @@
 #include <string.h>
 #include "uORB/topics/sensor_combined.h"
 #include "uORB/topics/pwm_input.h"
-#include "uORB.h"
+#include "modules/uORB/uORB.h"
 #include "px4_middleware.h"
 #include "px4_defines.h"
 #include <stdlib.h>