diff --git a/.gitmodules b/.gitmodules
index 60cdcb1105..b84b78548e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
 	url = https://github.com/ros/gencpp.git
 [submodule "src/lib/dspal"]
 	path = src/lib/dspal
-	url = https://github.com/mcharleb/dspal.git
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index 312c818ed5..87c71b1ecd 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -165,6 +165,7 @@ function(px4_os_add_flags)
                 ${DSPAL_ROOT}/sys/sys 
                 ${DSPAL_ROOT}/mpu_spi/inc
                 ${DSPAL_ROOT}/uart_esc/inc
+		src/lib/DriverFramework/framework/include
                 src/platforms/qurt/include
                 src/platforms/posix/include
                 )
@@ -172,6 +173,7 @@ function(px4_os_add_flags)
         set(added_definitions
                 -D__PX4_QURT 
 		-D__PX4_POSIX
+		-D__DF_QURT
 		-include ${PX4_INCLUDE_DIR}visibility.h
                 )
 
@@ -185,6 +187,8 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 
+	set(DF_TARGET "qurt")
+
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
diff --git a/src/drivers/drv_device.h b/src/drivers/drv_device.h
index af0f4982b3..411c30f51f 100644
--- a/src/drivers/drv_device.h
+++ b/src/drivers/drv_device.h
@@ -46,30 +46,7 @@
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
 
-#ifdef __PX4_NUTTX
-/*
- * ioctl() definitions
- */
-
-#define _DEVICEIOCBASE		(0x100)
-#define _DEVICEIOC(_n)		(_PX4_IOC(_DEVICEIOCBASE, _n))
-
-/** ask device to stop publishing */
-#define DEVIOCSPUBBLOCK	_DEVICEIOC(0)
-
-/** check publication block status */
-#define DEVIOCGPUBBLOCK	_DEVICEIOC(1)
-
-/**
- * Return device ID, to enable matching of configuration parameters
- * (such as compass offsets) to specific sensors
- */
-#define DEVIOCGDEVICEID	_DEVICEIOC(2)
-
-#else
-#include "DevObj.hpp"
-
-#endif
+#include "DevIOCTL.h"
 
 #ifdef __PX4_POSIX
 
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index b6d743186f..bb55e8dc22 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -24,6 +24,7 @@ target_link_libraries(mainapp
 	-Wl,--whole-archive
 	${module_libraries}
 	${target_libraries}
+	df_driver_framework
 	m
 	-Wl,--no-whole-archive
 	-Wl,${TOOLSLIB}/pic/libstdc++.a)
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index 12373364a3..94abaa2067 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit 12373364a3e78a20abad6cd63b36e355d712d9e4
+Subproject commit 94abaa2067438c8b3c300c1bec05688cda5ff2e8
diff --git a/src/lib/dspal b/src/lib/dspal
index 93b8d36619..94188fb83a 160000
--- a/src/lib/dspal
+++ b/src/lib/dspal
@@ -1 +1 @@
-Subproject commit 93b8d366191fb24486e0484ca4f020c85ed6cfee
+Subproject commit 94188fb83ab6b2da59eb9a8c8596ab49b67c42f6
diff --git a/src/platforms/qurt/include/sched.h b/src/platforms/qurt/include/sched.h
deleted file mode 100644
index b67db23b1d..0000000000
--- a/src/platforms/qurt/include/sched.h
+++ /dev/null
@@ -1,12 +0,0 @@
-#pragma once
-
-#define SCHED_FIFO     1
-#define SCHED_RR       2
-
-struct sched_param {
-	int sched_priority;
-};
-
-int    sched_get_priority_max(int policy);
-int    sched_get_priority_min(int policy);
-
diff --git a/src/platforms/qurt/stubs/stubs_posix.c b/src/platforms/qurt/stubs/stubs_posix.c
index 0b9faab882..64555694d4 100644
--- a/src/platforms/qurt/stubs/stubs_posix.c
+++ b/src/platforms/qurt/stubs/stubs_posix.c
@@ -97,3 +97,36 @@ int clock_gettime(clockid_t clk_id, struct timespec *tp)
 {
 	return 1;
 }
+
+int pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_cond_signal(pthread_cond_t *cond)
+{
+	return 1;
+}
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+	return 1;
+}
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
+{
+	return 1;
+}
+
+int pthread_cond_wait(pthread_cond_t *cond, pthread_mutex_t *mutex)
+{
+	return 1;
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *mutex, const struct timespec *abstime)
+{
+	return 1;
+}