From 3198610f85ceb6db8ce2963d87a0d9e66091728a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Fri, 25 Oct 2019 10:56:32 +0200
Subject: [PATCH] src/platforms: move all headers to
 platforms/common/include/px4_platform_common

and remove the px4_ prefix, except for px4_config.h.

command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done

Transitional headers for submodules are added (px4_{defines,log,time}.h)
---
 .../aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp   |  6 +--
 boards/airmind/mindpx-v2/src/board_config.h   |  2 +-
 boards/airmind/mindpx-v2/src/can.c            |  2 +-
 boards/airmind/mindpx-v2/src/init.c           |  6 +--
 boards/airmind/mindpx-v2/src/led.c            |  2 +-
 boards/airmind/mindpx-v2/src/spi.c            |  2 +-
 boards/airmind/mindpx-v2/src/usb.c            |  2 +-
 boards/atlflight/eagle/src/sitl_led.c         |  4 +-
 boards/auav/esc35-v1/src/board_config.h       |  2 +-
 boards/auav/esc35-v1/src/init.c               |  4 +-
 boards/auav/esc35-v1/src/led.c                |  2 +-
 boards/auav/esc35-v1/src/usb.c                |  2 +-
 boards/auav/x21/src/board_config.h            |  2 +-
 boards/auav/x21/src/can.c                     |  2 +-
 boards/auav/x21/src/init.c                    |  6 +--
 boards/auav/x21/src/led.c                     |  2 +-
 boards/auav/x21/src/spi.c                     |  2 +-
 boards/auav/x21/src/usb.c                     |  2 +-
 boards/av/x-v1/src/board_config.h             |  2 +-
 boards/av/x-v1/src/init.c                     |  4 +-
 .../beaglebone/blue/bbblue_adc/bbblue_adc.cpp |  6 +--
 boards/beaglebone/blue/src/init.c             |  2 +-
 boards/bitcraze/crazyflie/src/board_config.h  |  2 +-
 boards/bitcraze/crazyflie/src/init.c          |  6 +--
 boards/bitcraze/crazyflie/src/led.c           |  2 +-
 boards/bitcraze/crazyflie/src/spi.c           |  2 +-
 boards/bitcraze/crazyflie/syslink/drv_deck.h  |  2 +-
 boards/bitcraze/crazyflie/syslink/syslink.c   |  2 +-
 .../crazyflie/syslink/syslink_main.cpp        |  8 ++--
 boards/emlid/navio2/navio_adc/navio_adc.cpp   |  6 +--
 .../navio2/navio_rgbled/navio_rgbled.cpp      |  2 +-
 .../emlid/navio2/navio_rgbled/test/test.cpp   |  2 +-
 .../navio_sysfs_rc_in/navio_sysfs_rc_in.cpp   |  6 +--
 boards/holybro/kakutef7/src/board_config.h    |  2 +-
 boards/holybro/kakutef7/src/init.c            |  2 +-
 boards/holybro/kakutef7/src/led.c             |  2 +-
 boards/holybro/kakutef7/src/usb.c             |  2 +-
 .../intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp |  4 +-
 boards/intel/aerofc-v1/src/board_config.h     |  2 +-
 boards/intel/aerofc-v1/src/init.c             |  6 +--
 boards/intel/aerofc-v1/src/led.c              |  2 +-
 boards/intel/aerofc-v1/src/spi.c              |  2 +-
 boards/modalai/fc-v1/src/board_config.h       |  2 +-
 boards/modalai/fc-v1/src/init.c               |  2 +-
 boards/modalai/fc-v1/src/led.c                |  2 +-
 boards/modalai/fc-v1/src/usb.c                |  2 +-
 boards/mro/ctrl-zero-f7/src/board_config.h    |  2 +-
 boards/mro/ctrl-zero-f7/src/init.c            |  2 +-
 boards/mro/ctrl-zero-f7/src/led.c             |  2 +-
 boards/mro/ctrl-zero-f7/src/usb.c             |  2 +-
 boards/nxp/fmuk66-v3/src/autoleds.c           |  2 +-
 boards/nxp/fmuk66-v3/src/automount.c          |  2 +-
 boards/nxp/fmuk66-v3/src/board_config.h       |  2 +-
 boards/nxp/fmuk66-v3/src/can.c                |  2 +-
 boards/nxp/fmuk66-v3/src/init.c               |  4 +-
 boards/nxp/fmuk66-v3/src/led.c                |  2 +-
 boards/nxp/fmuk66-v3/src/sdhc.c               |  2 +-
 boards/nxp/fmuk66-v3/src/spi.c                |  2 +-
 boards/nxp/fmuk66-v3/src/usb.c                |  2 +-
 boards/omnibus/f4sd/src/board_config.h        |  2 +-
 boards/omnibus/f4sd/src/init.c                |  6 +--
 boards/omnibus/f4sd/src/led.c                 |  2 +-
 boards/omnibus/f4sd/src/spi.c                 |  2 +-
 boards/omnibus/f4sd/src/usb.c                 |  2 +-
 boards/parrot/bebop/flow/bebop_flow.cpp       |  6 +--
 boards/parrot/bebop/flow/dump_pgm.cpp         |  2 +-
 boards/parrot/bebop/flow/video_device.cpp     |  2 +-
 boards/px4/cannode-v1/src/board_config.h      |  2 +-
 boards/px4/cannode-v1/src/buttons.c           |  2 +-
 boards/px4/cannode-v1/src/can.c               |  2 +-
 boards/px4/cannode-v1/src/init.c              |  4 +-
 boards/px4/cannode-v1/src/led.c               |  2 +-
 boards/px4/cannode-v1/src/spi.c               |  2 +-
 boards/px4/esc-v1/src/board_config.h          |  2 +-
 boards/px4/esc-v1/src/init.c                  |  4 +-
 boards/px4/esc-v1/src/led.c                   |  2 +-
 boards/px4/esc-v1/src/usb.c                   |  2 +-
 boards/px4/fmu-v2/src/board_config.h          |  2 +-
 boards/px4/fmu-v2/src/can.c                   |  2 +-
 boards/px4/fmu-v2/src/init.c                  |  6 +--
 boards/px4/fmu-v2/src/led.c                   |  2 +-
 boards/px4/fmu-v2/src/spi.c                   |  2 +-
 boards/px4/fmu-v2/src/usb.c                   |  2 +-
 boards/px4/fmu-v3/src/board_config.h          |  2 +-
 boards/px4/fmu-v3/src/can.c                   |  2 +-
 boards/px4/fmu-v3/src/init.c                  |  6 +--
 boards/px4/fmu-v3/src/led.c                   |  2 +-
 boards/px4/fmu-v3/src/spi.c                   |  2 +-
 boards/px4/fmu-v3/src/usb.c                   |  2 +-
 boards/px4/fmu-v4/src/board_config.h          |  2 +-
 boards/px4/fmu-v4/src/can.c                   |  2 +-
 boards/px4/fmu-v4/src/init.c                  |  6 +--
 boards/px4/fmu-v4/src/led.c                   |  2 +-
 boards/px4/fmu-v4/src/spi.c                   |  2 +-
 boards/px4/fmu-v4/src/usb.c                   |  2 +-
 boards/px4/fmu-v4pro/src/board_config.h       |  2 +-
 boards/px4/fmu-v4pro/src/can.c                |  2 +-
 boards/px4/fmu-v4pro/src/init.c               |  6 +--
 boards/px4/fmu-v4pro/src/led.c                |  2 +-
 boards/px4/fmu-v4pro/src/spi.c                |  2 +-
 boards/px4/fmu-v4pro/src/usb.c                |  2 +-
 boards/px4/fmu-v5/src/board_config.h          |  2 +-
 boards/px4/fmu-v5/src/init.c                  |  2 +-
 boards/px4/fmu-v5/src/led.c                   |  2 +-
 boards/px4/fmu-v5/src/usb.c                   |  2 +-
 boards/px4/fmu-v5x/src/board_config.h         |  2 +-
 boards/px4/fmu-v5x/src/init.c                 |  2 +-
 boards/px4/fmu-v5x/src/led.c                  |  2 +-
 boards/px4/fmu-v5x/src/usb.c                  |  2 +-
 boards/px4/io-v2/src/board_config.h           |  2 +-
 boards/px4/io-v2/src/init.c                   |  2 +-
 boards/px4/sitl/src/sitl_board_shutdown.c     |  2 +-
 boards/px4/sitl/src/sitl_led.c                |  4 +-
 boards/thiemar/s2740vc-v1/src/board_config.h  |  2 +-
 boards/thiemar/s2740vc-v1/src/can.c           |  2 +-
 boards/thiemar/s2740vc-v1/src/init.c          |  4 +-
 boards/uvify/core/src/board_config.h          |  2 +-
 boards/uvify/core/src/can.c                   |  2 +-
 boards/uvify/core/src/init.c                  |  6 +--
 boards/uvify/core/src/led.c                   |  2 +-
 boards/uvify/core/src/spi.c                   |  2 +-
 boards/uvify/core/src/usb.c                   |  2 +-
 msg/templates/uorb/msg.cpp.em                 |  4 +-
 msg/templates/uorb_microcdr/msg.cpp.em        |  2 +-
 msg/templates/urtps/microRTPS_transport.cpp   |  6 +--
 platforms/common/apps.cpp.in                  |  6 +--
 platforms/common/apps.h.in                    |  2 +-
 platforms/common/include/px4_defines.h        | 41 ++++++++++++++++++
 platforms/common/include/px4_log.h            | 42 +++++++++++++++++++
 .../common/include/px4_platform_common/app.h  |  2 +-
 .../include/px4_platform_common/atomic.h      |  2 +-
 .../common/include/px4_platform_common/cli.h  |  2 +-
 .../px4_platform_common/console_buffer.h      |  4 +-
 .../include/px4_platform_common/defines.h     |  4 +-
 .../include/px4_platform_common/getopt.h      |  2 +-
 .../common/include/px4_platform_common/i2c.h  |  2 +-
 .../common/include/px4_platform_common/init.h |  0
 .../common/include/px4_platform_common/log.h  |  4 +-
 .../include/px4_platform_common/micro_hal.h   |  0
 .../include/px4_platform_common/module.h      |  8 ++--
 .../px4_platform_common/module_params.h       |  2 +-
 .../include/px4_platform_common/param.h       |  4 +-
 .../px4_platform_common/param_macros.h        |  2 +-
 .../include/px4_platform_common/posix.h       |  6 +--
 .../include/px4_platform_common}/px4_config.h |  2 +-
 .../px4_work_queue/WorkItem.hpp               |  2 +-
 .../px4_work_queue/WorkQueue.hpp              |  8 ++--
 .../common/include/px4_platform_common/sem.h  |  2 +-
 .../include/px4_platform_common/sem.hpp       |  4 +-
 .../include/px4_platform_common}/shmem.h      |  0
 .../include/px4_platform_common/shutdown.h    |  2 +-
 .../include/px4_platform_common/tasks.h       |  0
 .../common/include/px4_platform_common/time.h |  0
 .../include/px4_platform_common/workqueue.h   |  0
 platforms/common/include/px4_time.h           | 41 ++++++++++++++++++
 platforms/common/module.cpp                   |  6 +--
 platforms/common/px4_cli.cpp                  |  4 +-
 platforms/common/px4_getopt.c                 |  2 +-
 platforms/common/px4_log.c                    |  2 +-
 platforms/common/px4_work_queue/WorkItem.cpp  |  2 +-
 platforms/common/px4_work_queue/WorkQueue.cpp |  4 +-
 .../px4_work_queue/WorkQueueManager.cpp       |  8 ++--
 .../px4_work_queue/test/wqueue_main.cpp       |  6 +--
 .../test/wqueue_scheduled_test.cpp            |  4 +-
 .../test/wqueue_scheduled_test.h              |  2 +-
 .../px4_work_queue/test/wqueue_start.cpp      |  6 +--
 .../px4_work_queue/test/wqueue_test.cpp       |  4 +-
 .../common/px4_work_queue/test/wqueue_test.h  |  2 +-
 platforms/common/shutdown.cpp                 |  8 ++--
 platforms/common/work_queue/hrt_queue.c       | 12 +++---
 platforms/common/work_queue/hrt_thread.c      | 12 +++---
 platforms/common/work_queue/hrt_work_cancel.c |  6 +--
 platforms/common/work_queue/work_cancel.c     |  6 +--
 platforms/common/work_queue/work_lock.c       |  4 +-
 platforms/common/work_queue/work_queue.c      |  8 ++--
 platforms/common/work_queue/work_thread.c     | 12 +++---
 .../work_queue/wqueue_test/wqueue_main.cpp    |  4 +-
 .../wqueue_test/wqueue_start_posix.cpp        |  6 +--
 .../work_queue/wqueue_test/wqueue_test.cpp    |  4 +-
 .../work_queue/wqueue_test/wqueue_test.h      |  4 +-
 .../nuttx/src/px4/common/console_buffer.cpp   |  8 ++--
 platforms/nuttx/src/px4/common/px4_init.cpp   |  9 ++--
 .../nuttx/src/px4/common/px4_nuttx_impl.cpp   |  2 +-
 .../nuttx/src/px4/common/px4_nuttx_tasks.c    |  6 +--
 platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c |  2 +-
 .../nxp/kinetis/include/px4_arch/io_timer.h   |  2 +-
 .../px4/nxp/kinetis/io_pins/input_capture.c   |  2 +-
 .../src/px4/nxp/kinetis/io_pins/io_timer.c    |  2 +-
 .../src/px4/nxp/kinetis/io_pins/pwm_servo.c   |  2 +-
 .../src/px4/nxp/kinetis/io_pins/pwm_trigger.c |  2 +-
 .../src/px4/nxp/kinetis/led_pwm/led_pwm.cpp   |  2 +-
 .../kinetis/tone_alarm/ToneAlarmInterface.cpp |  2 +-
 .../src/px4/stm/stm32_common/dshot/dshot.c    |  4 +-
 .../nuttx/src/px4/stm/stm32_common/hrt/hrt.c  |  2 +-
 .../stm32_common/include/px4_arch/io_timer.h  |  2 +-
 .../include/px4_arch/px4io_serial.h           |  4 +-
 .../stm/stm32_common/io_pins/input_capture.c  |  2 +-
 .../px4/stm/stm32_common/io_pins/io_timer.c   |  2 +-
 .../px4/stm/stm32_common/io_pins/pwm_servo.c  |  2 +-
 .../stm/stm32_common/io_pins/pwm_trigger.c    |  2 +-
 .../px4/stm/stm32_common/led_pwm/led_pwm.cpp  |  2 +-
 .../tone_alarm/ToneAlarmInterfaceGPIO.cpp     |  2 +-
 .../tone_alarm/ToneAlarmInterfacePWM.cpp      |  2 +-
 platforms/posix/include/hrt_work.h            |  6 +--
 platforms/posix/src/px4/common/drv_hrt.cpp    | 10 ++---
 platforms/posix/src/px4/common/main.cpp       | 12 +++---
 .../src/px4/common/px4_daemon/client.cpp      |  2 +-
 .../src/px4/common/px4_daemon/server.cpp      |  2 +-
 .../src/px4/common/px4_daemon/server_io.cpp   |  2 +-
 platforms/posix/src/px4/common/px4_init.cpp   |  7 ++--
 .../posix/src/px4/common/px4_posix_impl.cpp   | 10 ++---
 .../posix/src/px4/common/px4_posix_tasks.cpp  |  8 ++--
 platforms/posix/src/px4/common/px4_sem.cpp    |  8 ++--
 .../posix/src/px4/common/shmem_posix.cpp      |  6 +--
 .../generic/tone_alarm/ToneAlarmInterface.cpp |  2 +-
 platforms/qurt/include/hrt_work.h             |  4 +-
 platforms/qurt/src/px4/common/main.cpp        | 10 ++---
 platforms/qurt/src/px4/common/px4_init.cpp    |  7 ++--
 .../qurt/src/px4/common/px4_qurt_impl.cpp     | 10 ++---
 .../qurt/src/px4/common/px4_qurt_tasks.cpp    | 12 +++---
 platforms/qurt/src/px4/common/qurt_stubs.c    |  2 +-
 platforms/qurt/src/px4/common/shmem_qurt.cpp  |  4 +-
 src/drivers/adc/adc.cpp                       |  4 +-
 src/drivers/barometer/bmp280/bmp280.h         |  4 +-
 src/drivers/barometer/bmp388/bmp388_main.cpp  |  2 +-
 src/drivers/barometer/lps22hb/LPS22HB.hpp     |  2 +-
 src/drivers/barometer/lps25h/lps25h.h         |  2 +-
 src/drivers/barometer/mpl3115a2/mpl3115a2.h   |  8 ++--
 src/drivers/barometer/ms5611/ms5611.h         |  2 +-
 src/drivers/batt_smbus/batt_smbus.h           |  4 +-
 src/drivers/boards/common/board_dma_alloc.c   |  2 +-
 .../boards/common/board_fat_dma_alloc.c       |  2 +-
 src/drivers/boards/common/board_gpio_init.c   |  2 +-
 src/drivers/boards/common/board_identity.c    |  2 +-
 .../boards/common/kinetis/board_identity.c    |  2 +-
 .../boards/common/kinetis/board_mcu_version.c |  4 +-
 .../boards/common/kinetis/board_reset.c       |  2 +-
 .../boards/common/stm32/board_hw_rev_ver.c    |  2 +-
 .../boards/common/stm32/board_identity.c      |  2 +-
 .../boards/common/stm32/board_mcu_version.c   |  4 +-
 src/drivers/boards/common/stm32/board_reset.c |  2 +-
 src/drivers/camera_capture/camera_capture.hpp | 10 ++---
 .../interfaces/src/camera_interface.cpp       |  2 +-
 .../interfaces/src/camera_interface.h         |  2 +-
 .../camera_trigger/interfaces/src/pwm.h       |  2 +-
 .../ets/ets_airspeed.cpp                      |  2 +-
 .../ms4525/ms4525_airspeed.cpp                |  2 +-
 .../differential_pressure/ms5525/MS5525.hpp   |  2 +-
 .../differential_pressure/sdp3x/SDP3X.hpp     |  2 +-
 .../distance_sensor/cm8jl65/CM8JL65.hpp       |  2 +-
 .../distance_sensor/cm8jl65/cm8jl65_main.cpp  |  4 +-
 .../distance_sensor/leddar_one/leddar_one.cpp |  8 ++--
 .../distance_sensor/ll40ls/LidarLiteI2C.h     |  2 +-
 .../distance_sensor/ll40ls/LidarLitePWM.h     |  2 +-
 src/drivers/distance_sensor/ll40ls/ll40ls.cpp |  4 +-
 .../distance_sensor/mappydot/MappyDot.cpp     |  4 +-
 src/drivers/distance_sensor/mb12xx/mb12xx.cpp |  6 +--
 src/drivers/distance_sensor/pga460/pga460.h   |  6 +--
 src/drivers/distance_sensor/sf0x/sf0x.cpp     |  4 +-
 src/drivers/distance_sensor/sf1xx/sf1xx.cpp   |  8 ++--
 src/drivers/distance_sensor/srf02/srf02.cpp   |  6 +--
 .../distance_sensor/teraranger/teraranger.cpp |  8 ++--
 src/drivers/distance_sensor/tfmini/TFMINI.hpp |  4 +-
 .../distance_sensor/tfmini/tfmini_main.cpp    |  2 +-
 .../distance_sensor/ulanding/ulanding.cpp     |  8 ++--
 .../distance_sensor/vl53lxx/vl53lxx.cpp       |  2 +-
 .../df_ak8963_wrapper/df_ak8963_wrapper.cpp   |  4 +-
 .../df_bebop_bus_wrapper.cpp                  |  6 +--
 .../df_bebop_rangefinder_wrapper.cpp          |  4 +-
 .../df_bmp280_wrapper/df_bmp280_wrapper.cpp   |  4 +-
 .../df_hmc5883_wrapper/df_hmc5883_wrapper.cpp |  4 +-
 .../df_isl29501_wrapper.cpp                   |  4 +-
 .../df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp |  4 +-
 .../df_ltc2946_wrapper/df_ltc2946_wrapper.cpp |  2 +-
 .../df_mpu6050_wrapper/df_mpu6050_wrapper.cpp |  4 +-
 .../df_mpu9250_wrapper/df_mpu9250_wrapper.cpp |  4 +-
 .../df_ms5607_wrapper/df_ms5607_wrapper.cpp   |  4 +-
 .../df_ms5611_wrapper/df_ms5611_wrapper.cpp   |  4 +-
 .../df_trone_wrapper/df_trone_wrapper.cpp     |  4 +-
 src/drivers/drv_baro.h                        |  2 +-
 src/drivers/drv_blinkm.h                      |  2 +-
 src/drivers/drv_board_led.h                   |  2 +-
 src/drivers/drv_hrt.h                         |  2 +-
 src/drivers/drv_input_capture.h               |  2 +-
 src/drivers/drv_mixer.h                       |  2 +-
 src/drivers/drv_orb_dev.h                     |  2 +-
 src/drivers/drv_pwm_output.h                  |  2 +-
 src/drivers/drv_pwm_trigger.h                 |  2 +-
 src/drivers/drv_sensor.h                      |  2 +-
 src/drivers/dshot/dshot.cpp                   | 10 ++---
 src/drivers/dshot/telemetry.cpp               |  2 +-
 src/drivers/gps/definitions.h                 |  2 +-
 src/drivers/gps/gps.cpp                       |  6 +--
 src/drivers/heater/heater.cpp                 |  4 +-
 src/drivers/heater/heater.h                   |  8 ++--
 src/drivers/imu/adis16477/ADIS16477.hpp       |  2 +-
 src/drivers/imu/adis16497/ADIS16497.hpp       |  2 +-
 src/drivers/imu/bma180/bma180.cpp             |  4 +-
 src/drivers/imu/bmi055/BMI055.hpp             |  2 +-
 src/drivers/imu/bmi088/BMI088.hpp             |  2 +-
 src/drivers/imu/bmi160/bmi160.hpp             |  2 +-
 src/drivers/imu/fxas21002c/FXAS21002C.hpp     |  2 +-
 .../imu/fxos8701cq/fxos8701cq_main.cpp        |  2 +-
 src/drivers/imu/icm20948/ICM20948_mag.cpp     |  6 +--
 src/drivers/imu/icm20948/icm20948.cpp         |  4 +-
 src/drivers/imu/icm20948/icm20948_i2c.cpp     |  2 +-
 src/drivers/imu/icm20948/icm20948_main.cpp    |  4 +-
 src/drivers/imu/l3gd20/l3gd20.cpp             |  2 +-
 src/drivers/imu/lsm303d/lsm303d_main.cpp      |  2 +-
 src/drivers/imu/mpu6000/MPU6000.hpp           |  2 +-
 src/drivers/imu/mpu9250/AK8963_I2C.cpp        |  2 +-
 src/drivers/imu/mpu9250/mpu9250.h             |  2 +-
 src/drivers/irlock/irlock.cpp                 |  2 +-
 src/drivers/lights/rgbled/rgbled.cpp          |  2 +-
 src/drivers/lights/rgbled/rgbled_params.c     |  2 +-
 .../rgbled_ncp5623c/rgbled_ncp5623c.cpp       |  2 +-
 .../rgbled_ncp5623c/rgbled_ncp5623c_params.c  |  2 +-
 src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp  |  2 +-
 src/drivers/linux_pwm_out/PCA9685.cpp         |  2 +-
 src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp   |  2 +-
 src/drivers/linux_pwm_out/linux_pwm_out.cpp   |  6 +--
 src/drivers/linux_pwm_out/navio_sysfs.cpp     |  2 +-
 src/drivers/linux_pwm_out/ocpoc_mmap.cpp      |  2 +-
 src/drivers/linux_sbus/linux_sbus.h           |  4 +-
 src/drivers/magnetometer/ak09916/ak09916.cpp  |  8 ++--
 src/drivers/magnetometer/ak09916/ak09916.hpp  |  2 +-
 src/drivers/magnetometer/bmm150/bmm150.cpp    |  2 +-
 src/drivers/magnetometer/bmm150/bmm150.hpp    |  4 +-
 src/drivers/magnetometer/hmc5883/hmc5883.cpp  |  8 ++--
 .../magnetometer/hmc5883/hmc5883_i2c.cpp      |  2 +-
 .../magnetometer/hmc5883/hmc5883_spi.cpp      |  2 +-
 src/drivers/magnetometer/ist8310/ist8310.cpp  |  6 +--
 src/drivers/magnetometer/lis3mdl/lis3mdl.cpp  |  2 +-
 src/drivers/magnetometer/lis3mdl/lis3mdl.h    |  2 +-
 .../magnetometer/lis3mdl/lis3mdl_i2c.cpp      |  2 +-
 .../magnetometer/lis3mdl/lis3mdl_main.cpp     |  2 +-
 .../magnetometer/lis3mdl/lis3mdl_spi.cpp      |  2 +-
 .../magnetometer/lsm303agr/LSM303AGR.cpp      |  4 +-
 .../magnetometer/lsm303agr/lsm303agr_main.cpp |  6 +--
 src/drivers/magnetometer/qmc5883/qmc5883.cpp  |  4 +-
 .../magnetometer/qmc5883/qmc5883_i2c.cpp      |  2 +-
 .../magnetometer/qmc5883/qmc5883_spi.cpp      |  2 +-
 src/drivers/magnetometer/rm3100/rm3100.h      |  2 +-
 .../magnetometer/rm3100/rm3100_i2c.cpp        |  2 +-
 .../magnetometer/rm3100/rm3100_main.cpp       |  2 +-
 .../magnetometer/rm3100/rm3100_spi.cpp        |  2 +-
 src/drivers/md25/md25_main.cpp                |  4 +-
 src/drivers/mkblctrl/mkblctrl.cpp             |  4 +-
 src/drivers/mkblctrl/mkblctrl_params.c        |  2 +-
 src/drivers/optical_flow/paw3902/PAW3902.hpp  |  6 +--
 src/drivers/optical_flow/pmw3901/PMW3901.hpp  |  6 +--
 src/drivers/optical_flow/px4flow/px4flow.cpp  |  6 +--
 src/drivers/osd/atxxxx/atxxxx.h               |  8 ++--
 src/drivers/pca9685/pca9685.cpp               |  6 +--
 src/drivers/power_monitor/ina226/ina226.cpp   |  4 +-
 .../power_monitor/voxlpm/voxlpm_main.cpp      |  4 +-
 .../protocol_splitter/protocol_splitter.cpp   |  4 +-
 src/drivers/pwm_input/pwm_input.cpp           |  4 +-
 src/drivers/pwm_out_sim/PWMSim.cpp            |  2 +-
 src/drivers/pwm_out_sim/PWMSim.hpp            |  8 ++--
 src/drivers/px4fmu/fmu.cpp                    |  8 ++--
 src/drivers/px4io/px4io.cpp                   |  6 +--
 src/drivers/px4io/px4io_params.c              |  2 +-
 src/drivers/px4io/px4io_uploader.cpp          |  4 +-
 src/drivers/qshell/posix/qshell.cpp           |  2 +-
 src/drivers/qshell/posix/qshell.h             |  2 +-
 .../qshell/posix/qshell_start_posix.cpp       |  6 +--
 src/drivers/qshell/qurt/qshell.cpp            |  8 ++--
 src/drivers/qshell/qurt/qshell.h              |  2 +-
 src/drivers/qshell/qurt/qshell_main.cpp       |  6 +--
 src/drivers/qshell/qurt/qshell_start_qurt.cpp |  6 +--
 .../qurt/fc_addon/mpu_spi/mpu9x50_main.cpp    |  6 +--
 .../qurt/fc_addon/mpu_spi/mpu9x50_params.c    |  2 +-
 .../fc_addon/rc_receiver/rc_receiver_main.cpp |  6 +--
 .../fc_addon/rc_receiver/rc_receiver_params.c |  2 +-
 .../qurt/fc_addon/uart_esc/uart_esc_main.cpp  |  6 +--
 .../qurt/fc_addon/uart_esc/uart_esc_params.c  |  2 +-
 .../qurt/tests/hello/hello_example.cpp        |  2 +-
 src/drivers/qurt/tests/hello/hello_example.h  |  2 +-
 src/drivers/qurt/tests/hello/hello_main.cpp   |  6 +--
 .../qurt/tests/hello/hello_start_qurt.cpp     |  6 +--
 .../qurt/tests/muorb/muorb_test_example.cpp   |  2 +-
 .../qurt/tests/muorb/muorb_test_example.h     |  2 +-
 .../qurt/tests/muorb/muorb_test_main.cpp      |  6 +--
 .../tests/muorb/muorb_test_start_qurt.cpp     |  8 ++--
 src/drivers/rc_input/RCInput.hpp              | 10 ++---
 src/drivers/roboclaw/roboclaw_main.cpp        |  6 +--
 src/drivers/rpi_rc_in/rpi_rc_in.h             |  4 +-
 src/drivers/safety_button/SafetyButton.hpp    |  8 ++--
 .../snapdragon_pwm_out/snapdragon_pwm_out.cpp |  6 +--
 src/drivers/spektrum_rc/spektrum_rc.cpp       |  6 +--
 src/drivers/tap_esc/tap_esc.cpp               | 12 +++---
 src/drivers/tap_esc/tap_esc_common.cpp        |  4 +-
 src/drivers/telemetry/bst/bst.cpp             |  4 +-
 .../frsky_telemetry/frsky_telemetry.cpp       |  6 +--
 .../hott/hott_sensors/hott_sensors.cpp        |  6 +--
 .../hott/hott_telemetry/hott_telemetry.cpp    |  6 +--
 .../telemetry/iridiumsbd/IridiumSBD.cpp       |  2 +-
 src/drivers/tone_alarm/ToneAlarm.cpp          |  2 +-
 src/drivers/tone_alarm/ToneAlarm.h            |  2 +-
 src/drivers/uavcan/uavcan_main.cpp            |  4 +-
 src/drivers/uavcan/uavcan_main.hpp            |  2 +-
 src/drivers/uavcan/uavcan_module.hpp          |  2 +-
 src/drivers/uavcan/uavcan_params.c            |  2 +-
 src/drivers/uavcan/uavcan_servers.cpp         |  2 +-
 src/drivers/uavcan/uavcan_servers.hpp         |  2 +-
 .../uavcanesc/commands/cfg/esc_cfg.cpp        |  4 +-
 src/drivers/uavcanesc/commands/dc/esc_dc.cpp  |  4 +-
 .../uavcanesc/commands/rpm/esc_rpm.cpp        |  4 +-
 .../commands/selftest/esc_selftest.cpp        |  4 +-
 .../uavcanesc/commands/stat/esc_stat.cpp      |  4 +-
 src/drivers/uavcanesc/nshterm/nshterm.c       |  2 +-
 src/drivers/uavcanesc/uavcanesc_main.cpp      |  6 +--
 src/drivers/uavcanesc/uavcanesc_main.hpp      |  2 +-
 src/drivers/uavcanesc/uavcanesc_params.c      |  2 +-
 src/drivers/uavcannode/resources.cpp          |  2 +-
 src/drivers/uavcannode/sim_controller.cpp     |  2 +-
 src/drivers/uavcannode/uavcannode_main.cpp    |  8 ++--
 src/drivers/uavcannode/uavcannode_main.hpp    |  2 +-
 src/drivers/uavcannode/uavcannode_params.c    |  2 +-
 src/examples/bottle_drop/bottle_drop.cpp      |  4 +-
 src/examples/bottle_drop/bottle_drop_params.c |  2 +-
 src/examples/dyn_hello/hello.cpp              |  4 +-
 src/examples/fixedwing_control/main.cpp       |  4 +-
 src/examples/hello/hello_example.cpp          |  2 +-
 src/examples/hello/hello_example.h            |  2 +-
 src/examples/hello/hello_main.cpp             |  4 +-
 src/examples/hello/hello_start.cpp            |  6 +--
 src/examples/hwtest/hwtest.c                  |  2 +-
 .../matlab_csv_serial/matlab_csv_serial.c     |  2 +-
 .../px4_mavlink_debug/px4_mavlink_debug.cpp   |  2 +-
 src/examples/px4_simple_app/px4_simple_app.c  |  6 +--
 src/examples/rover_steering_control/main.cpp  |  4 +-
 .../uuv_example_app/uuv_example_app.cpp       |  6 +--
 src/include/containers/BlockingQueue.hpp      |  2 +-
 src/include/unit_test.h                       |  2 +-
 .../CollisionPrevention.hpp                   |  2 +-
 .../tasks/FlightTask/FlightTask.hpp           |  2 +-
 .../tasks/Utility/ManualSmoothingXY.cpp       |  2 +-
 .../tasks/Utility/ManualSmoothingXY.hpp       |  2 +-
 .../tasks/Utility/ManualSmoothingZ.hpp        |  2 +-
 .../tasks/Utility/ObstacleAvoidance.hpp       |  4 +-
 .../tasks/Utility/StraightLine.cpp            |  2 +-
 src/lib/WeatherVane/WeatherVane.hpp           |  2 +-
 src/lib/airspeed/airspeed.cpp                 |  2 +-
 src/lib/battery/battery.cpp                   |  2 +-
 src/lib/battery/battery.h                     |  2 +-
 src/lib/battery/battery_params.c              |  2 +-
 src/lib/cdev/CDev.cpp                         |  2 +-
 src/lib/cdev/CDev.hpp                         |  4 +-
 src/lib/cdev/nuttx/cdev_platform.cpp          |  2 +-
 src/lib/cdev/nuttx/cdev_platform.hpp          |  2 +-
 src/lib/cdev/posix/cdev_platform.cpp          |  6 +--
 src/lib/cdev/test/cdevtest_example.cpp        |  4 +-
 src/lib/cdev/test/cdevtest_example.h          |  2 +-
 src/lib/cdev/test/cdevtest_main.cpp           |  4 +-
 src/lib/cdev/test/cdevtest_start.cpp          |  4 +-
 src/lib/circuit_breaker/circuit_breaker.cpp   |  2 +-
 src/lib/controllib/BlockDelay.hpp             |  2 +-
 src/lib/controllib/BlockDerivative.hpp        |  2 +-
 src/lib/controllib/BlockHighPass.hpp          |  2 +-
 src/lib/controllib/BlockIntegralTrap.hpp      |  2 +-
 src/lib/controllib/BlockLimit.hpp             |  2 +-
 src/lib/controllib/BlockLimitSym.hpp          |  2 +-
 src/lib/controllib/BlockLowPass.hpp           |  2 +-
 src/lib/controllib/BlockLowPass2.hpp          |  2 +-
 src/lib/controllib/BlockLowPassVector.hpp     |  2 +-
 src/lib/controllib/BlockOutput.hpp            |  2 +-
 src/lib/controllib/BlockP.hpp                 |  2 +-
 src/lib/controllib/BlockPD.hpp                |  2 +-
 src/lib/controllib/BlockPI.hpp                |  2 +-
 src/lib/controllib/BlockPID.hpp               |  2 +-
 src/lib/controllib/BlockRandGauss.hpp         |  2 +-
 src/lib/controllib/BlockRandUniform.hpp       |  2 +-
 src/lib/controllib/BlockStats.hpp             |  2 +-
 src/lib/controllib/block/BlockParam.hpp       |  2 +-
 src/lib/conversion/rotation.cpp               |  2 +-
 .../accelerometer/PX4Accelerometer.hpp        |  2 +-
 src/lib/drivers/airspeed/airspeed.cpp         |  2 +-
 src/lib/drivers/airspeed/airspeed.h           |  4 +-
 src/lib/drivers/device/CDev.cpp               |  4 +-
 src/lib/drivers/device/CDev.hpp               |  4 +-
 src/lib/drivers/device/Device.hpp             |  4 +-
 src/lib/drivers/device/nuttx/I2C.hpp          |  2 +-
 src/lib/drivers/device/nuttx/SPI.cpp          |  2 +-
 src/lib/drivers/device/posix/I2C.hpp          |  2 +-
 src/lib/drivers/device/posix/SPI.cpp          |  2 +-
 src/lib/drivers/gyroscope/PX4Gyroscope.hpp    |  2 +-
 src/lib/drivers/led/led.cpp                   |  2 +-
 src/lib/drivers/linux_gpio/linux_gpio.cpp     |  2 +-
 .../mathlib/math/filter/LowPassFilter2p.cpp   |  2 +-
 .../math/filter/LowPassFilter2pVector3f.cpp   |  2 +-
 src/lib/mathlib/math/matrix_alg.cpp           |  2 +-
 src/lib/mathlib/math/test/test.cpp            |  2 +-
 src/lib/mixer/mixer_group.cpp                 |  2 +-
 src/lib/mixer/mixer_helicopter.cpp            |  2 +-
 src/lib/mixer/mixer_load.h                    |  2 +-
 src/lib/mixer_module/mixer_module.cpp         |  2 +-
 src/lib/mixer_module/mixer_module.hpp         |  4 +-
 src/lib/output_limit/output_limit.cpp         |  2 +-
 src/lib/parameters/ParameterTest.cpp          |  2 +-
 src/lib/parameters/flashparams/flashfs.c      |  4 +-
 .../parameters/flashparams/flashparams.cpp    |  6 +--
 src/lib/parameters/parameters.cpp             | 12 +++---
 src/lib/parameters/parameters_shmem.cpp       | 14 +++----
 src/lib/parameters/tinybson/tinybson.cpp      |  2 +-
 src/lib/perf/perf_counter.h                   |  2 +-
 src/lib/pid/pid.cpp                           |  2 +-
 src/lib/rc/crsf.h                             |  2 +-
 src/lib/rc/dsm.cpp                            |  4 +-
 src/lib/rc/dsm.h                              |  4 +-
 src/lib/rc/sbus.cpp                           |  2 +-
 src/lib/systemlib/conversions.c               |  2 +-
 src/lib/systemlib/cpuload.c                   |  2 +-
 src/lib/systemlib/err.h                       |  2 +-
 src/lib/systemlib/hardfault_log.h             |  2 +-
 src/lib/systemlib/mavlink_log.cpp             |  2 +-
 src/lib/systemlib/otp.c                       |  2 +-
 src/lib/systemlib/print_load_posix.c          |  2 +-
 src/lib/systemlib/printload.h                 |  2 +-
 .../terrain_estimation/terrain_estimator.cpp  |  2 +-
 src/lib/tunes/tunes.cpp                       |  2 +-
 src/lib/version/version.h                     |  2 +-
 .../airspeed_selector_main.cpp                |  4 +-
 .../attitude_estimator_q_main.cpp             |  6 +--
 src/modules/battery_status/battery_status.cpp | 16 +++----
 src/modules/battery_status/parameters.cpp     |  2 +-
 src/modules/battery_status/parameters.h       |  2 +-
 .../camera_feedback/camera_feedback.hpp       |  8 ++--
 src/modules/commander/Commander.cpp           | 12 +++---
 src/modules/commander/Commander.hpp           |  4 +-
 .../commander/accelerometer_calibration.cpp   |  6 +--
 .../commander/airspeed_calibration.cpp        |  6 +--
 src/modules/commander/arm_auth.cpp            |  4 +-
 src/modules/commander/baro_calibration.cpp    |  2 +-
 .../commander/calibration_routines.cpp        |  6 +--
 src/modules/commander/commander_helper.cpp    |  4 +-
 src/modules/commander/esc_calibration.cpp     |  6 +--
 .../failure_detector/FailureDetector.hpp      |  2 +-
 .../failure_detector_params.c                 |  2 +-
 src/modules/commander/gyro_calibration.cpp    |  8 ++--
 src/modules/commander/health_flag_helper.h    |  2 +-
 src/modules/commander/mag_calibration.cpp     |  6 +--
 src/modules/commander/rc_calibration.cpp      |  6 +--
 src/modules/commander/rc_check.cpp            |  4 +-
 .../commander/state_machine_helper.cpp        |  2 +-
 src/modules/dataman/dataman.cpp               | 12 +++---
 src/modules/ekf2/ekf2_main.cpp                | 10 ++---
 src/modules/events/events_params.c            |  2 +-
 src/modules/events/rc_loss_alarm.cpp          |  2 +-
 src/modules/events/send_event.cpp             |  4 +-
 src/modules/events/send_event.h               |  6 +--
 src/modules/events/subscriber_handler.cpp     |  2 +-
 .../events/temperature_calibration/common.h   |  2 +-
 .../temperature_calibration/polyfit.hpp       | 10 ++---
 .../events/temperature_calibration/task.cpp   |  6 +--
 .../FixedwingAttitudeControl.hpp              | 12 +++---
 .../FixedwingPositionControl.hpp              | 10 ++---
 .../launchdetection/CatapultLaunchMethod.cpp  |  2 +-
 .../launchdetection/CatapultLaunchMethod.h    |  2 +-
 .../launchdetection/LaunchDetector.cpp        |  2 +-
 .../launchdetection/LaunchDetector.h          |  2 +-
 .../runway_takeoff/RunwayTakeoff.h            |  2 +-
 src/modules/land_detector/LandDetector.h      | 12 +++---
 .../land_detector/land_detector_main.cpp      |  8 ++--
 .../LandingTargetEstimator.cpp                |  4 +-
 .../LandingTargetEstimator.h                  |  2 +-
 .../landing_target_estimator_main.cpp         |  8 ++--
 src/modules/load_mon/load_mon.cpp             |  8 ++--
 .../BlockLocalPositionEstimator.hpp           |  4 +-
 .../local_position_estimator_main.cpp         |  6 +--
 src/modules/logger/log_writer_file.cpp        |  2 +-
 src/modules/logger/log_writer_file.h          |  2 +-
 src/modules/logger/log_writer_mavlink.cpp     |  4 +-
 src/modules/logger/logger.cpp                 | 16 +++----
 src/modules/logger/logger.h                   |  4 +-
 src/modules/logger/util.cpp                   |  4 +-
 src/modules/logger/watchdog.cpp               |  2 +-
 src/modules/mavlink/mavlink.c                 |  2 +-
 .../mavlink/mavlink_command_sender.cpp        |  2 +-
 src/modules/mavlink/mavlink_command_sender.h  |  4 +-
 src/modules/mavlink/mavlink_ftp.h             |  2 +-
 src/modules/mavlink/mavlink_main.h            | 14 +++----
 src/modules/mavlink/mavlink_messages.cpp      |  2 +-
 src/modules/mavlink/mavlink_mission.cpp       |  2 +-
 src/modules/mavlink/mavlink_receiver.h        |  2 +-
 src/modules/mavlink/mavlink_shell.cpp         |  2 +-
 src/modules/mavlink/mavlink_shell.h           |  2 +-
 .../mavlink/mavlink_simple_analyzer.cpp       |  4 +-
 src/modules/mavlink/mavlink_stream.h          |  2 +-
 src/modules/mavlink/mavlink_ulog.cpp          |  2 +-
 src/modules/mavlink/mavlink_ulog.h            |  4 +-
 .../RateControl/RateControl.cpp               |  2 +-
 src/modules/mc_att_control/mc_att_control.hpp | 10 ++---
 .../PositionControl/ControlMath.cpp           |  2 +-
 .../PositionControl/ControlMathTest.cpp       |  2 +-
 .../PositionControl/PositionControl.cpp       |  2 +-
 .../PositionControl/PositionControl.hpp       |  2 +-
 .../mc_pos_control/mc_pos_control_main.cpp    | 12 +++---
 .../micrortps_client/microRTPS_client.h       | 10 ++---
 .../microRTPS_client_dummy.cpp                |  6 +--
 .../microRTPS_client_main.cpp                 | 14 +++----
 src/modules/muorb/adsp/px4muorb.cpp           |  8 ++--
 src/modules/muorb/adsp/uORBFastRpcChannel.cpp |  2 +-
 src/modules/muorb/adsp/uORBFastRpcChannel.hpp |  2 +-
 .../muorb/krait/px4muorb_KraitRpcWrapper.cpp  |  4 +-
 .../muorb/krait/uORBKraitFastRpcChannel.cpp   |  4 +-
 src/modules/muorb/test/muorb_test_example.cpp |  4 +-
 src/modules/muorb/test/muorb_test_example.h   |  2 +-
 src/modules/muorb/test/muorb_test_main.cpp    |  6 +--
 .../muorb/test/muorb_test_start_posix.cpp     |  6 +--
 src/modules/navigator/datalinkloss.h          |  2 +-
 src/modules/navigator/follow_target.h         |  2 +-
 src/modules/navigator/geofence.h              |  4 +-
 src/modules/navigator/gpsfailure.h            |  2 +-
 src/modules/navigator/loiter.h                |  2 +-
 src/modules/navigator/mission.h               |  2 +-
 src/modules/navigator/navigator.h             |  4 +-
 src/modules/navigator/navigator_main.cpp      |  8 ++--
 src/modules/navigator/precland.h              |  2 +-
 src/modules/navigator/rcloss.h                |  2 +-
 src/modules/navigator/rtl.h                   |  2 +-
 src/modules/px4iofirmware/adc.c               |  2 +-
 src/modules/px4iofirmware/controls.c          |  2 +-
 src/modules/px4iofirmware/mixer.cpp           |  2 +-
 src/modules/px4iofirmware/px4io.c             |  2 +-
 src/modules/px4iofirmware/px4io.h             |  2 +-
 src/modules/px4iofirmware/registers.c         |  2 +-
 src/modules/px4iofirmware/safety.c            |  2 +-
 src/modules/replay/Replay.cpp                 | 10 ++---
 src/modules/replay/Replay.hpp                 |  2 +-
 src/modules/replay/ReplayEkf2.cpp             |  4 +-
 .../RoverPositionControl.hpp                  | 12 +++---
 src/modules/sensors/parameters.h              |  2 +-
 src/modules/sensors/sensors.cpp               | 14 +++----
 .../sensors/temperature_compensation.cpp      |  4 +-
 .../VehicleAcceleration.cpp                   |  2 +-
 .../VehicleAcceleration.hpp                   |  6 +--
 .../VehicleAngularVelocity.cpp                |  2 +-
 .../VehicleAngularVelocity.hpp                |  6 +--
 src/modules/sih/sih.cpp                       |  4 +-
 src/modules/sih/sih.hpp                       |  6 +--
 src/modules/simulator/gpssim/gpssim.cpp       |  8 ++--
 src/modules/simulator/ledsim/led.cpp          |  2 +-
 src/modules/simulator/simulator.cpp           |  6 +--
 src/modules/simulator/simulator.h             |  4 +-
 src/modules/simulator/simulator_mavlink.cpp   |  6 +--
 src/modules/uORB/Publication.hpp              |  2 +-
 src/modules/uORB/PublicationMulti.hpp         |  2 +-
 src/modules/uORB/PublicationQueued.hpp        |  2 +-
 src/modules/uORB/Subscription.cpp             |  2 +-
 src/modules/uORB/Subscription.hpp             |  2 +-
 src/modules/uORB/SubscriptionInterval.hpp     |  2 +-
 src/modules/uORB/SubscriptionPollable.cpp     |  2 +-
 src/modules/uORB/SubscriptionPollable.hpp     |  2 +-
 src/modules/uORB/uORBDeviceMaster.cpp         |  2 +-
 src/modules/uORB/uORBDeviceMaster.hpp         |  2 +-
 src/modules/uORB/uORBMain.cpp                 |  4 +-
 src/modules/uORB/uORBManager.cpp              |  6 +--
 .../uORB/uORB_tests/uORBTest_UnitTest.cpp     |  4 +-
 .../uORB/uORB_tests/uORBTest_UnitTest.hpp     |  4 +-
 src/modules/vmount/input_mavlink.cpp          |  4 +-
 src/modules/vmount/input_rc.cpp               |  4 +-
 src/modules/vmount/input_test.cpp             |  2 +-
 src/modules/vmount/output.cpp                 |  2 +-
 src/modules/vmount/output_mavlink.cpp         |  2 +-
 src/modules/vmount/output_rc.cpp              |  2 +-
 src/modules/vmount/vmount.cpp                 |  8 ++--
 .../vtol_att_control/vtol_att_control_main.h  |  8 ++--
 src/modules/vtol_att_control/vtol_type.cpp    |  2 +-
 src/systemcmds/bl_update/bl_update.c          |  6 +--
 src/systemcmds/config/config.c                |  6 +--
 src/systemcmds/dmesg/dmesg.cpp                |  8 ++--
 src/systemcmds/dumpfile/dumpfile.c            |  6 +--
 src/systemcmds/dyn/dyn.cpp                    |  4 +-
 src/systemcmds/esc_calib/esc_calib.c          | 10 ++---
 src/systemcmds/hardfault_log/hardfault_log.c  |  4 +-
 src/systemcmds/i2cdetect/i2cdetect.cpp        | 10 ++---
 src/systemcmds/led_control/led_control.cpp    |  6 +--
 src/systemcmds/mixer/mixer.cpp                |  6 +--
 src/systemcmds/motor_ramp/motor_ramp.cpp      | 13 +++---
 src/systemcmds/motor_test/motor_test.cpp      |  8 ++--
 src/systemcmds/mtd/24xxxx_mtd.c               |  4 +-
 src/systemcmds/mtd/mtd.c                      |  6 +--
 src/systemcmds/nshterm/nshterm.c              |  4 +-
 src/systemcmds/param/param.cpp                |  8 ++--
 src/systemcmds/perf/perf.c                    |  4 +-
 src/systemcmds/pwm/pwm.cpp                    | 16 +++----
 src/systemcmds/reboot/reboot.c                | 10 ++---
 src/systemcmds/reflect/reflect.c              |  2 +-
 src/systemcmds/sd_bench/sd_bench.c            |  8 ++--
 src/systemcmds/shutdown/shutdown.c            |  2 +-
 src/systemcmds/tests/hrt_test/hrt_test.cpp    |  4 +-
 src/systemcmds/tests/hrt_test/hrt_test.h      |  2 +-
 .../tests/hrt_test/hrt_test_main.cpp          |  4 +-
 .../tests/hrt_test/hrt_test_start.cpp         |  6 +--
 src/systemcmds/tests/test_adc.c               |  8 ++--
 src/systemcmds/tests/test_bson.cpp            |  2 +-
 src/systemcmds/tests/test_dataman.c           |  4 +-
 src/systemcmds/tests/test_file.c              |  4 +-
 src/systemcmds/tests/test_file2.c             |  4 +-
 src/systemcmds/tests/test_float.cpp           |  2 +-
 src/systemcmds/tests/test_hott_telemetry.c    | 10 ++---
 src/systemcmds/tests/test_hrt.cpp             |  2 +-
 src/systemcmds/tests/test_int.cpp             |  2 +-
 src/systemcmds/tests/test_jig_voltages.c      |  4 +-
 src/systemcmds/tests/test_led.c               |  6 +--
 src/systemcmds/tests/test_mathlib.cpp         |  4 +-
 src/systemcmds/tests/test_microbench_hrt.cpp  |  4 +-
 src/systemcmds/tests/test_microbench_math.cpp |  4 +-
 .../tests/test_microbench_matrix.cpp          |  4 +-
 src/systemcmds/tests/test_microbench_uorb.cpp |  4 +-
 src/systemcmds/tests/test_mixer.cpp           |  2 +-
 src/systemcmds/tests/test_mount.c             |  6 +--
 src/systemcmds/tests/test_param.c             |  2 +-
 src/systemcmds/tests/test_parameters.cpp      |  2 +-
 src/systemcmds/tests/test_perf.c              |  4 +-
 src/systemcmds/tests/test_ppm_loopback.c      |  4 +-
 src/systemcmds/tests/test_rc.c                |  2 +-
 src/systemcmds/tests/test_servo.c             |  4 +-
 src/systemcmds/tests/test_sleep.c             |  6 +--
 src/systemcmds/tests/test_time.c              |  6 +--
 src/systemcmds/tests/test_tone.cpp            |  2 +-
 src/systemcmds/tests/test_uart_baudchange.c   |  4 +-
 src/systemcmds/tests/test_uart_break.c        |  4 +-
 src/systemcmds/tests/test_uart_console.c      |  4 +-
 src/systemcmds/tests/test_uart_loopback.c     |  2 +-
 src/systemcmds/tests/test_uart_send.c         |  2 +-
 src/systemcmds/tests/tests_main.c             |  2 +-
 src/systemcmds/tests/tests_main.h             |  2 +-
 src/systemcmds/top/top.c                      |  4 +-
 .../topic_listener/generate_listener.py       |  6 +--
 .../topic_listener/listener_main.cpp          |  4 +-
 .../topic_listener/topic_listener.hpp         |  8 ++--
 src/systemcmds/tune_control/tune_control.cpp  |  6 +--
 src/systemcmds/usb_connected/usb_connected.c  |  4 +-
 src/systemcmds/ver/ver.c                      |  4 +-
 src/systemcmds/work_queue/work_queue_main.cpp |  6 +--
 src/templates/module/module.cpp               |  6 +--
 src/templates/module/module.h                 |  4 +-
 740 files changed, 1502 insertions(+), 1382 deletions(-)
 create mode 100644 platforms/common/include/px4_defines.h
 create mode 100644 platforms/common/include/px4_log.h
 rename src/platforms/px4_app.h => platforms/common/include/px4_platform_common/app.h (99%)
 rename src/platforms/px4_atomic.h => platforms/common/include/px4_platform_common/atomic.h (99%)
 rename src/platforms/px4_cli.h => platforms/common/include/px4_platform_common/cli.h (99%)
 rename src/platforms/px4_console_buffer.h => platforms/common/include/px4_platform_common/console_buffer.h (97%)
 rename src/platforms/px4_defines.h => platforms/common/include/px4_platform_common/defines.h (99%)
 rename src/platforms/px4_getopt.h => platforms/common/include/px4_platform_common/getopt.h (98%)
 rename src/platforms/px4_i2c.h => platforms/common/include/px4_platform_common/i2c.h (98%)
 rename src/platforms/px4_init.h => platforms/common/include/px4_platform_common/init.h (100%)
 rename src/platforms/px4_log.h => platforms/common/include/px4_platform_common/log.h (99%)
 rename src/platforms/px4_micro_hal.h => platforms/common/include/px4_platform_common/micro_hal.h (100%)
 rename src/platforms/px4_module.h => platforms/common/include/px4_platform_common/module.h (99%)
 rename src/platforms/px4_module_params.h => platforms/common/include/px4_platform_common/module_params.h (99%)
 rename src/platforms/px4_param.h => platforms/common/include/px4_platform_common/param.h (99%)
 rename src/platforms/px4_param_macros.h => platforms/common/include/px4_platform_common/param_macros.h (99%)
 rename src/platforms/px4_posix.h => platforms/common/include/px4_platform_common/posix.h (97%)
 rename {src/platforms => platforms/common/include/px4_platform_common}/px4_config.h (98%)
 rename src/platforms/px4_sem.h => platforms/common/include/px4_platform_common/sem.h (99%)
 rename src/platforms/px4_sem.hpp => platforms/common/include/px4_platform_common/sem.hpp (98%)
 rename {src/platforms => platforms/common/include/px4_platform_common}/shmem.h (100%)
 rename src/platforms/px4_shutdown.h => platforms/common/include/px4_platform_common/shutdown.h (99%)
 rename src/platforms/px4_tasks.h => platforms/common/include/px4_platform_common/tasks.h (100%)
 rename src/platforms/px4_time.h => platforms/common/include/px4_platform_common/time.h (100%)
 rename src/platforms/px4_workqueue.h => platforms/common/include/px4_platform_common/workqueue.h (100%)
 create mode 100644 platforms/common/include/px4_time.h

diff --git a/boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp b/boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp
index 9c759c9b2a..29a5ef92f2 100644
--- a/boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp
+++ b/boards/aerotenna/ocpoc/ocpoc_adc/ocpoc_adc.cpp
@@ -40,9 +40,9 @@
  * @author Dave Royer <dave@aerotenna.com>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_adc.h>
 
 #include <VirtDevObj.hpp>
diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
index c02d24ca93..52fa74a263 100644
--- a/boards/airmind/mindpx-v2/src/board_config.h
+++ b/boards/airmind/mindpx-v2/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/airmind/mindpx-v2/src/can.c b/boards/airmind/mindpx-v2/src/can.c
index 6e0cb14e05..fde25c250d 100644
--- a/boards/airmind/mindpx-v2/src/can.c
+++ b/boards/airmind/mindpx-v2/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/airmind/mindpx-v2/src/init.c b/boards/airmind/mindpx-v2/src/init.c
index 84fd5225c8..33374334ee 100644
--- a/boards/airmind/mindpx-v2/src/init.c
+++ b/boards/airmind/mindpx-v2/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -71,7 +71,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/airmind/mindpx-v2/src/led.c b/boards/airmind/mindpx-v2/src/led.c
index 47ef24aeaf..0fd0dd5de0 100644
--- a/boards/airmind/mindpx-v2/src/led.c
+++ b/boards/airmind/mindpx-v2/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/airmind/mindpx-v2/src/spi.c b/boards/airmind/mindpx-v2/src/spi.c
index 123c9fd4da..4384d03475 100644
--- a/boards/airmind/mindpx-v2/src/spi.c
+++ b/boards/airmind/mindpx-v2/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/airmind/mindpx-v2/src/usb.c b/boards/airmind/mindpx-v2/src/usb.c
index b05620344d..24771237ed 100644
--- a/boards/airmind/mindpx-v2/src/usb.c
+++ b/boards/airmind/mindpx-v2/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/atlflight/eagle/src/sitl_led.c b/boards/atlflight/eagle/src/sitl_led.c
index 0f126f1c88..d7ee64ac7b 100644
--- a/boards/atlflight/eagle/src/sitl_led.c
+++ b/boards/atlflight/eagle/src/sitl_led.c
@@ -37,8 +37,8 @@
  * sitl LED backend.
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdbool.h>
 #include <systemlib/px4_macros.h>
 
diff --git a/boards/auav/esc35-v1/src/board_config.h b/boards/auav/esc35-v1/src/board_config.h
index 46c0de72f6..9ffce40d52 100644
--- a/boards/auav/esc35-v1/src/board_config.h
+++ b/boards/auav/esc35-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/auav/esc35-v1/src/init.c b/boards/auav/esc35-v1/src/init.c
index 345386f09e..e8501f11bd 100644
--- a/boards/auav/esc35-v1/src/init.c
+++ b/boards/auav/esc35-v1/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #endif
diff --git a/boards/auav/esc35-v1/src/led.c b/boards/auav/esc35-v1/src/led.c
index 3310c3ece7..53f0412e4e 100644
--- a/boards/auav/esc35-v1/src/led.c
+++ b/boards/auav/esc35-v1/src/led.c
@@ -37,7 +37,7 @@
  * PX4ESC LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <nuttx/board.h>
diff --git a/boards/auav/esc35-v1/src/usb.c b/boards/auav/esc35-v1/src/usb.c
index a156a0fec5..3495658b66 100644
--- a/boards/auav/esc35-v1/src/usb.c
+++ b/boards/auav/esc35-v1/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/auav/x21/src/board_config.h b/boards/auav/x21/src/board_config.h
index f0deaf03f7..1ee58b2f58 100644
--- a/boards/auav/x21/src/board_config.h
+++ b/boards/auav/x21/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/auav/x21/src/can.c b/boards/auav/x21/src/can.c
index 6009a417e8..dc78ed9cd7 100644
--- a/boards/auav/x21/src/can.c
+++ b/boards/auav/x21/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/auav/x21/src/init.c b/boards/auav/x21/src/init.c
index 42c672a52e..a7abc6bebb 100644
--- a/boards/auav/x21/src/init.c
+++ b/boards/auav/x21/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -72,7 +72,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/auav/x21/src/led.c b/boards/auav/x21/src/led.c
index dc04dd9d5a..3cbc464bec 100644
--- a/boards/auav/x21/src/led.c
+++ b/boards/auav/x21/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/auav/x21/src/spi.c b/boards/auav/x21/src/spi.c
index 52d14291b3..a176837cd4 100644
--- a/boards/auav/x21/src/spi.c
+++ b/boards/auav/x21/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/auav/x21/src/usb.c b/boards/auav/x21/src/usb.c
index 4d43e8bea2..bde39e4183 100644
--- a/boards/auav/x21/src/usb.c
+++ b/boards/auav/x21/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/av/x-v1/src/board_config.h b/boards/av/x-v1/src/board_config.h
index 6da278ba7f..e538552ec9 100644
--- a/boards/av/x-v1/src/board_config.h
+++ b/boards/av/x-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
index 9877f87516..7919b5daf1 100644
--- a/boards/av/x-v1/src/init.c
+++ b/boards/av/x-v1/src/init.c
@@ -69,8 +69,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
-#include <px4_i2c.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/i2c.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 static int configure_switch(void);
diff --git a/boards/beaglebone/blue/bbblue_adc/bbblue_adc.cpp b/boards/beaglebone/blue/bbblue_adc/bbblue_adc.cpp
index a912c354c9..36c2714c74 100644
--- a/boards/beaglebone/blue/bbblue_adc/bbblue_adc.cpp
+++ b/boards/beaglebone/blue/bbblue_adc/bbblue_adc.cpp
@@ -38,9 +38,9 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_adc.h>
 
 #include <VirtDevObj.hpp>
diff --git a/boards/beaglebone/blue/src/init.c b/boards/beaglebone/blue/src/init.c
index eba6b7dc6b..2609327a8c 100644
--- a/boards/beaglebone/blue/src/init.c
+++ b/boards/beaglebone/blue/src/init.c
@@ -37,7 +37,7 @@
  * BBBLUE specific initialization
  */
 #include <stddef.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <robotcontrol.h>
 
diff --git a/boards/bitcraze/crazyflie/src/board_config.h b/boards/bitcraze/crazyflie/src/board_config.h
index 91ef17dfd6..bf4d480052 100644
--- a/boards/bitcraze/crazyflie/src/board_config.h
+++ b/boards/bitcraze/crazyflie/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/bitcraze/crazyflie/src/init.c b/boards/bitcraze/crazyflie/src/init.c
index 0537d7d846..8c037b9ce2 100644
--- a/boards/bitcraze/crazyflie/src/init.c
+++ b/boards/bitcraze/crazyflie/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -67,7 +67,7 @@
 #include <drivers/drv_board_led.h>
 
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 /****************************************************************************
  * Pre-Processor Definitions
diff --git a/boards/bitcraze/crazyflie/src/led.c b/boards/bitcraze/crazyflie/src/led.c
index e11d91a309..58a4f6b05e 100644
--- a/boards/bitcraze/crazyflie/src/led.c
+++ b/boards/bitcraze/crazyflie/src/led.c
@@ -37,7 +37,7 @@
  * Crazyflie LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/bitcraze/crazyflie/src/spi.c b/boards/bitcraze/crazyflie/src/spi.c
index 60d75c8455..f633cc7a8a 100644
--- a/boards/bitcraze/crazyflie/src/spi.c
+++ b/boards/bitcraze/crazyflie/src/spi.c
@@ -2,7 +2,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/bitcraze/crazyflie/syslink/drv_deck.h b/boards/bitcraze/crazyflie/syslink/drv_deck.h
index adb7a13b29..2b21ae5f3f 100644
--- a/boards/bitcraze/crazyflie/syslink/drv_deck.h
+++ b/boards/bitcraze/crazyflie/syslink/drv_deck.h
@@ -36,7 +36,7 @@
 #ifndef _DRV_CRAZYFLIE_H
 #define _DRV_CRAZYFLIE_H
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/boards/bitcraze/crazyflie/syslink/syslink.c b/boards/bitcraze/crazyflie/syslink/syslink.c
index 9018e07a0d..d9e40d137f 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink.c
+++ b/boards/bitcraze/crazyflie/syslink/syslink.c
@@ -40,7 +40,7 @@
  */
 
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <fcntl.h>
 #include <stdio.h>
 #include <sys/ioctl.h>
diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
index 26d0c52223..18f60a89cb 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
+++ b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
@@ -36,10 +36,10 @@
  * Entry point for syslink module used to communicate with the NRF module on a Crazyflie
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
 
 #include <unistd.h>
 #include <stdio.h>
diff --git a/boards/emlid/navio2/navio_adc/navio_adc.cpp b/boards/emlid/navio2/navio_adc/navio_adc.cpp
index 6614a65eed..238c071c54 100644
--- a/boards/emlid/navio2/navio_adc/navio_adc.cpp
+++ b/boards/emlid/navio2/navio_adc/navio_adc.cpp
@@ -41,9 +41,9 @@
  * @author Nicolae Rosia <nicolae.rosia@gmail.com>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_adc.h>
 
 #include <VirtDevObj.hpp>
diff --git a/boards/emlid/navio2/navio_rgbled/navio_rgbled.cpp b/boards/emlid/navio2/navio_rgbled/navio_rgbled.cpp
index 0094038838..1faeaca0d6 100644
--- a/boards/emlid/navio2/navio_rgbled/navio_rgbled.cpp
+++ b/boards/emlid/navio2/navio_rgbled/navio_rgbled.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_led.h>
 
 #include <string.h>
diff --git a/boards/emlid/navio2/navio_rgbled/test/test.cpp b/boards/emlid/navio2/navio_rgbled/test/test.cpp
index 0459e6e456..39c93c8244 100644
--- a/boards/emlid/navio2/navio_rgbled/test/test.cpp
+++ b/boards/emlid/navio2/navio_rgbled/test/test.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <stdio.h>
 #include <unistd.h>
diff --git a/boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp b/boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
index d42b4b57b4..bf945236a7 100644
--- a/boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
+++ b/boards/emlid/navio2/navio_sysfs_rc_in/navio_sysfs_rc_in.cpp
@@ -41,9 +41,9 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include <px4_config.h>
-#include <px4_workqueue.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/defines.h>
 
 #include <drivers/drv_hrt.h>
 
diff --git a/boards/holybro/kakutef7/src/board_config.h b/boards/holybro/kakutef7/src/board_config.h
index 31cfc88cc2..560e09b6b7 100644
--- a/boards/holybro/kakutef7/src/board_config.h
+++ b/boards/holybro/kakutef7/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/holybro/kakutef7/src/init.c b/boards/holybro/kakutef7/src/init.c
index 99253ff5a0..6c79bb40b8 100644
--- a/boards/holybro/kakutef7/src/init.c
+++ b/boards/holybro/kakutef7/src/init.c
@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 # if defined(FLASH_BASED_PARAMS)
diff --git a/boards/holybro/kakutef7/src/led.c b/boards/holybro/kakutef7/src/led.c
index 0c6dd909ab..a45d35c1c5 100644
--- a/boards/holybro/kakutef7/src/led.c
+++ b/boards/holybro/kakutef7/src/led.c
@@ -37,7 +37,7 @@
  * LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/holybro/kakutef7/src/usb.c b/boards/holybro/kakutef7/src/usb.c
index 8f78ff4201..e753f37649 100644
--- a/boards/holybro/kakutef7/src/usb.c
+++ b/boards/holybro/kakutef7/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp b/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp
index 0ae333d1ab..c43b02c5a1 100644
--- a/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp
+++ b/boards/intel/aerofc-v1/aerofc_adc/aerofc_adc.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <cstring>
 
diff --git a/boards/intel/aerofc-v1/src/board_config.h b/boards/intel/aerofc-v1/src/board_config.h
index 0fb14686c7..f3e48538e4 100644
--- a/boards/intel/aerofc-v1/src/board_config.h
+++ b/boards/intel/aerofc-v1/src/board_config.h
@@ -46,7 +46,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/intel/aerofc-v1/src/init.c b/boards/intel/aerofc-v1/src/init.c
index 0d6bea5549..50c2156e7b 100644
--- a/boards/intel/aerofc-v1/src/init.c
+++ b/boards/intel/aerofc-v1/src/init.c
@@ -46,8 +46,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -69,7 +69,7 @@
 #include <dataman/dataman.h>
 
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 # if defined(FLASH_BASED_PARAMS)
 #  include <parameters/flashparams/flashfs.h>
diff --git a/boards/intel/aerofc-v1/src/led.c b/boards/intel/aerofc-v1/src/led.c
index 543814454b..e85294b7f6 100644
--- a/boards/intel/aerofc-v1/src/led.c
+++ b/boards/intel/aerofc-v1/src/led.c
@@ -38,7 +38,7 @@
  * AEROFC_V1 LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/intel/aerofc-v1/src/spi.c b/boards/intel/aerofc-v1/src/spi.c
index f87e9a3d4a..ecf85f85f1 100644
--- a/boards/intel/aerofc-v1/src/spi.c
+++ b/boards/intel/aerofc-v1/src/spi.c
@@ -42,7 +42,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/modalai/fc-v1/src/board_config.h b/boards/modalai/fc-v1/src/board_config.h
index 885cc20efe..60f2eb5b21 100644
--- a/boards/modalai/fc-v1/src/board_config.h
+++ b/boards/modalai/fc-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/modalai/fc-v1/src/init.c b/boards/modalai/fc-v1/src/init.c
index 30ad6040d1..9bfaa030f5 100644
--- a/boards/modalai/fc-v1/src/init.c
+++ b/boards/modalai/fc-v1/src/init.c
@@ -69,7 +69,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/modalai/fc-v1/src/led.c b/boards/modalai/fc-v1/src/led.c
index 3c707563c0..cae75126b2 100644
--- a/boards/modalai/fc-v1/src/led.c
+++ b/boards/modalai/fc-v1/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/modalai/fc-v1/src/usb.c b/boards/modalai/fc-v1/src/usb.c
index 016d15c20d..5d26ef7720 100644
--- a/boards/modalai/fc-v1/src/usb.c
+++ b/boards/modalai/fc-v1/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/mro/ctrl-zero-f7/src/board_config.h b/boards/mro/ctrl-zero-f7/src/board_config.h
index 2f4ce593c0..654f92faae 100644
--- a/boards/mro/ctrl-zero-f7/src/board_config.h
+++ b/boards/mro/ctrl-zero-f7/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/mro/ctrl-zero-f7/src/init.c b/boards/mro/ctrl-zero-f7/src/init.c
index 5d376671ce..e12cb11e76 100644
--- a/boards/mro/ctrl-zero-f7/src/init.c
+++ b/boards/mro/ctrl-zero-f7/src/init.c
@@ -68,7 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/mro/ctrl-zero-f7/src/led.c b/boards/mro/ctrl-zero-f7/src/led.c
index e68ea7fd8d..c8e531cd6a 100644
--- a/boards/mro/ctrl-zero-f7/src/led.c
+++ b/boards/mro/ctrl-zero-f7/src/led.c
@@ -37,7 +37,7 @@
  * LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/mro/ctrl-zero-f7/src/usb.c b/boards/mro/ctrl-zero-f7/src/usb.c
index 8f78ff4201..e753f37649 100644
--- a/boards/mro/ctrl-zero-f7/src/usb.c
+++ b/boards/mro/ctrl-zero-f7/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/nxp/fmuk66-v3/src/autoleds.c b/boards/nxp/fmuk66-v3/src/autoleds.c
index 8ce06c7ace..0a7b499992 100644
--- a/boards/nxp/fmuk66-v3/src/autoleds.c
+++ b/boards/nxp/fmuk66-v3/src/autoleds.c
@@ -67,7 +67,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/nxp/fmuk66-v3/src/automount.c b/boards/nxp/fmuk66-v3/src/automount.c
index 26d423384f..f69f7fc8f5 100644
--- a/boards/nxp/fmuk66-v3/src/automount.c
+++ b/boards/nxp/fmuk66-v3/src/automount.c
@@ -37,7 +37,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #if defined(CONFIG_FS_AUTOMOUNTER_DEBUG) && !defined(CONFIG_DEBUG_FS)
 #  define CONFIG_DEBUG_FS 1
diff --git a/boards/nxp/fmuk66-v3/src/board_config.h b/boards/nxp/fmuk66-v3/src/board_config.h
index b56fc07714..a10255324f 100644
--- a/boards/nxp/fmuk66-v3/src/board_config.h
+++ b/boards/nxp/fmuk66-v3/src/board_config.h
@@ -42,7 +42,7 @@
 /****************************************************************************************************
  * Included Files
  ****************************************************************************************************/
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/nxp/fmuk66-v3/src/can.c b/boards/nxp/fmuk66-v3/src/can.c
index aa45490b39..b0e9ff91c9 100644
--- a/boards/nxp/fmuk66-v3/src/can.c
+++ b/boards/nxp/fmuk66-v3/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index fd49478bc2..70c8dd3a81 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/nxp/fmuk66-v3/src/led.c b/boards/nxp/fmuk66-v3/src/led.c
index 32a8c601fd..339456dd7c 100644
--- a/boards/nxp/fmuk66-v3/src/led.c
+++ b/boards/nxp/fmuk66-v3/src/led.c
@@ -37,7 +37,7 @@
  * NXP fmuk66-v3 LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/nxp/fmuk66-v3/src/sdhc.c b/boards/nxp/fmuk66-v3/src/sdhc.c
index 1f39b29529..3c7bc80163 100644
--- a/boards/nxp/fmuk66-v3/src/sdhc.c
+++ b/boards/nxp/fmuk66-v3/src/sdhc.c
@@ -56,7 +56,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/boards/nxp/fmuk66-v3/src/spi.c b/boards/nxp/fmuk66-v3/src/spi.c
index 33de9a2140..9e6dce0758 100644
--- a/boards/nxp/fmuk66-v3/src/spi.c
+++ b/boards/nxp/fmuk66-v3/src/spi.c
@@ -37,7 +37,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/nxp/fmuk66-v3/src/usb.c b/boards/nxp/fmuk66-v3/src/usb.c
index 2fd5ec6c75..c4943f9f37 100644
--- a/boards/nxp/fmuk66-v3/src/usb.c
+++ b/boards/nxp/fmuk66-v3/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/omnibus/f4sd/src/board_config.h b/boards/omnibus/f4sd/src/board_config.h
index f3d5aa3800..2ab64a9a2e 100644
--- a/boards/omnibus/f4sd/src/board_config.h
+++ b/boards/omnibus/f4sd/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/omnibus/f4sd/src/init.c b/boards/omnibus/f4sd/src/init.c
index c957044f6d..9fc49e2d4f 100644
--- a/boards/omnibus/f4sd/src/init.c
+++ b/boards/omnibus/f4sd/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -72,7 +72,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 # if defined(FLASH_BASED_PARAMS)
diff --git a/boards/omnibus/f4sd/src/led.c b/boards/omnibus/f4sd/src/led.c
index b1e75c444e..ac63fe457f 100644
--- a/boards/omnibus/f4sd/src/led.c
+++ b/boards/omnibus/f4sd/src/led.c
@@ -37,7 +37,7 @@
  * omnibusf4sd LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/omnibus/f4sd/src/spi.c b/boards/omnibus/f4sd/src/spi.c
index a3144dcfd2..4e894a8f83 100644
--- a/boards/omnibus/f4sd/src/spi.c
+++ b/boards/omnibus/f4sd/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/omnibus/f4sd/src/usb.c b/boards/omnibus/f4sd/src/usb.c
index 33a6765378..954076e3e2 100644
--- a/boards/omnibus/f4sd/src/usb.c
+++ b/boards/omnibus/f4sd/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/parrot/bebop/flow/bebop_flow.cpp b/boards/parrot/bebop/flow/bebop_flow.cpp
index a0462e94de..e6f778c4b1 100644
--- a/boards/parrot/bebop/flow/bebop_flow.cpp
+++ b/boards/parrot/bebop/flow/bebop_flow.cpp
@@ -42,9 +42,9 @@
 #include <stdint.h>
 #include <string.h>
 
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 
 #include "video_device.h"
 #include "dump_pgm.h"
diff --git a/boards/parrot/bebop/flow/dump_pgm.cpp b/boards/parrot/bebop/flow/dump_pgm.cpp
index 4a9c187887..3ffd2a0128 100644
--- a/boards/parrot/bebop/flow/dump_pgm.cpp
+++ b/boards/parrot/bebop/flow/dump_pgm.cpp
@@ -37,7 +37,7 @@
 #include <sys/fcntl.h>
 #include <sys/stat.h>
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 #define HRES_STR "320"
 #define VRES_STR "240"
diff --git a/boards/parrot/bebop/flow/video_device.cpp b/boards/parrot/bebop/flow/video_device.cpp
index 6429e0dae6..51d1172170 100644
--- a/boards/parrot/bebop/flow/video_device.cpp
+++ b/boards/parrot/bebop/flow/video_device.cpp
@@ -50,7 +50,7 @@
 
 #include <linux/videodev2.h>
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 int VideoDevice::start()
 {
diff --git a/boards/px4/cannode-v1/src/board_config.h b/boards/px4/cannode-v1/src/board_config.h
index e0bfe2b1f0..6f8624f6ea 100644
--- a/boards/px4/cannode-v1/src/board_config.h
+++ b/boards/px4/cannode-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/cannode-v1/src/buttons.c b/boards/px4/cannode-v1/src/buttons.c
index 4fbf4d3f9c..b4fe74e400 100644
--- a/boards/px4/cannode-v1/src/buttons.c
+++ b/boards/px4/cannode-v1/src/buttons.c
@@ -40,7 +40,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 
diff --git a/boards/px4/cannode-v1/src/can.c b/boards/px4/cannode-v1/src/can.c
index cc2e5e4793..862c1cceed 100644
--- a/boards/px4/cannode-v1/src/can.c
+++ b/boards/px4/cannode-v1/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/px4/cannode-v1/src/init.c b/boards/px4/cannode-v1/src/init.c
index 9da9ee9956..74e4504231 100644
--- a/boards/px4/cannode-v1/src/init.c
+++ b/boards/px4/cannode-v1/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #endif
diff --git a/boards/px4/cannode-v1/src/led.c b/boards/px4/cannode-v1/src/led.c
index 6efd20a01e..c8f4c3c4e0 100644
--- a/boards/px4/cannode-v1/src/led.c
+++ b/boards/px4/cannode-v1/src/led.c
@@ -37,7 +37,7 @@
  * PX4ESC LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <nuttx/board.h>
diff --git a/boards/px4/cannode-v1/src/spi.c b/boards/px4/cannode-v1/src/spi.c
index 6f7c763ca1..d1b15257a2 100644
--- a/boards/px4/cannode-v1/src/spi.c
+++ b/boards/px4/cannode-v1/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/px4/esc-v1/src/board_config.h b/boards/px4/esc-v1/src/board_config.h
index 8d8b60f1d4..61a944d04e 100644
--- a/boards/px4/esc-v1/src/board_config.h
+++ b/boards/px4/esc-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/esc-v1/src/init.c b/boards/px4/esc-v1/src/init.c
index f80e7da078..ba93448724 100644
--- a/boards/px4/esc-v1/src/init.c
+++ b/boards/px4/esc-v1/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #endif
diff --git a/boards/px4/esc-v1/src/led.c b/boards/px4/esc-v1/src/led.c
index 68b93034d7..f99f04672d 100644
--- a/boards/px4/esc-v1/src/led.c
+++ b/boards/px4/esc-v1/src/led.c
@@ -37,7 +37,7 @@
  * PX4ESC LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <nuttx/board.h>
diff --git a/boards/px4/esc-v1/src/usb.c b/boards/px4/esc-v1/src/usb.c
index 50f18d8f64..68af9d758e 100644
--- a/boards/px4/esc-v1/src/usb.c
+++ b/boards/px4/esc-v1/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v2/src/board_config.h b/boards/px4/fmu-v2/src/board_config.h
index c960ca8666..cc17ab3d27 100644
--- a/boards/px4/fmu-v2/src/board_config.h
+++ b/boards/px4/fmu-v2/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v2/src/can.c b/boards/px4/fmu-v2/src/can.c
index 7234c4eb8d..8a2bcbf406 100644
--- a/boards/px4/fmu-v2/src/can.c
+++ b/boards/px4/fmu-v2/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/px4/fmu-v2/src/init.c b/boards/px4/fmu-v2/src/init.c
index 1148b3438d..33604f8ed8 100644
--- a/boards/px4/fmu-v2/src/init.c
+++ b/boards/px4/fmu-v2/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -72,7 +72,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v2/src/led.c b/boards/px4/fmu-v2/src/led.c
index 09edb2ba66..747ea981d4 100644
--- a/boards/px4/fmu-v2/src/led.c
+++ b/boards/px4/fmu-v2/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v2/src/spi.c b/boards/px4/fmu-v2/src/spi.c
index 4df601639d..3269a2838e 100644
--- a/boards/px4/fmu-v2/src/spi.c
+++ b/boards/px4/fmu-v2/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/px4/fmu-v2/src/usb.c b/boards/px4/fmu-v2/src/usb.c
index 4b455309db..a809c69dd3 100644
--- a/boards/px4/fmu-v2/src/usb.c
+++ b/boards/px4/fmu-v2/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v3/src/board_config.h b/boards/px4/fmu-v3/src/board_config.h
index 615abec001..94a3ef1df5 100644
--- a/boards/px4/fmu-v3/src/board_config.h
+++ b/boards/px4/fmu-v3/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v3/src/can.c b/boards/px4/fmu-v3/src/can.c
index 7234c4eb8d..8a2bcbf406 100644
--- a/boards/px4/fmu-v3/src/can.c
+++ b/boards/px4/fmu-v3/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/px4/fmu-v3/src/init.c b/boards/px4/fmu-v3/src/init.c
index 1148b3438d..33604f8ed8 100644
--- a/boards/px4/fmu-v3/src/init.c
+++ b/boards/px4/fmu-v3/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -72,7 +72,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v3/src/led.c b/boards/px4/fmu-v3/src/led.c
index 09edb2ba66..747ea981d4 100644
--- a/boards/px4/fmu-v3/src/led.c
+++ b/boards/px4/fmu-v3/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v3/src/spi.c b/boards/px4/fmu-v3/src/spi.c
index 4df601639d..3269a2838e 100644
--- a/boards/px4/fmu-v3/src/spi.c
+++ b/boards/px4/fmu-v3/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/px4/fmu-v3/src/usb.c b/boards/px4/fmu-v3/src/usb.c
index 4b455309db..a809c69dd3 100644
--- a/boards/px4/fmu-v3/src/usb.c
+++ b/boards/px4/fmu-v3/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
index 26d75ee013..a53b6cb89f 100644
--- a/boards/px4/fmu-v4/src/board_config.h
+++ b/boards/px4/fmu-v4/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v4/src/can.c b/boards/px4/fmu-v4/src/can.c
index bb44863ea8..42c04b2900 100644
--- a/boards/px4/fmu-v4/src/can.c
+++ b/boards/px4/fmu-v4/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/px4/fmu-v4/src/init.c b/boards/px4/fmu-v4/src/init.c
index 61aa8f9ba0..706fbc59d3 100644
--- a/boards/px4/fmu-v4/src/init.c
+++ b/boards/px4/fmu-v4/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v4/src/led.c b/boards/px4/fmu-v4/src/led.c
index 12b5a51bed..c3ebb77fd1 100644
--- a/boards/px4/fmu-v4/src/led.c
+++ b/boards/px4/fmu-v4/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v4/src/spi.c b/boards/px4/fmu-v4/src/spi.c
index 6817bd2dba..ed6387a24d 100644
--- a/boards/px4/fmu-v4/src/spi.c
+++ b/boards/px4/fmu-v4/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/px4/fmu-v4/src/usb.c b/boards/px4/fmu-v4/src/usb.c
index ff68631ad6..cce530c89d 100644
--- a/boards/px4/fmu-v4/src/usb.c
+++ b/boards/px4/fmu-v4/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v4pro/src/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
index e8b35d326b..30cc41040f 100644
--- a/boards/px4/fmu-v4pro/src/board_config.h
+++ b/boards/px4/fmu-v4pro/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v4pro/src/can.c b/boards/px4/fmu-v4pro/src/can.c
index 7234c4eb8d..8a2bcbf406 100644
--- a/boards/px4/fmu-v4pro/src/can.c
+++ b/boards/px4/fmu-v4pro/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/px4/fmu-v4pro/src/init.c b/boards/px4/fmu-v4pro/src/init.c
index 7dcfd84c03..7370b8f204 100644
--- a/boards/px4/fmu-v4pro/src/init.c
+++ b/boards/px4/fmu-v4pro/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v4pro/src/led.c b/boards/px4/fmu-v4pro/src/led.c
index d962ea7f64..e371a56140 100644
--- a/boards/px4/fmu-v4pro/src/led.c
+++ b/boards/px4/fmu-v4pro/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v4pro/src/spi.c b/boards/px4/fmu-v4pro/src/spi.c
index 262a81d305..d355e57a00 100644
--- a/boards/px4/fmu-v4pro/src/spi.c
+++ b/boards/px4/fmu-v4pro/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/px4/fmu-v4pro/src/usb.c b/boards/px4/fmu-v4pro/src/usb.c
index 4b455309db..a809c69dd3 100644
--- a/boards/px4/fmu-v4pro/src/usb.c
+++ b/boards/px4/fmu-v4pro/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
index 4b55f960c1..130852e484 100644
--- a/boards/px4/fmu-v5/src/board_config.h
+++ b/boards/px4/fmu-v5/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v5/src/init.c b/boards/px4/fmu-v5/src/init.c
index ce140f86ae..bf65b98672 100644
--- a/boards/px4/fmu-v5/src/init.c
+++ b/boards/px4/fmu-v5/src/init.c
@@ -68,7 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v5/src/led.c b/boards/px4/fmu-v5/src/led.c
index 3ded48f7d0..a45c88070b 100644
--- a/boards/px4/fmu-v5/src/led.c
+++ b/boards/px4/fmu-v5/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v5/src/usb.c b/boards/px4/fmu-v5/src/usb.c
index 016d15c20d..5d26ef7720 100644
--- a/boards/px4/fmu-v5/src/usb.c
+++ b/boards/px4/fmu-v5/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/fmu-v5x/src/board_config.h b/boards/px4/fmu-v5x/src/board_config.h
index b1eb4e0157..fd4b6df8b3 100644
--- a/boards/px4/fmu-v5x/src/board_config.h
+++ b/boards/px4/fmu-v5x/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/fmu-v5x/src/init.c b/boards/px4/fmu-v5x/src/init.c
index 83f76d1945..1f88a35442 100644
--- a/boards/px4/fmu-v5x/src/init.c
+++ b/boards/px4/fmu-v5x/src/init.c
@@ -68,7 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/px4/fmu-v5x/src/led.c b/boards/px4/fmu-v5x/src/led.c
index 3ded48f7d0..a45c88070b 100644
--- a/boards/px4/fmu-v5x/src/led.c
+++ b/boards/px4/fmu-v5x/src/led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/px4/fmu-v5x/src/usb.c b/boards/px4/fmu-v5x/src/usb.c
index 016d15c20d..5d26ef7720 100644
--- a/boards/px4/fmu-v5x/src/usb.c
+++ b/boards/px4/fmu-v5x/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/boards/px4/io-v2/src/board_config.h b/boards/px4/io-v2/src/board_config.h
index d6d592b0c8..698754846c 100644
--- a/boards/px4/io-v2/src/board_config.h
+++ b/boards/px4/io-v2/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ******************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/px4/io-v2/src/init.c b/boards/px4/io-v2/src/init.c
index 4d064e5b13..10c081d08b 100644
--- a/boards/px4/io-v2/src/init.c
+++ b/boards/px4/io-v2/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/boards/px4/sitl/src/sitl_board_shutdown.c b/boards/px4/sitl/src/sitl_board_shutdown.c
index 9ca9326a53..a71cbdd7d7 100644
--- a/boards/px4/sitl/src/sitl_board_shutdown.c
+++ b/boards/px4/sitl/src/sitl_board_shutdown.c
@@ -37,7 +37,7 @@
  * sitl board shutdown backend.
  */
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 #include <board_config.h>
 
 int board_register_power_state_notification_cb(power_button_state_notification_t cb)
diff --git a/boards/px4/sitl/src/sitl_led.c b/boards/px4/sitl/src/sitl_led.c
index 4c43ffc578..c9d3f4d053 100644
--- a/boards/px4/sitl/src/sitl_led.c
+++ b/boards/px4/sitl/src/sitl_led.c
@@ -37,8 +37,8 @@
  * sitl LED backend.
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdbool.h>
 
 __BEGIN_DECLS
diff --git a/boards/thiemar/s2740vc-v1/src/board_config.h b/boards/thiemar/s2740vc-v1/src/board_config.h
index 7152c5aa63..87f2edc6d8 100644
--- a/boards/thiemar/s2740vc-v1/src/board_config.h
+++ b/boards/thiemar/s2740vc-v1/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/thiemar/s2740vc-v1/src/can.c b/boards/thiemar/s2740vc-v1/src/can.c
index cc2e5e4793..862c1cceed 100644
--- a/boards/thiemar/s2740vc-v1/src/can.c
+++ b/boards/thiemar/s2740vc-v1/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/thiemar/s2740vc-v1/src/init.c b/boards/thiemar/s2740vc-v1/src/init.c
index 61a2cb4016..3f8a729251 100644
--- a/boards/thiemar/s2740vc-v1/src/init.c
+++ b/boards/thiemar/s2740vc-v1/src/init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -67,7 +67,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 #if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
 #endif
diff --git a/boards/uvify/core/src/board_config.h b/boards/uvify/core/src/board_config.h
index cb358e1310..4d3d8e418a 100644
--- a/boards/uvify/core/src/board_config.h
+++ b/boards/uvify/core/src/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/boards/uvify/core/src/can.c b/boards/uvify/core/src/can.c
index 2835d99a98..3dd1ad7c68 100644
--- a/boards/uvify/core/src/can.c
+++ b/boards/uvify/core/src/can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/boards/uvify/core/src/init.c b/boards/uvify/core/src/init.c
index 131f883ad3..518885bb4d 100644
--- a/boards/uvify/core/src/init.c
+++ b/boards/uvify/core/src/init.c
@@ -45,8 +45,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <stdbool.h>
 #include <stdio.h>
@@ -73,7 +73,7 @@
 
 #include <systemlib/px4_macros.h>
 
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 #include <drivers/boards/common/board_dma_alloc.h>
 
 /****************************************************************************
diff --git a/boards/uvify/core/src/led.c b/boards/uvify/core/src/led.c
index d088d75c4e..bb233d6767 100644
--- a/boards/uvify/core/src/led.c
+++ b/boards/uvify/core/src/led.c
@@ -37,7 +37,7 @@
  * UVify Core LED backend.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/boards/uvify/core/src/spi.c b/boards/uvify/core/src/spi.c
index dfac2a2412..e4553a7622 100644
--- a/boards/uvify/core/src/spi.c
+++ b/boards/uvify/core/src/spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/boards/uvify/core/src/usb.c b/boards/uvify/core/src/usb.c
index fe85fd61c6..fd118d050d 100644
--- a/boards/uvify/core/src/usb.c
+++ b/boards/uvify/core/src/usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/msg/templates/uorb/msg.cpp.em b/msg/templates/uorb/msg.cpp.em
index 02a8341049..623515453d 100644
--- a/msg/templates/uorb/msg.cpp.em
+++ b/msg/templates/uorb/msg.cpp.em
@@ -67,8 +67,8 @@ topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in so
 }@
 
 #include <inttypes.h>
-#include <px4_log.h>
-#include <px4_defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/defines.h>
 #include <uORB/topics/@(topic_name).h>
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/device/Device.hpp>
diff --git a/msg/templates/uorb_microcdr/msg.cpp.em b/msg/templates/uorb_microcdr/msg.cpp.em
index fdbdb9d2ee..90111b9d0f 100644
--- a/msg/templates/uorb_microcdr/msg.cpp.em
+++ b/msg/templates/uorb_microcdr/msg.cpp.em
@@ -61,7 +61,7 @@ uorb_struct = '%s_s'%spec.short_name
 topic_name = spec.short_name
 }@
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <ucdr/microcdr.h>
 #include <uORB/topics/@(topic_name).h>
 #include <uORB_microcdr/topics/@(topic_name).h>
diff --git a/msg/templates/urtps/microRTPS_transport.cpp b/msg/templates/urtps/microRTPS_transport.cpp
index d5b8aed0d8..30d418114a 100644
--- a/msg/templates/urtps/microRTPS_transport.cpp
+++ b/msg/templates/urtps/microRTPS_transport.cpp
@@ -36,9 +36,9 @@
 #include <errno.h>
 #include <sys/socket.h>
 #include <cstdlib>
-#if __has_include("px4_log.h") && __has_include("px4_time.h")
-#include <px4_log.h>
-#include <px4_time.h>
+#if __has_include("px4_platform_common/log.h") && __has_include("px4_platform_common/time.h")
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 #endif
 
 #include "microRTPS_transport.h"
diff --git a/platforms/common/apps.cpp.in b/platforms/common/apps.cpp.in
index 9f32d1505c..0a78d210cd 100644
--- a/platforms/common/apps.cpp.in
+++ b/platforms/common/apps.cpp.in
@@ -1,7 +1,7 @@
 /* definitions of builtin command list - automatically generated, do not edit */
-#include "px4_time.h"
-#include "px4_posix.h"
-#include "px4_log.h"
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/log.h>
 
 #include "apps.h"
 
diff --git a/platforms/common/apps.h.in b/platforms/common/apps.h.in
index 37728e0fd9..3346d20c86 100644
--- a/platforms/common/apps.h.in
+++ b/platforms/common/apps.h.in
@@ -2,7 +2,7 @@
 
 #pragma once
 
-#include "px4_tasks.h"	// px4_main_t
+#include <px4_platform_common/tasks.h>	// px4_main_t
 #include <map>
 #include <string>
 
diff --git a/platforms/common/include/px4_defines.h b/platforms/common/include/px4_defines.h
new file mode 100644
index 0000000000..0be87fa85f
--- /dev/null
+++ b/platforms/common/include/px4_defines.h
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_defines.h
+ * transitional include header for submodules
+ */
+#pragma once
+
+#include <px4_platform_common/defines.h>
+
diff --git a/platforms/common/include/px4_log.h b/platforms/common/include/px4_log.h
new file mode 100644
index 0000000000..fd055ac8b3
--- /dev/null
+++ b/platforms/common/include/px4_log.h
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_log.h
+ * transitional include header for submodules
+ */
+
+#pragma once
+
+#include <px4_platform_common/log.h>
+
diff --git a/src/platforms/px4_app.h b/platforms/common/include/px4_platform_common/app.h
similarity index 99%
rename from src/platforms/px4_app.h
rename to platforms/common/include/px4_platform_common/app.h
index 7bb48546e1..220712c916 100644
--- a/src/platforms/px4_app.h
+++ b/platforms/common/include/px4_platform_common/app.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_app.h
+ * @file app.h
  *
  * PX4 app template classes, functions and defines. Apps need to call their
  * main function PX4_MAIN.
diff --git a/src/platforms/px4_atomic.h b/platforms/common/include/px4_platform_common/atomic.h
similarity index 99%
rename from src/platforms/px4_atomic.h
rename to platforms/common/include/px4_platform_common/atomic.h
index be2858ea83..d9fa782c98 100644
--- a/src/platforms/px4_atomic.h
+++ b/platforms/common/include/px4_platform_common/atomic.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_atomic.h
+ * @file atomic.h
  *
  * Provides atomic integers and counters. Each method is executed atomically and thus
  * can be used to prevent data races and add memory synchronization between threads.
diff --git a/src/platforms/px4_cli.h b/platforms/common/include/px4_platform_common/cli.h
similarity index 99%
rename from src/platforms/px4_cli.h
rename to platforms/common/include/px4_platform_common/cli.h
index 7ba92e34d9..2ccb9cd238 100644
--- a/src/platforms/px4_cli.h
+++ b/platforms/common/include/px4_platform_common/cli.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_cli.h
+ * @file cli.h
  * Helper methods for command-line parameters
  */
 
diff --git a/src/platforms/px4_console_buffer.h b/platforms/common/include/px4_platform_common/console_buffer.h
similarity index 97%
rename from src/platforms/px4_console_buffer.h
rename to platforms/common/include/px4_platform_common/console_buffer.h
index 5455415be7..4cdc5cf636 100644
--- a/src/platforms/px4_console_buffer.h
+++ b/platforms/common/include/px4_platform_common/console_buffer.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_console_buffer.h
+ * @file console_buffer.h
  * This implements a simple console buffer to store the full bootup output.
  * It can be printed via the 'dmesg' utility.
  * The output of stdout is redirected to CONSOLE_BUFFER_DEVICE, which is stored
@@ -40,7 +40,7 @@
  * to the original console.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 
 #define CONSOLE_BUFFER_DEVICE "/dev/console_buf"
diff --git a/src/platforms/px4_defines.h b/platforms/common/include/px4_platform_common/defines.h
similarity index 99%
rename from src/platforms/px4_defines.h
rename to platforms/common/include/px4_platform_common/defines.h
index b0031bd5a5..6247fa3d23 100644
--- a/src/platforms/px4_defines.h
+++ b/platforms/common/include/px4_platform_common/defines.h
@@ -32,14 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file px4_defines.h
+ * @file defines.h
  *
  * Generally used magic defines
  */
 
 #pragma once
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #if defined(__PX4_NUTTX) && !defined(CONFIG_ARCH_MATH_H)
 #error CONFIG_ARCH_MATH_H is required to use math definitions and functions
diff --git a/src/platforms/px4_getopt.h b/platforms/common/include/px4_platform_common/getopt.h
similarity index 98%
rename from src/platforms/px4_getopt.h
rename to platforms/common/include/px4_platform_common/getopt.h
index 7c85ef32d2..ce786d9433 100644
--- a/src/platforms/px4_getopt.h
+++ b/platforms/common/include/px4_platform_common/getopt.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_getopt.h
+ * @file getopt.h
  * Thread safe version of getopt
  */
 
diff --git a/src/platforms/px4_i2c.h b/platforms/common/include/px4_platform_common/i2c.h
similarity index 98%
rename from src/platforms/px4_i2c.h
rename to platforms/common/include/px4_platform_common/i2c.h
index 96a7c6c925..e283527e3c 100644
--- a/src/platforms/px4_i2c.h
+++ b/platforms/common/include/px4_platform_common/i2c.h
@@ -47,7 +47,7 @@ __BEGIN_DECLS
 /*
  * Building for NuttX
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <sys/ioctl.h>
 #include <nuttx/arch.h>
 #include <nuttx/wqueue.h>
diff --git a/src/platforms/px4_init.h b/platforms/common/include/px4_platform_common/init.h
similarity index 100%
rename from src/platforms/px4_init.h
rename to platforms/common/include/px4_platform_common/init.h
diff --git a/src/platforms/px4_log.h b/platforms/common/include/px4_platform_common/log.h
similarity index 99%
rename from src/platforms/px4_log.h
rename to platforms/common/include/px4_platform_common/log.h
index 3969251472..73080ff94d 100644
--- a/src/platforms/px4_log.h
+++ b/platforms/common/include/px4_platform_common/log.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_log.h
+ * @file log.h
  * Platform dependant logging/debug implementation
  */
 
@@ -121,7 +121,7 @@ __END_DECLS
 #include <stdio.h>
 #include <stdarg.h>
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 __BEGIN_DECLS
 
diff --git a/src/platforms/px4_micro_hal.h b/platforms/common/include/px4_platform_common/micro_hal.h
similarity index 100%
rename from src/platforms/px4_micro_hal.h
rename to platforms/common/include/px4_platform_common/micro_hal.h
diff --git a/src/platforms/px4_module.h b/platforms/common/include/px4_platform_common/module.h
similarity index 99%
rename from src/platforms/px4_module.h
rename to platforms/common/include/px4_platform_common/module.h
index fe0c32a324..2b55c29f31 100644
--- a/src/platforms/px4_module.h
+++ b/platforms/common/include/px4_platform_common/module.h
@@ -41,10 +41,10 @@
 #include <unistd.h>
 #include <stdbool.h>
 
-#include <px4_atomic.h>
-#include <px4_time.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 #include <systemlib/px4_macros.h>
 
 #ifdef __cplusplus
diff --git a/src/platforms/px4_module_params.h b/platforms/common/include/px4_platform_common/module_params.h
similarity index 99%
rename from src/platforms/px4_module_params.h
rename to platforms/common/include/px4_platform_common/module_params.h
index 48f3ce9cf7..d2e518f0ce 100644
--- a/src/platforms/px4_module_params.h
+++ b/platforms/common/include/px4_platform_common/module_params.h
@@ -41,7 +41,7 @@
 
 #include <containers/List.hpp>
 
-#include "px4_param.h"
+#include "param.h"
 
 class ModuleParams : public ListNode<ModuleParams *>
 {
diff --git a/src/platforms/px4_param.h b/platforms/common/include/px4_platform_common/param.h
similarity index 99%
rename from src/platforms/px4_param.h
rename to platforms/common/include/px4_platform_common/param.h
index e526defd95..fec6368f0c 100644
--- a/src/platforms/px4_param.h
+++ b/platforms/common/include/px4_platform_common/param.h
@@ -32,14 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file px4_param.h
+ * @file param.h
  *
  * C++ Parameter class
  */
 
 #pragma once
 
-#include "px4_param_macros.h"
+#include "param_macros.h"
 
 #include <parameters/px4_parameters_public.h>
 
diff --git a/src/platforms/px4_param_macros.h b/platforms/common/include/px4_platform_common/param_macros.h
similarity index 99%
rename from src/platforms/px4_param_macros.h
rename to platforms/common/include/px4_platform_common/param_macros.h
index 0d687acea1..6b27b81a23 100644
--- a/src/platforms/px4_param_macros.h
+++ b/platforms/common/include/px4_platform_common/param_macros.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_param_macros.h
+ * @file param_macros.h
  *
  * Helper macros used by px4_param.h
  */
diff --git a/src/platforms/px4_posix.h b/platforms/common/include/px4_platform_common/posix.h
similarity index 97%
rename from src/platforms/px4_posix.h
rename to platforms/common/include/px4_platform_common/posix.h
index d8e346699e..189de5ae5b 100644
--- a/src/platforms/px4_posix.h
+++ b/platforms/common/include/px4_platform_common/posix.h
@@ -39,8 +39,8 @@
 
 #pragma once
 
-#include <px4_defines.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
 #include <stdint.h>
 #include <unistd.h>
 #include <fcntl.h>
@@ -53,7 +53,7 @@
 #include <sys/types.h>
 #endif
 
-#include "px4_sem.h"
+#include "sem.h"
 
 #define  PX4_F_RDONLY 1
 #define  PX4_F_WRONLY 2
diff --git a/src/platforms/px4_config.h b/platforms/common/include/px4_platform_common/px4_config.h
similarity index 98%
rename from src/platforms/px4_config.h
rename to platforms/common/include/px4_platform_common/px4_config.h
index 2493cf9218..64ead137a7 100644
--- a/src/platforms/px4_config.h
+++ b/platforms/common/include/px4_platform_common/px4_config.h
@@ -43,7 +43,7 @@
 
 #include <nuttx/config.h>
 #include <nuttx/arch.h>
-#include "px4_micro_hal.h"
+#include "micro_hal.h"
 #include <board_config.h>
 
 #elif defined (__PX4_POSIX)
diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
index 9b493f4250..0430dd1689 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
@@ -37,7 +37,7 @@
 #include "WorkQueue.hpp"
 
 #include <containers/IntrusiveQueue.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 
 #include <lib/perf/perf_counter.h>
diff --git a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
index da3f65de57..3b6aa28886 100644
--- a/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
+++ b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
@@ -38,10 +38,10 @@
 #include <containers/BlockingList.hpp>
 #include <containers/List.hpp>
 #include <containers/IntrusiveQueue.hpp>
-#include <px4_atomic.h>
-#include <px4_defines.h>
-#include <px4_sem.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/tasks.h>
 
 namespace px4
 {
diff --git a/src/platforms/px4_sem.h b/platforms/common/include/px4_platform_common/sem.h
similarity index 99%
rename from src/platforms/px4_sem.h
rename to platforms/common/include/px4_platform_common/sem.h
index 970a8985fa..5e42341423 100644
--- a/src/platforms/px4_sem.h
+++ b/platforms/common/include/px4_platform_common/sem.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_sem.h
+ * @file sem.h
  *
  * Synchronization primitive: Semaphore
  */
diff --git a/src/platforms/px4_sem.hpp b/platforms/common/include/px4_platform_common/sem.hpp
similarity index 98%
rename from src/platforms/px4_sem.hpp
rename to platforms/common/include/px4_platform_common/sem.hpp
index 17aca78af5..1a8eb0fc80 100644
--- a/src/platforms/px4_sem.hpp
+++ b/platforms/common/include/px4_platform_common/sem.hpp
@@ -32,14 +32,14 @@
  ****************************************************************************/
 
 /**
- * @file px4_sem.hpp
+ * @file sem.hpp
  *
  * C++ synchronization helpers
  */
 
 #pragma once
 
-#include "px4_sem.h"
+#include "sem.h"
 
 
 /**
diff --git a/src/platforms/shmem.h b/platforms/common/include/px4_platform_common/shmem.h
similarity index 100%
rename from src/platforms/shmem.h
rename to platforms/common/include/px4_platform_common/shmem.h
diff --git a/src/platforms/px4_shutdown.h b/platforms/common/include/px4_platform_common/shutdown.h
similarity index 99%
rename from src/platforms/px4_shutdown.h
rename to platforms/common/include/px4_platform_common/shutdown.h
index bd55b65835..e805913777 100644
--- a/src/platforms/px4_shutdown.h
+++ b/platforms/common/include/px4_platform_common/shutdown.h
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_shutdown.h
+ * @file shutdown.h
  * Power-related API
  */
 
diff --git a/src/platforms/px4_tasks.h b/platforms/common/include/px4_platform_common/tasks.h
similarity index 100%
rename from src/platforms/px4_tasks.h
rename to platforms/common/include/px4_platform_common/tasks.h
diff --git a/src/platforms/px4_time.h b/platforms/common/include/px4_platform_common/time.h
similarity index 100%
rename from src/platforms/px4_time.h
rename to platforms/common/include/px4_platform_common/time.h
diff --git a/src/platforms/px4_workqueue.h b/platforms/common/include/px4_platform_common/workqueue.h
similarity index 100%
rename from src/platforms/px4_workqueue.h
rename to platforms/common/include/px4_platform_common/workqueue.h
diff --git a/platforms/common/include/px4_time.h b/platforms/common/include/px4_time.h
new file mode 100644
index 0000000000..0881f2ad92
--- /dev/null
+++ b/platforms/common/include/px4_time.h
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 PX4 Development Team. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_time.h
+ * transitional include header for submodules
+ */
+#pragma once
+
+#include <px4_platform_common/time.h>
+
diff --git a/platforms/common/module.cpp b/platforms/common/module.cpp
index 319fc6b583..af6e3e65d6 100644
--- a/platforms/common/module.cpp
+++ b/platforms/common/module.cpp
@@ -40,9 +40,9 @@
 #define MODULE_NAME "module"
 #endif
 
-#include <px4_module.h>
-#include <px4_defines.h>
-#include <px4_log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 
 pthread_mutex_t px4_modules_mutex = PTHREAD_MUTEX_INITIALIZER;
 
diff --git a/platforms/common/px4_cli.cpp b/platforms/common/px4_cli.cpp
index a5876fba05..bf0e5f3949 100644
--- a/platforms/common/px4_cli.cpp
+++ b/platforms/common/px4_cli.cpp
@@ -32,13 +32,13 @@
  ****************************************************************************/
 
 #include <parameters/param.h>
-#include <px4_cli.h>
+#include <px4_platform_common/cli.h>
 
 #ifndef MODULE_NAME
 #define MODULE_NAME "cli"
 #endif
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <cstring>
 #include <errno.h>
diff --git a/platforms/common/px4_getopt.c b/platforms/common/px4_getopt.c
index 41e8543c12..7f1d4eb942 100644
--- a/platforms/common/px4_getopt.c
+++ b/platforms/common/px4_getopt.c
@@ -36,7 +36,7 @@
  * Minimal, thread safe version of getopt
  */
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <stdio.h>
 
 // check if p is a valid option and if the option takes an arg
diff --git a/platforms/common/px4_log.c b/platforms/common/px4_log.c
index 3327dba228..81540997a4 100644
--- a/platforms/common/px4_log.c
+++ b/platforms/common/px4_log.c
@@ -40,7 +40,7 @@
 #define MODULE_NAME "log"
 #endif
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #if defined(__PX4_POSIX)
 #include <px4_daemon/server_io.h>
 #endif
diff --git a/platforms/common/px4_work_queue/WorkItem.cpp b/platforms/common/px4_work_queue/WorkItem.cpp
index a2e3b2332e..716a1585d6 100644
--- a/platforms/common/px4_work_queue/WorkItem.cpp
+++ b/platforms/common/px4_work_queue/WorkItem.cpp
@@ -36,7 +36,7 @@
 #include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 
 namespace px4
diff --git a/platforms/common/px4_work_queue/WorkQueue.cpp b/platforms/common/px4_work_queue/WorkQueue.cpp
index 1d9e7aa242..5f775f2091 100644
--- a/platforms/common/px4_work_queue/WorkQueue.cpp
+++ b/platforms/common/px4_work_queue/WorkQueue.cpp
@@ -36,8 +36,8 @@
 
 #include <string.h>
 
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <drivers/drv_hrt.h>
 
 namespace px4
diff --git a/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp
index 1e7c4479d3..f32ea13d44 100644
--- a/platforms/common/px4_work_queue/WorkQueueManager.cpp
+++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp
@@ -36,10 +36,10 @@
 #include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
 
 #include <drivers/drv_hrt.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_atomic.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/atomic.h>
 #include <containers/BlockingList.hpp>
 #include <containers/BlockingQueue.hpp>
 #include <lib/drivers/device/Device.hpp>
diff --git a/platforms/common/px4_work_queue/test/wqueue_main.cpp b/platforms/common/px4_work_queue/test/wqueue_main.cpp
index e2106b9294..646df0b42a 100644
--- a/platforms/common/px4_work_queue/test/wqueue_main.cpp
+++ b/platforms/common/px4_work_queue/test/wqueue_main.cpp
@@ -34,9 +34,9 @@
 #include "wqueue_test.h"
 #include "wqueue_scheduled_test.h"
 
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
index a2221d0c92..543be8ac19 100644
--- a/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
+++ b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
@@ -34,8 +34,8 @@
 #include "wqueue_scheduled_test.h"
 
 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 
 #include <unistd.h>
 #include <stdio.h>
diff --git a/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
index dac4c227c4..c793ee8d9d 100644
--- a/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
+++ b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <string.h>
 
diff --git a/platforms/common/px4_work_queue/test/wqueue_start.cpp b/platforms/common/px4_work_queue/test/wqueue_start.cpp
index ba3a6bedbb..22fff4b027 100644
--- a/platforms/common/px4_work_queue/test/wqueue_start.cpp
+++ b/platforms/common/px4_work_queue/test/wqueue_start.cpp
@@ -33,9 +33,9 @@
 
 #include "wqueue_test.h"
 
-#include <px4_app.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/platforms/common/px4_work_queue/test/wqueue_test.cpp b/platforms/common/px4_work_queue/test/wqueue_test.cpp
index 448ba50484..2f03c4e585 100644
--- a/platforms/common/px4_work_queue/test/wqueue_test.cpp
+++ b/platforms/common/px4_work_queue/test/wqueue_test.cpp
@@ -34,8 +34,8 @@
 #include "wqueue_test.h"
 
 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 
 #include <unistd.h>
 #include <stdio.h>
diff --git a/platforms/common/px4_work_queue/test/wqueue_test.h b/platforms/common/px4_work_queue/test/wqueue_test.h
index dddf08396a..ea5b3f250f 100644
--- a/platforms/common/px4_work_queue/test/wqueue_test.h
+++ b/platforms/common/px4_work_queue/test/wqueue_test.h
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <string.h>
 
diff --git a/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp
index b45f6f4885..3a80adb0d0 100644
--- a/platforms/common/shutdown.cpp
+++ b/platforms/common/shutdown.cpp
@@ -38,15 +38,15 @@
 
 #include <board_config.h>
 
-#include <px4_workqueue.h>
-#include <px4_shutdown.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/shutdown.h>
+#include <px4_platform_common/tasks.h>
 
 #ifndef MODULE_NAME
 #define MODULE_NAME "shutdown"
 #endif
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <stdint.h>
 #include <errno.h>
diff --git a/platforms/common/work_queue/hrt_queue.c b/platforms/common/work_queue/hrt_queue.c
index 071bc47e02..74a4a8e17b 100644
--- a/platforms/common/work_queue/hrt_queue.c
+++ b/platforms/common/work_queue/hrt_queue.c
@@ -37,10 +37,10 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/tasks.h>
 
 #include <signal.h>
 #include <stdint.h>
@@ -48,8 +48,8 @@
 #include <stdio.h>
 #include <semaphore.h>
 #include <drivers/drv_hrt.h>
-#include <px4_workqueue.h>
-#include <px4_posix.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/posix.h>
 #include "hrt_work.h"
 
 /****************************************************************************
diff --git a/platforms/common/work_queue/hrt_thread.c b/platforms/common/work_queue/hrt_thread.c
index 7ce238da31..26a7e509dd 100644
--- a/platforms/common/work_queue/hrt_thread.c
+++ b/platforms/common/work_queue/hrt_thread.c
@@ -38,17 +38,17 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <stdint.h>
 #include <signal.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <queue.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #include <drivers/drv_hrt.h>
 #include "hrt_work.h"
 
diff --git a/platforms/common/work_queue/hrt_work_cancel.c b/platforms/common/work_queue/hrt_work_cancel.c
index a1af842ca5..e5f9f5eabf 100644
--- a/platforms/common/work_queue/hrt_work_cancel.c
+++ b/platforms/common/work_queue/hrt_work_cancel.c
@@ -37,9 +37,9 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
 
 #include "hrt_work.h"
 
diff --git a/platforms/common/work_queue/work_cancel.c b/platforms/common/work_queue/work_cancel.c
index de6a4c3bdc..a531ee2ddb 100644
--- a/platforms/common/work_queue/work_cancel.c
+++ b/platforms/common/work_queue/work_cancel.c
@@ -37,10 +37,10 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <queue.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #include "work_lock.h"
 
 #ifdef CONFIG_SCHED_WORKQUEUE
diff --git a/platforms/common/work_queue/work_lock.c b/platforms/common/work_queue/work_lock.c
index 31fa1b7562..fb65c70a73 100644
--- a/platforms/common/work_queue/work_lock.c
+++ b/platforms/common/work_queue/work_lock.c
@@ -30,8 +30,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 #include <stdio.h>
 #include "work_lock.h"
 
diff --git a/platforms/common/work_queue/work_queue.c b/platforms/common/work_queue/work_queue.c
index 3bb4697b26..03873ee201 100644
--- a/platforms/common/work_queue/work_queue.c
+++ b/platforms/common/work_queue/work_queue.c
@@ -37,10 +37,10 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/tasks.h>
 
 #include <signal.h>
 #include <stdint.h>
diff --git a/platforms/common/work_queue/work_thread.c b/platforms/common/work_queue/work_thread.c
index a5c3cd873f..7f2ee90533 100644
--- a/platforms/common/work_queue/work_thread.c
+++ b/platforms/common/work_queue/work_thread.c
@@ -37,12 +37,12 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
-#include <px4_tasks.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/workqueue.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <unistd.h>
diff --git a/platforms/common/work_queue/wqueue_test/wqueue_main.cpp b/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
index fb222df24c..55d5323a42 100644
--- a/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
+++ b/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
@@ -39,8 +39,8 @@
  */
 #include "wqueue_test.h"
 
-#include <px4_log.h>
-#include <px4_app.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp b/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
index d428e67ba7..d0de6f81fa 100644
--- a/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
+++ b/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
@@ -39,9 +39,9 @@
  */
 #include "wqueue_test.h"
 
-#include <px4_app.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/platforms/common/work_queue/wqueue_test/wqueue_test.cpp b/platforms/common/work_queue/wqueue_test/wqueue_test.cpp
index 6f1ec62b2c..edd228e78a 100644
--- a/platforms/common/work_queue/wqueue_test/wqueue_test.cpp
+++ b/platforms/common/work_queue/wqueue_test/wqueue_test.cpp
@@ -41,8 +41,8 @@
 
 #include "wqueue_test.h"
 
-#include <px4_time.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/workqueue.h>
 #include <unistd.h>
 #include <stdio.h>
 
diff --git a/platforms/common/work_queue/wqueue_test/wqueue_test.h b/platforms/common/work_queue/wqueue_test/wqueue_test.h
index 1748e7b7e7..dbc5f7ceb8 100644
--- a/platforms/common/work_queue/wqueue_test/wqueue_test.h
+++ b/platforms/common/work_queue/wqueue_test/wqueue_test.h
@@ -39,8 +39,8 @@
  */
 #pragma once
 
-#include <px4_app.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/workqueue.h>
 #include <string.h>
 
 class WQueueTest
diff --git a/platforms/nuttx/src/px4/common/console_buffer.cpp b/platforms/nuttx/src/px4/common/console_buffer.cpp
index d0f7160c2d..ae945f56a5 100644
--- a/platforms/nuttx/src/px4/common/console_buffer.cpp
+++ b/platforms/nuttx/src/px4/common/console_buffer.cpp
@@ -31,10 +31,10 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_console_buffer.h>
-#include <px4_defines.h>
-#include <px4_sem.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/sem.h>
 #include <pthread.h>
 #include <string.h>
 #include <fcntl.h>
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
index 7748f7b94c..938c7cfb2a 100644
--- a/platforms/nuttx/src/px4/common/px4_init.cpp
+++ b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -31,11 +31,10 @@
  *
  ****************************************************************************/
 
-#include "px4_init.h"
-
-#include <px4_config.h>
-#include <px4_console_buffer.h>
-#include <px4_defines.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
diff --git a/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp b/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
index 30780b11d7..c736784f36 100644
--- a/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
+++ b/platforms/nuttx/src/px4/common/px4_nuttx_impl.cpp
@@ -37,7 +37,7 @@
  * PX4 Middleware Wrapper NuttX Implementation
  */
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 
 namespace px4
diff --git a/platforms/nuttx/src/px4/common/px4_nuttx_tasks.c b/platforms/nuttx/src/px4/common/px4_nuttx_tasks.c
index 196ccbe0b7..3364c5c589 100644
--- a/platforms/nuttx/src/px4/common/px4_nuttx_tasks.c
+++ b/platforms/nuttx/src/px4/common/px4_nuttx_tasks.c
@@ -50,9 +50,9 @@
 #include <errno.h>
 #include <stdbool.h>
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 
 void
 px4_systemreset(bool to_bootloader)
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c b/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
index c39b4989e3..c430fe5a3d 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/hrt/hrt.c
@@ -46,7 +46,7 @@
  * claim the timer and then drive it directly.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/px4_macros.h>
 #include <lib/perf/perf_counter.h>
 #include <nuttx/arch.h>
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
index c8e635af2b..5df17d2d31 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/nxp/kinetis/include/px4_arch/io_timer.h
@@ -36,7 +36,7 @@
  *
  * stm32-specific PWM output data.
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/input_capture.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/input_capture.c
index ed3bdeaff0..bb5cc56ec6 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/input_capture.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/input_capture.c
@@ -55,7 +55,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
index b6b4b048fe..cb5ba56a51 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/io_timer.c
@@ -37,7 +37,7 @@
  * Servo driver supporting PWM servos connected to Kinetis FTM timer blocks.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/px4_macros.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c
index 908b71225c..9534f51df3 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_servo.c
@@ -40,7 +40,7 @@
  * have output pins, does not require an interrupt.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_trigger.c b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_trigger.c
index 6c5bc0e92e..f2f002aa75 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_trigger.c
+++ b/platforms/nuttx/src/px4/nxp/kinetis/io_pins/pwm_trigger.c
@@ -36,7 +36,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/led_pwm/led_pwm.cpp b/platforms/nuttx/src/px4/nxp/kinetis/led_pwm/led_pwm.cpp
index 8450d87d72..3bdf75ba0b 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/led_pwm/led_pwm.cpp
+++ b/platforms/nuttx/src/px4/nxp/kinetis/led_pwm/led_pwm.cpp
@@ -37,7 +37,7 @@
 *
 */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/px4_macros.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
diff --git a/platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp b/platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp
index a96180a429..0b39309f76 100644
--- a/platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp
+++ b/platforms/nuttx/src/px4/nxp/kinetis/tone_alarm/ToneAlarmInterface.cpp
@@ -40,7 +40,7 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_tone_alarm.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/px4_macros.h>
 
 #include <cmath>
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
index 3e553b3b35..fd14284f34 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -37,8 +37,8 @@
 //Do nothing. IP DMA V1 MCUs are not supported.
 #else
 
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 #include <stm32_dma.h>
 #include <stm32_tim.h>
 #include <px4_arch/dshot.h>
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
index fdae0eb07d..7ed244447e 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/hrt/hrt.c
@@ -45,7 +45,7 @@
  * claim the timer and then drive it directly.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
index 29f31e2026..61dc74385f 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
+++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h
@@ -34,7 +34,7 @@
 /**
  * @file io_timer.h
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h
index 27c2dacefc..23dc53f96e 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h
+++ b/platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/px4io_serial.h
@@ -40,8 +40,8 @@
 #pragma once
 
 #include <board_config.h>
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 
 #include <perf/perf_counter.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/input_capture.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/input_capture.c
index a1eb6a9743..21989a1d44 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/input_capture.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/input_capture.c
@@ -55,7 +55,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
index 2fe5f8ffce..cb5963f16c 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c
@@ -35,7 +35,7 @@
  * @file drv_io_timer.c
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c
index ddd39946d0..aa929e6e7e 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_servo.c
@@ -40,7 +40,7 @@
  * have output pins, does not require an interrupt.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_trigger.c b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_trigger.c
index 477206d25f..bec12b5c9d 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_trigger.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/io_pins/pwm_trigger.c
@@ -36,7 +36,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/led_pwm/led_pwm.cpp b/platforms/nuttx/src/px4/stm/stm32_common/led_pwm/led_pwm.cpp
index 46cfceeb47..d4b79f4746 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/led_pwm/led_pwm.cpp
+++ b/platforms/nuttx/src/px4/stm/stm32_common/led_pwm/led_pwm.cpp
@@ -37,7 +37,7 @@
 *
 */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <board_config.h>
 
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp b/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp
index c1d9603e9b..8b8be4c00c 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp
+++ b/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfaceGPIO.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include <drivers/drv_tone_alarm.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <board_config.h>
 
 namespace ToneAlarmInterface
diff --git a/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp b/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp
index da29ce28f4..cdac39156b 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp
+++ b/platforms/nuttx/src/px4/stm/stm32_common/tone_alarm/ToneAlarmInterfacePWM.cpp
@@ -33,7 +33,7 @@
 
 #include <drivers/device/device.h>
 #include <drivers/drv_tone_alarm.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <cmath>
 
 /* Check that tone alarm and HRT timers are different */
diff --git a/platforms/posix/include/hrt_work.h b/platforms/posix/include/hrt_work.h
index 47cdf5872a..6dd2ab5a09 100644
--- a/platforms/posix/include/hrt_work.h
+++ b/platforms/posix/include/hrt_work.h
@@ -31,10 +31,10 @@
  *
  ****************************************************************************/
 
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 #include <semaphore.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 
 #pragma once
 
diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp
index 13c6ae6a3f..620a0f7598 100644
--- a/platforms/posix/src/px4/common/drv_hrt.cpp
+++ b/platforms/posix/src/px4/common/drv_hrt.cpp
@@ -37,11 +37,11 @@
  * High-resolution timer with callouts and timekeeping.
  */
 
-#include <px4_time.h>
-#include <px4_posix.h>
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/drv_hrt.h>
 #include <semaphore.h>
 #include <time.h>
diff --git a/platforms/posix/src/px4/common/main.cpp b/platforms/posix/src/px4/common/main.cpp
index 16db26ab86..dbc3e4a7eb 100644
--- a/platforms/posix/src/px4/common/main.cpp
+++ b/platforms/posix/src/px4/common/main.cpp
@@ -62,12 +62,12 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include <px4_time.h>
-#include <px4_log.h>
-#include <px4_init.h>
-#include <px4_getopt.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 
 #include "apps.h"
 #include "DriverFramework.hpp"
diff --git a/platforms/posix/src/px4/common/px4_daemon/client.cpp b/platforms/posix/src/px4/common/px4_daemon/client.cpp
index 6266489a5e..02aeef1882 100644
--- a/platforms/posix/src/px4/common/px4_daemon/client.cpp
+++ b/platforms/posix/src/px4/common/px4_daemon/client.cpp
@@ -50,7 +50,7 @@
 
 #include <string>
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include "client.h"
 
 namespace px4_daemon
diff --git a/platforms/posix/src/px4/common/px4_daemon/server.cpp b/platforms/posix/src/px4/common/px4_daemon/server.cpp
index 6df0507ccd..5c34248634 100644
--- a/platforms/posix/src/px4/common/px4_daemon/server.cpp
+++ b/platforms/posix/src/px4/common/px4_daemon/server.cpp
@@ -52,7 +52,7 @@
 #include <sys/un.h>
 #include <vector>
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include "pxh.h"
 #include "server.h"
diff --git a/platforms/posix/src/px4/common/px4_daemon/server_io.cpp b/platforms/posix/src/px4/common/px4_daemon/server_io.cpp
index 381bea9be1..b0c73fcb5b 100644
--- a/platforms/posix/src/px4/common/px4_daemon/server_io.cpp
+++ b/platforms/posix/src/px4/common/px4_daemon/server_io.cpp
@@ -48,7 +48,7 @@
 #include <sys/stat.h>
 #include <sys/types.h>
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include "server.h"
 #include <px4_daemon/server_io.h>
diff --git a/platforms/posix/src/px4/common/px4_init.cpp b/platforms/posix/src/px4/common/px4_init.cpp
index 73387de35f..a28e01c014 100644
--- a/platforms/posix/src/px4/common/px4_init.cpp
+++ b/platforms/posix/src/px4/common/px4_init.cpp
@@ -31,10 +31,9 @@
  *
  ****************************************************************************/
 
-#include "px4_init.h"
-
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
diff --git a/platforms/posix/src/px4/common/px4_posix_impl.cpp b/platforms/posix/src/px4/common/px4_posix_impl.cpp
index 3b31c61698..1daa817dae 100644
--- a/platforms/posix/src/px4/common/px4_posix_impl.cpp
+++ b/platforms/posix/src/px4/common/px4_posix_impl.cpp
@@ -37,9 +37,10 @@
  * PX4 Middleware Wrapper Linux Implementation
  */
 
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/time.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <signal.h>
@@ -48,9 +49,8 @@
 #include <parameters/param.h>
 #include "hrt_work.h"
 #include <drivers/drv_hrt.h>
-#include "px4_time.h"
 #include <pthread.h>
-#include <px4_init.h>
+#include <px4_platform_common/init.h>
 
 extern pthread_t _shell_task_id;
 
diff --git a/platforms/posix/src/px4/common/px4_posix_tasks.cpp b/platforms/posix/src/px4/common/px4_posix_tasks.cpp
index bb428eae64..d535f34e50 100644
--- a/platforms/posix/src/px4/common/px4_posix_tasks.cpp
+++ b/platforms/posix/src/px4/common/px4_posix_tasks.cpp
@@ -37,8 +37,8 @@
  * Implementation of existing task API for Linux
  */
 
-#include <px4_log.h>
-#include <px4_defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/defines.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
@@ -56,8 +56,8 @@
 #include <sys/types.h>
 #include <string>
 
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <systemlib/err.h>
 
 #define MAX_CMD_LEN 100
diff --git a/platforms/posix/src/px4/common/px4_sem.cpp b/platforms/posix/src/px4/common/px4_sem.cpp
index d303f8e66c..272ee45ac7 100644
--- a/platforms/posix/src/px4/common/px4_sem.cpp
+++ b/platforms/posix/src/px4/common/px4_sem.cpp
@@ -37,9 +37,9 @@
  * PX4 Middleware Wrapper Linux Implementation
  */
 
-#include <px4_defines.h>
-#include <px4_workqueue.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/time.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <pthread.h>
@@ -47,7 +47,7 @@
 
 #if (defined(__PX4_DARWIN) || defined(__PX4_CYGWIN) || defined(__PX4_POSIX)) && !defined(__PX4_QURT)
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 int px4_sem_init(px4_sem_t *s, int pshared, unsigned value)
 {
diff --git a/platforms/posix/src/px4/common/shmem_posix.cpp b/platforms/posix/src/px4/common/shmem_posix.cpp
index 111ee19fad..8f97d3f2b4 100644
--- a/platforms/posix/src/px4/common/shmem_posix.cpp
+++ b/platforms/posix/src/px4/common/shmem_posix.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 #include <string.h>
 #include <stdbool.h>
 #include <stdlib.h>
@@ -50,7 +50,7 @@
 
 #include <parameters/param.h>
 
-#include <shmem.h>
+#include <px4_platform_common/shmem.h>
 #include "px4muorb.h"
 
 //#define SHMEM_DEBUG
diff --git a/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp b/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp
index c56fb8c45f..551cf64722 100644
--- a/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp
+++ b/platforms/posix/src/px4/generic/generic/tone_alarm/ToneAlarmInterface.cpp
@@ -36,7 +36,7 @@
  */
 
 #include <drivers/drv_tone_alarm.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 namespace ToneAlarmInterface
 {
diff --git a/platforms/qurt/include/hrt_work.h b/platforms/qurt/include/hrt_work.h
index 019056501a..36b2446c14 100644
--- a/platforms/qurt/include/hrt_work.h
+++ b/platforms/qurt/include/hrt_work.h
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <semaphore.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 
 #pragma once
 
diff --git a/platforms/qurt/src/px4/common/main.cpp b/platforms/qurt/src/px4/common/main.cpp
index 8f2aac9323..174a6f48f8 100644
--- a/platforms/qurt/src/px4/common/main.cpp
+++ b/platforms/qurt/src/px4/common/main.cpp
@@ -38,11 +38,11 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_posix.h>
-#include <px4_init.h>
-#include <px4_defines.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/defines.h>
 #include <dspal_platform.h>
 #include <vector>
 #include <string>
diff --git a/platforms/qurt/src/px4/common/px4_init.cpp b/platforms/qurt/src/px4/common/px4_init.cpp
index 73387de35f..a28e01c014 100644
--- a/platforms/qurt/src/px4/common/px4_init.cpp
+++ b/platforms/qurt/src/px4/common/px4_init.cpp
@@ -31,10 +31,9 @@
  *
  ****************************************************************************/
 
-#include "px4_init.h"
-
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
diff --git a/platforms/qurt/src/px4/common/px4_qurt_impl.cpp b/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
index 41e5c65566..1f8825d59c 100644
--- a/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
+++ b/platforms/qurt/src/px4/common/px4_qurt_impl.cpp
@@ -37,9 +37,11 @@
  * PX4 Middleware Wrapper Linux Implementation
  */
 
-#include <px4_defines.h>
-#include <px4_tasks.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/workqueue.h>
 #include <dataman/dataman.h>
 #include <stdint.h>
 #include <stdio.h>
@@ -49,8 +51,6 @@
 #include <semaphore.h>
 #include <parameters/param.h>
 #include "hrt_work.h"
-#include "px4_log.h"
-#include <px4_init.h>
 
 //extern pthread_t _shell_task_id;
 
diff --git a/platforms/qurt/src/px4/common/px4_qurt_tasks.cpp b/platforms/qurt/src/px4/common/px4_qurt_tasks.cpp
index d0a719f67e..cad3d55cae 100644
--- a/platforms/qurt/src/px4/common/px4_qurt_tasks.cpp
+++ b/platforms/qurt/src/px4/common/px4_qurt_tasks.cpp
@@ -38,11 +38,11 @@
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 
-#include "px4_log.h"
-#include "px4_posix.h"
-#include "px4_workqueue.h"
-#include "px4_time.h"
-#include "hrt_work.h"
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/time.h>
+#include <hrt_work.h>
 #include <drivers/drv_hrt.h>
 #include <unistd.h>
 #include <stdio.h>
@@ -63,7 +63,7 @@
 #include <sys/types.h>
 #include <string>
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 #include <systemlib/err.h>
 
 #define MAX_CMD_LEN 100
diff --git a/platforms/qurt/src/px4/common/qurt_stubs.c b/platforms/qurt/src/px4/common/qurt_stubs.c
index d01cea35c1..77f8737759 100644
--- a/platforms/qurt/src/px4/common/qurt_stubs.c
+++ b/platforms/qurt/src/px4/common/qurt_stubs.c
@@ -30,7 +30,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include "px4_log.h"
+#include <px4_platform_common/log.h>
 #include <semaphore.h>
 
 void block_indefinite(void);
diff --git a/platforms/qurt/src/px4/common/shmem_qurt.cpp b/platforms/qurt/src/px4/common/shmem_qurt.cpp
index 0f40a68547..cb9ed77d36 100644
--- a/platforms/qurt/src/px4/common/shmem_qurt.cpp
+++ b/platforms/qurt/src/px4/common/shmem_qurt.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <string.h>
 #include <stdbool.h>
 #include <stdlib.h>
@@ -43,7 +43,7 @@
 
 #include <parameters/param.h>
 
-#include <shmem.h>
+#include <px4_platform_common/shmem.h>
 #include <drivers/drv_hrt.h>
 
 //#define SHMEM_DEBUG
diff --git a/src/drivers/adc/adc.cpp b/src/drivers/adc/adc.cpp
index 97a7f0b1de..da4dbf135d 100644
--- a/src/drivers/adc/adc.cpp
+++ b/src/drivers/adc/adc.cpp
@@ -43,8 +43,8 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/perf/perf_counter.h>
 #include <px4_arch/adc.h>
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/adc_report.h>
diff --git a/src/drivers/barometer/bmp280/bmp280.h b/src/drivers/barometer/bmp280/bmp280.h
index 4b50887a73..7afae768b2 100644
--- a/src/drivers/barometer/bmp280/bmp280.h
+++ b/src/drivers/barometer/bmp280/bmp280.h
@@ -48,8 +48,8 @@
 #include <drivers/device/spi.h>
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include "board_config.h"
diff --git a/src/drivers/barometer/bmp388/bmp388_main.cpp b/src/drivers/barometer/bmp388/bmp388_main.cpp
index 5b3ccad30f..f989ad73f1 100644
--- a/src/drivers/barometer/bmp388/bmp388_main.cpp
+++ b/src/drivers/barometer/bmp388/bmp388_main.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #include "bmp388.h"
 
diff --git a/src/drivers/barometer/lps22hb/LPS22HB.hpp b/src/drivers/barometer/lps22hb/LPS22HB.hpp
index f30dbeded9..fa87d29859 100644
--- a/src/drivers/barometer/lps22hb/LPS22HB.hpp
+++ b/src/drivers/barometer/lps22hb/LPS22HB.hpp
@@ -41,7 +41,7 @@
 #include <drivers/drv_baro.h>
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/barometer/lps25h/lps25h.h b/src/drivers/barometer/lps25h/lps25h.h
index bff2db2df2..7269fc1924 100644
--- a/src/drivers/barometer/lps25h/lps25h.h
+++ b/src/drivers/barometer/lps25h/lps25h.h
@@ -48,7 +48,7 @@
 #include <drivers/drv_baro.h>
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/barometer/mpl3115a2/mpl3115a2.h b/src/drivers/barometer/mpl3115a2/mpl3115a2.h
index 17de2e4612..bbebe68e3b 100644
--- a/src/drivers/barometer/mpl3115a2/mpl3115a2.h
+++ b/src/drivers/barometer/mpl3115a2/mpl3115a2.h
@@ -64,10 +64,10 @@
 #include <nuttx/arch.h>
 #include <nuttx/clock.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
diff --git a/src/drivers/barometer/ms5611/ms5611.h b/src/drivers/barometer/ms5611/ms5611.h
index 6079872353..5c093daec0 100644
--- a/src/drivers/barometer/ms5611/ms5611.h
+++ b/src/drivers/barometer/ms5611/ms5611.h
@@ -48,7 +48,7 @@
 #include <drivers/drv_baro.h>
 #include <lib/cdev/CDev.hpp>
 #include <lib/perf/perf_counter.h>
-#include <platforms/px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/batt_smbus/batt_smbus.h b/src/drivers/batt_smbus/batt_smbus.h
index 452fe59bb4..396337e52a 100644
--- a/src/drivers/batt_smbus/batt_smbus.h
+++ b/src/drivers/batt_smbus/batt_smbus.h
@@ -47,8 +47,8 @@
 #include <lib/drivers/smbus/SMBus.hpp>
 #include <mathlib/mathlib.h>
 #include <perf/perf_counter.h>
-#include <platforms/px4_module.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/battery_status.h>
 
diff --git a/src/drivers/boards/common/board_dma_alloc.c b/src/drivers/boards/common/board_dma_alloc.c
index bb26de9f21..6316081b49 100644
--- a/src/drivers/boards/common/board_dma_alloc.c
+++ b/src/drivers/boards/common/board_dma_alloc.c
@@ -37,7 +37,7 @@
  * Provide the board dma allocator interface.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include "board_config.h"
 
 #include <stdint.h>
diff --git a/src/drivers/boards/common/board_fat_dma_alloc.c b/src/drivers/boards/common/board_fat_dma_alloc.c
index 740f09cbb8..3c54f2ed15 100644
--- a/src/drivers/boards/common/board_fat_dma_alloc.c
+++ b/src/drivers/boards/common/board_fat_dma_alloc.c
@@ -37,7 +37,7 @@
  * Provide the board dma allocator interface.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include "board_config.h"
 
 #include "board_dma_alloc.h"
diff --git a/src/drivers/boards/common/board_gpio_init.c b/src/drivers/boards/common/board_gpio_init.c
index 9b52998f4c..1feb1e617d 100644
--- a/src/drivers/boards/common/board_gpio_init.c
+++ b/src/drivers/boards/common/board_gpio_init.c
@@ -38,7 +38,7 @@
  * So this will work with any ARCH
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 /************************************************************************************
  * Name: board_gpio_init
diff --git a/src/drivers/boards/common/board_identity.c b/src/drivers/boards/common/board_identity.c
index 103083ef3a..6ee0f59a59 100644
--- a/src/drivers/boards/common/board_identity.c
+++ b/src/drivers/boards/common/board_identity.c
@@ -37,7 +37,7 @@
  * Implementation of Non Arch specific Board identity API
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdio.h>
 #include <string.h>
 #if defined(BOARD_OVERRIDE_UUID) || defined(BOARD_OVERRIDE_MFGUID) || defined(BOARD_OVERRIDE_PX4_GUID)
diff --git a/src/drivers/boards/common/kinetis/board_identity.c b/src/drivers/boards/common/kinetis/board_identity.c
index 5cea3f50c5..733dc5b1a6 100644
--- a/src/drivers/boards/common/kinetis/board_identity.c
+++ b/src/drivers/boards/common/kinetis/board_identity.c
@@ -37,7 +37,7 @@
  * Implementation of Kientis based Board identity API
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/drivers/boards/common/kinetis/board_mcu_version.c b/src/drivers/boards/common/kinetis/board_mcu_version.c
index e98937b0ae..9a43d5aff9 100644
--- a/src/drivers/boards/common/kinetis/board_mcu_version.c
+++ b/src/drivers/boards/common/kinetis/board_mcu_version.c
@@ -37,8 +37,8 @@
  * Implementation of Kinetis based SoC version API
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include "up_arch.h"
 #include "chip/kinetis_sim.h"
diff --git a/src/drivers/boards/common/kinetis/board_reset.c b/src/drivers/boards/common/kinetis/board_reset.c
index c6f8c4389d..8e7e348114 100644
--- a/src/drivers/boards/common/kinetis/board_reset.c
+++ b/src/drivers/boards/common/kinetis/board_reset.c
@@ -37,7 +37,7 @@
  * Implementation of kinetis based Board RESET API
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <errno.h>
 #include <nuttx/board.h>
 
diff --git a/src/drivers/boards/common/stm32/board_hw_rev_ver.c b/src/drivers/boards/common/stm32/board_hw_rev_ver.c
index d3e83df51a..9beeeeb460 100644
--- a/src/drivers/boards/common/stm32/board_hw_rev_ver.c
+++ b/src/drivers/boards/common/stm32/board_hw_rev_ver.c
@@ -39,7 +39,7 @@
 
 #include <drivers/drv_adc.h>
 #include <px4_arch/adc.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdio.h>
 #include "board_config.h"
 
diff --git a/src/drivers/boards/common/stm32/board_identity.c b/src/drivers/boards/common/stm32/board_identity.c
index 92cc347948..c60e8de512 100644
--- a/src/drivers/boards/common/stm32/board_identity.c
+++ b/src/drivers/boards/common/stm32/board_identity.c
@@ -37,7 +37,7 @@
  * Implementation of STM32 based Board identity API
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdio.h>
 #include <string.h>
 
diff --git a/src/drivers/boards/common/stm32/board_mcu_version.c b/src/drivers/boards/common/stm32/board_mcu_version.c
index 85422672b5..cf44434673 100644
--- a/src/drivers/boards/common/stm32/board_mcu_version.c
+++ b/src/drivers/boards/common/stm32/board_mcu_version.c
@@ -37,8 +37,8 @@
  * Implementation of STM32 based SoC version API
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 /* magic numbers from reference manual */
 
diff --git a/src/drivers/boards/common/stm32/board_reset.c b/src/drivers/boards/common/stm32/board_reset.c
index cb5355ee9c..f42f39f6ba 100644
--- a/src/drivers/boards/common/stm32/board_reset.c
+++ b/src/drivers/boards/common/stm32/board_reset.c
@@ -37,7 +37,7 @@
  * Implementation of STM32 based Board RESET API
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <errno.h>
 #include <stm32_pwr.h>
 #include <stm32_rtc.h>
diff --git a/src/drivers/camera_capture/camera_capture.hpp b/src/drivers/camera_capture/camera_capture.hpp
index 977ae47f6a..5d3a4b5ddc 100644
--- a/src/drivers/camera_capture/camera_capture.hpp
+++ b/src/drivers/camera_capture/camera_capture.hpp
@@ -43,11 +43,11 @@
 #include <drivers/drv_input_capture.h>
 #include <drivers/drv_pwm_output.h>
 #include <lib/parameters/param.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_tasks.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/workqueue.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
index 29690056cb..40a8f30e22 100644
--- a/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
+++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
@@ -1,5 +1,5 @@
 #include "camera_interface.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 /**
  * @file camera_interface.cpp
diff --git a/src/drivers/camera_trigger/interfaces/src/camera_interface.h b/src/drivers/camera_trigger/interfaces/src/camera_interface.h
index d95f2a1959..fad26ebd83 100644
--- a/src/drivers/camera_trigger/interfaces/src/camera_interface.h
+++ b/src/drivers/camera_trigger/interfaces/src/camera_interface.h
@@ -5,7 +5,7 @@
 #pragma once
 
 #include <parameters/param.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 
diff --git a/src/drivers/camera_trigger/interfaces/src/pwm.h b/src/drivers/camera_trigger/interfaces/src/pwm.h
index fd03bfbb3c..096c91c290 100644
--- a/src/drivers/camera_trigger/interfaces/src/pwm.h
+++ b/src/drivers/camera_trigger/interfaces/src/pwm.h
@@ -10,7 +10,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <parameters/param.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include "camera_interface.h"
 
diff --git a/src/drivers/differential_pressure/ets/ets_airspeed.cpp b/src/drivers/differential_pressure/ets/ets_airspeed.cpp
index fb129d4ef0..adaba35926 100644
--- a/src/drivers/differential_pressure/ets/ets_airspeed.cpp
+++ b/src/drivers/differential_pressure/ets/ets_airspeed.cpp
@@ -41,7 +41,7 @@
 #include <float.h>
 
 #include <drivers/airspeed/airspeed.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /* I2C bus address */
 #define I2C_ADDRESS	0x75	/* 7-bit address. 8-bit address is 0xEA */
diff --git a/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp b/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
index b480073e81..c8c48a2fab 100644
--- a/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
+++ b/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
@@ -50,7 +50,7 @@
  */
 
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <uORB/topics/system_power.h>
 
 #include <drivers/airspeed/airspeed.h>
diff --git a/src/drivers/differential_pressure/ms5525/MS5525.hpp b/src/drivers/differential_pressure/ms5525/MS5525.hpp
index bc778bb31c..dc3fe568ae 100644
--- a/src/drivers/differential_pressure/ms5525/MS5525.hpp
+++ b/src/drivers/differential_pressure/ms5525/MS5525.hpp
@@ -37,7 +37,7 @@
 #include <drivers/airspeed/airspeed.h>
 #include <math.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /* The MS5525DSO address is 111011Cx, where C is the complementary value of the pin CSB */
 static constexpr uint8_t I2C_ADDRESS_1_MS5525DSO = 0x76;
diff --git a/src/drivers/differential_pressure/sdp3x/SDP3X.hpp b/src/drivers/differential_pressure/sdp3x/SDP3X.hpp
index f57027577e..4d43169c9a 100644
--- a/src/drivers/differential_pressure/sdp3x/SDP3X.hpp
+++ b/src/drivers/differential_pressure/sdp3x/SDP3X.hpp
@@ -45,7 +45,7 @@
 #include <drivers/airspeed/airspeed.h>
 #include <math.h>
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #define I2C_ADDRESS_1_SDP3X		0x21
 #define I2C_ADDRESS_2_SDP3X		0x22
diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp
index afde2d4009..cab6dd2fc4 100644
--- a/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp
+++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.hpp
@@ -48,7 +48,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/rangefinder/PX4Rangefinder.hpp>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp
index 98c57c3488..5f7e36d7e3 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65_main.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include <px4_cli.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/cli.h>
+#include <px4_platform_common/getopt.h>
 
 #include "CM8JL65.hpp"
 
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 82e0fc401a..41041b825c 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -42,10 +42,10 @@
 #include <drivers/drv_hrt.h>
 #include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
index fd011a0887..f4ac7041e5 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
@@ -45,7 +45,7 @@
 #include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
index 25a75842d8..32734fbdfd 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
@@ -50,7 +50,7 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_input.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/pwm_input.h>
 
diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
index 743f16bd5d..af1153e6dc 100644
--- a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+++ b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
@@ -49,8 +49,8 @@
 
 #include <board_config.h>
 #include <drivers/device/i2c.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #include "LidarLiteI2C.h"
 #include "LidarLitePWM.h"
diff --git a/src/drivers/distance_sensor/mappydot/MappyDot.cpp b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
index d1f2df8377..238260648e 100644
--- a/src/drivers/distance_sensor/mappydot/MappyDot.cpp
+++ b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
@@ -45,8 +45,8 @@
 #include <drivers/device/i2c.h>
 #include <drivers/drv_range_finder.h>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index 7051745558..b7ad82dc65 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -60,9 +60,9 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_range_finder.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/uORB.h>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/drivers/distance_sensor/pga460/pga460.h b/src/drivers/distance_sensor/pga460/pga460.h
index a2a1914db2..bd5eb27218 100644
--- a/src/drivers/distance_sensor/pga460/pga460.h
+++ b/src/drivers/distance_sensor/pga460/pga460.h
@@ -49,9 +49,9 @@
 
 #include <uORB/topics/distance_sensor.h>
 
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/tasks.h>
 
 
 #define PGA460_DEFAULT_PORT "/dev/ttyS6"
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index ad99ecff02..5cf0c33cf3 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -39,8 +39,8 @@
  * Driver for the Lightware SF0x laser rangefinder series
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <sys/types.h>
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index 300545f94b..4a5f83a15b 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -41,11 +41,11 @@
  * Default I2C address 0x66 is used.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index 0b1c791f75..aa137de33a 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -37,9 +37,9 @@
  * Driver for the SRF02 sonar range finder adapted from the Maxbotix sonar range finder driver (srf02).
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <containers/Array.hpp>
 
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index c18491b219..3bce599d28 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -40,11 +40,11 @@
 
 #include <drivers/device/i2c.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/uORB.h>
 
diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.hpp b/src/drivers/distance_sensor/tfmini/TFMINI.hpp
index c7199dea96..ba1e0055c2 100644
--- a/src/drivers/distance_sensor/tfmini/TFMINI.hpp
+++ b/src/drivers/distance_sensor/tfmini/TFMINI.hpp
@@ -48,8 +48,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/drivers/distance_sensor/tfmini/tfmini_main.cpp b/src/drivers/distance_sensor/tfmini/tfmini_main.cpp
index a48149e5d8..4425ab80ff 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini_main.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini_main.cpp
@@ -33,7 +33,7 @@
 
 #include "TFMINI.hpp"
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /**
  * Local functions in support of the shell command.
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index ce684dde16..22807d4c2e 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -59,10 +59,10 @@
 #include <drivers/drv_range_finder.h>
 #include <mathlib/mathlib.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/workqueue.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
index 1194859562..7b6b270d66 100644
--- a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
+++ b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
@@ -47,7 +47,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_range_finder.h>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 
diff --git a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
index cc1155528d..49d0ed14d2 100644
--- a/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_ak8963_wrapper/df_ak8963_wrapper.cpp
@@ -36,7 +36,7 @@
  * Lightweight driver to access the AK8963 of the DriverFramework.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
index de1d77d910..172ae94657 100644
--- a/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_bebop_bus_wrapper/df_bebop_bus_wrapper.cpp
@@ -42,9 +42,9 @@
 #include <stdlib.h>
 #include <stdint.h>
 
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 
 #include <errno.h>
 #include <string.h>
diff --git a/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
index 2ad7bddee3..289ed5d916 100644
--- a/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_bebop_rangefinder_wrapper/df_bebop_rangefinder_wrapper.cpp
@@ -36,7 +36,7 @@
  * Driver to access the Bebop rangefinder of the DriverFramework.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 #include <string>
 
diff --git a/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
index 5cc75bbfce..18826c89a5 100644
--- a/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_bmp280_wrapper/df_bmp280_wrapper.cpp
@@ -38,7 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -48,7 +48,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
index 16e96267a1..676cdd9e1c 100644
--- a/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
@@ -38,7 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -48,7 +48,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp
index 1aae077b91..6b1ea42060 100644
--- a/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_isl29501_wrapper/df_isl29501_wrapper.cpp
@@ -39,7 +39,7 @@
  * @author Siddharth B Purohit <sid@3drobotics.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -49,7 +49,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 #include <string>
 
diff --git a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index d0b6fc9004..baa4e6ead4 100644
--- a/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -38,7 +38,7 @@
  * @author Miguel Arroyo <miguel@arroyo.me>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -48,7 +48,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
index 12eb382b0f..9f70083adf 100644
--- a/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_ltc2946_wrapper/df_ltc2946_wrapper.cpp
@@ -40,7 +40,7 @@
 
 
 #include <string>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/err.h>
 #include <battery/battery.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
index 98971056f4..bf3de74449 100644
--- a/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
@@ -36,7 +36,7 @@
  * Lightweight driver to access the MPU6050 of the DriverFramework.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index f0263c5f4f..98609cf76d 100644
--- a/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -38,7 +38,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -48,7 +48,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <systemlib/err.h>
diff --git a/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
index a232c91521..80b5c0148e 100644
--- a/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_ms5607_wrapper/df_ms5607_wrapper.cpp
@@ -36,7 +36,7 @@
  * Lightweight driver to access the MS5607 of the DriverFramework.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
index f66a67d8d9..15b76256b8 100644
--- a/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_ms5611_wrapper/df_ms5611_wrapper.cpp
@@ -36,7 +36,7 @@
  * Lightweight driver to access the MS5611 of the DriverFramework.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -46,7 +46,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp b/src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp
index 6f06447486..5b7c68c23d 100644
--- a/src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp
+++ b/src/drivers/driver_framework_wrapper/df_trone_wrapper/df_trone_wrapper.cpp
@@ -38,7 +38,7 @@
  * @author Nicolas de Palezieux <ndepal@gmail.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
@@ -48,7 +48,7 @@
 #include <string.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <errno.h>
 #include <string>
 
diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h
index a98cda055b..c5c6d0525a 100644
--- a/src/drivers/drv_baro.h
+++ b/src/drivers/drv_baro.h
@@ -40,7 +40,7 @@
 #ifndef _DRV_BARO_H
 #define _DRV_BARO_H
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/drv_blinkm.h b/src/drivers/drv_blinkm.h
index 13370ffab8..3a707c4495 100644
--- a/src/drivers/drv_blinkm.h
+++ b/src/drivers/drv_blinkm.h
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/drv_board_led.h b/src/drivers/drv_board_led.h
index 62993c86e2..4beb18660d 100644
--- a/src/drivers/drv_board_led.h
+++ b/src/drivers/drv_board_led.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h
index 99db5d1b10..1e0bba92fc 100644
--- a/src/drivers/drv_hrt.h
+++ b/src/drivers/drv_hrt.h
@@ -44,7 +44,7 @@
 #include <stdbool.h>
 #include <inttypes.h>
 
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 #include <queue.h>
 
 __BEGIN_DECLS
diff --git a/src/drivers/drv_input_capture.h b/src/drivers/drv_input_capture.h
index c5331ec98a..dc79e14612 100644
--- a/src/drivers/drv_input_capture.h
+++ b/src/drivers/drv_input_capture.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/drv_mixer.h b/src/drivers/drv_mixer.h
index 961ba442b1..7c79c9e66a 100644
--- a/src/drivers/drv_mixer.h
+++ b/src/drivers/drv_mixer.h
@@ -53,7 +53,7 @@
 #ifndef _DRV_MIXER_H
 #define _DRV_MIXER_H
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h
index 060704deaa..163ef421ab 100644
--- a/src/drivers/drv_orb_dev.h
+++ b/src/drivers/drv_orb_dev.h
@@ -40,7 +40,7 @@
  * uORB published object driver.
  */
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <sys/types.h>
 #include <sys/ioctl.h>
 #include <stdint.h>
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index e39efa171d..c5b5579980 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <stdint.h>
 #include <sys/ioctl.h>
diff --git a/src/drivers/drv_pwm_trigger.h b/src/drivers/drv_pwm_trigger.h
index 56f3046ddd..f066e3750b 100644
--- a/src/drivers/drv_pwm_trigger.h
+++ b/src/drivers/drv_pwm_trigger.h
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <stdint.h>
 
diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h
index aaad8d1951..a6464af4d4 100644
--- a/src/drivers/drv_sensor.h
+++ b/src/drivers/drv_sensor.h
@@ -40,7 +40,7 @@
 #ifndef _DRV_SENSOR_H
 #define _DRV_SENSOR_H
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <sys/ioctl.h>
 
diff --git a/src/drivers/dshot/dshot.cpp b/src/drivers/dshot/dshot.cpp
index f0e8c0ad3a..8e91cf3363 100644
--- a/src/drivers/dshot/dshot.cpp
+++ b/src/drivers/dshot/dshot.cpp
@@ -46,11 +46,11 @@
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_arch/dshot.h>
-#include <px4_atomic.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
diff --git a/src/drivers/dshot/telemetry.cpp b/src/drivers/dshot/telemetry.cpp
index c263bb3301..1e94e159f4 100644
--- a/src/drivers/dshot/telemetry.cpp
+++ b/src/drivers/dshot/telemetry.cpp
@@ -33,7 +33,7 @@
 
 #include "telemetry.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <unistd.h>
 #include <fcntl.h>
diff --git a/src/drivers/gps/definitions.h b/src/drivers/gps/definitions.h
index 52594ee2bf..eac75d7324 100644
--- a/src/drivers/gps/definitions.h
+++ b/src/drivers/gps/definitions.h
@@ -40,7 +40,7 @@
 #pragma once
 
 #include <drivers/drv_hrt.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <uORB/topics/vehicle_gps_position.h>
 #include <uORB/topics/satellite_info.h>
 
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 0a7f85eb42..610f53ec20 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -49,9 +49,9 @@
 
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
-#include <px4_cli.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
+#include <px4_platform_common/cli.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/gps_dump.h>
diff --git a/src/drivers/heater/heater.cpp b/src/drivers/heater/heater.cpp
index 4e442d02ca..a31a5e3ddb 100644
--- a/src/drivers/heater/heater.cpp
+++ b/src/drivers/heater/heater.cpp
@@ -41,8 +41,8 @@
 
 #include "heater.h"
 
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 
 #ifndef GPIO_HEATER_INPUT
diff --git a/src/drivers/heater/heater.h b/src/drivers/heater/heater.h
index 1c8fb66e62..4dd72acd8d 100644
--- a/src/drivers/heater/heater.h
+++ b/src/drivers/heater/heater.h
@@ -41,10 +41,10 @@
 
 #pragma once
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp b/src/drivers/imu/adis16477/ADIS16477.hpp
index 8203cfa7e9..ab943345a0 100644
--- a/src/drivers/imu/adis16477/ADIS16477.hpp
+++ b/src/drivers/imu/adis16477/ADIS16477.hpp
@@ -44,7 +44,7 @@
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp
index 8eb9d62b88..a5a08484ac 100644
--- a/src/drivers/imu/adis16497/ADIS16497.hpp
+++ b/src/drivers/imu/adis16497/ADIS16497.hpp
@@ -44,7 +44,7 @@
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 // TODO : This is a copy of the NuttX CRC32 table
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 34970f4a7e..d802439f12 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -36,8 +36,8 @@
  * Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <ecl/geo/geo.h>
 
 #include <sys/types.h>
diff --git a/src/drivers/imu/bmi055/BMI055.hpp b/src/drivers/imu/bmi055/BMI055.hpp
index 75e28f6831..43992b7905 100644
--- a/src/drivers/imu/bmi055/BMI055.hpp
+++ b/src/drivers/imu/bmi055/BMI055.hpp
@@ -36,7 +36,7 @@
 #include <drivers/device/spi.h>
 #include <ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
diff --git a/src/drivers/imu/bmi088/BMI088.hpp b/src/drivers/imu/bmi088/BMI088.hpp
index 8e3e6a904e..c0bb19a968 100644
--- a/src/drivers/imu/bmi088/BMI088.hpp
+++ b/src/drivers/imu/bmi088/BMI088.hpp
@@ -37,7 +37,7 @@
 #include <ecl/geo/geo.h>
 #include <lib/conversion/rotation.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
diff --git a/src/drivers/imu/bmi160/bmi160.hpp b/src/drivers/imu/bmi160/bmi160.hpp
index 473ecc9923..44b886dfd3 100644
--- a/src/drivers/imu/bmi160/bmi160.hpp
+++ b/src/drivers/imu/bmi160/bmi160.hpp
@@ -39,7 +39,7 @@
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.hpp b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
index 8b0f0b15eb..4e50b806ce 100644
--- a/src/drivers/imu/fxas21002c/FXAS21002C.hpp
+++ b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
@@ -42,7 +42,7 @@
 #include <drivers/device/spi.h>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp
index 147bac5944..1c4a91e8a2 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq_main.cpp
@@ -39,7 +39,7 @@
 
 #include "FXOS8701CQ.hpp"
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /**
  * Local functions in support of the shell command.
diff --git a/src/drivers/imu/icm20948/ICM20948_mag.cpp b/src/drivers/imu/icm20948/ICM20948_mag.cpp
index ccdbecc261..84690d54ad 100644
--- a/src/drivers/imu/icm20948/ICM20948_mag.cpp
+++ b/src/drivers/imu/icm20948/ICM20948_mag.cpp
@@ -40,9 +40,9 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 #include <lib/perf/perf_counter.h>
 #include <drivers/drv_hrt.h>
 
diff --git a/src/drivers/imu/icm20948/icm20948.cpp b/src/drivers/imu/icm20948/icm20948.cpp
index 072c391501..7314acfe51 100644
--- a/src/drivers/imu/icm20948/icm20948.cpp
+++ b/src/drivers/imu/icm20948/icm20948.cpp
@@ -40,8 +40,8 @@
  * based on the mpu9250 driver
  */
 
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <systemlib/conversions.h>
diff --git a/src/drivers/imu/icm20948/icm20948_i2c.cpp b/src/drivers/imu/icm20948/icm20948_i2c.cpp
index 9baba07575..62cc8139f7 100644
--- a/src/drivers/imu/icm20948/icm20948_i2c.cpp
+++ b/src/drivers/imu/icm20948/icm20948_i2c.cpp
@@ -37,7 +37,7 @@
  * I2C interface for ICM20948
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/device/i2c.h>
 #include <drivers/drv_device.h>
 
diff --git a/src/drivers/imu/icm20948/icm20948_main.cpp b/src/drivers/imu/icm20948/icm20948_main.cpp
index 238c24a49e..9b522b7f9c 100644
--- a/src/drivers/imu/icm20948/icm20948_main.cpp
+++ b/src/drivers/imu/icm20948/icm20948_main.cpp
@@ -39,8 +39,8 @@
  * based on the mpu9250 driver
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/conversions.h>
 #include <board_config.h>
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 5f727147e8..5e03ea8d72 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -43,7 +43,7 @@
 #include <lib/conversion/rotation.h>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define L3GD20_DEVICE_PATH "/dev/l3gd20"
diff --git a/src/drivers/imu/lsm303d/lsm303d_main.cpp b/src/drivers/imu/lsm303d/lsm303d_main.cpp
index 87a65e04c0..91e1764341 100644
--- a/src/drivers/imu/lsm303d/lsm303d_main.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d_main.cpp
@@ -38,7 +38,7 @@
 
 #include "LSM303D.hpp"
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /**
  * Local functions in support of the shell command.
diff --git a/src/drivers/imu/mpu6000/MPU6000.hpp b/src/drivers/imu/mpu6000/MPU6000.hpp
index b0d0bb7daf..c0a99cba8c 100644
--- a/src/drivers/imu/mpu6000/MPU6000.hpp
+++ b/src/drivers/imu/mpu6000/MPU6000.hpp
@@ -62,7 +62,7 @@
 #include <lib/drivers/device/spi.h>
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
diff --git a/src/drivers/imu/mpu9250/AK8963_I2C.cpp b/src/drivers/imu/mpu9250/AK8963_I2C.cpp
index 2966c815d4..829dec00d8 100644
--- a/src/drivers/imu/mpu9250/AK8963_I2C.cpp
+++ b/src/drivers/imu/mpu9250/AK8963_I2C.cpp
@@ -37,7 +37,7 @@
  * I2C interface for AK8963
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/device/i2c.h>
 #include <drivers/drv_device.h>
 
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 65fe2bde28..2709c1def2 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -34,7 +34,7 @@
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/ecl/geo/geo.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
diff --git a/src/drivers/irlock/irlock.cpp b/src/drivers/irlock/irlock.cpp
index 9ee743047e..6f30a6d2a1 100644
--- a/src/drivers/irlock/irlock.cpp
+++ b/src/drivers/irlock/irlock.cpp
@@ -45,7 +45,7 @@
 #include <drivers/device/i2c.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
diff --git a/src/drivers/lights/rgbled/rgbled.cpp b/src/drivers/lights/rgbled/rgbled.cpp
index ca0a534fc2..1faac522f5 100644
--- a/src/drivers/lights/rgbled/rgbled.cpp
+++ b/src/drivers/lights/rgbled/rgbled.cpp
@@ -44,7 +44,7 @@
 
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/drivers/lights/rgbled/rgbled_params.c b/src/drivers/lights/rgbled/rgbled_params.c
index 6851b02853..641e77202d 100644
--- a/src/drivers/lights/rgbled/rgbled_params.c
+++ b/src/drivers/lights/rgbled/rgbled_params.c
@@ -40,7 +40,7 @@
  */
 
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
index 3926c46e03..cc16c9426e 100755
--- a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
+++ b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
@@ -43,7 +43,7 @@
 
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c_params.c b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c_params.c
index d1eb461e4a..a834cae4cb 100755
--- a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c_params.c
+++ b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c_params.c
@@ -40,7 +40,7 @@
  */
 
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp b/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
index 0004389212..01fe855c55 100644
--- a/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
+++ b/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
@@ -43,7 +43,7 @@
 
 #include <drivers/device/device.h>
 #include <lib/led/led.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 class RGBLED_PWM : public device::CDev, public px4::ScheduledWorkItem
diff --git a/src/drivers/linux_pwm_out/PCA9685.cpp b/src/drivers/linux_pwm_out/PCA9685.cpp
index 6059c645b2..47dd089610 100644
--- a/src/drivers/linux_pwm_out/PCA9685.cpp
+++ b/src/drivers/linux_pwm_out/PCA9685.cpp
@@ -51,7 +51,7 @@
 
 #include "PCA9685.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 using namespace linux_pwm_out;
 
diff --git a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp b/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp
index efcb351f57..dad99a9310 100644
--- a/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp
+++ b/src/drivers/linux_pwm_out/bbblue_pwm_rc.cpp
@@ -34,7 +34,7 @@
 
 #include <fcntl.h>
 #include <errno.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <robotcontrol.h>
 #include <board_config.h>
diff --git a/src/drivers/linux_pwm_out/linux_pwm_out.cpp b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
index 340c4540d1..3bd25dfdaa 100644
--- a/src/drivers/linux_pwm_out/linux_pwm_out.cpp
+++ b/src/drivers/linux_pwm_out/linux_pwm_out.cpp
@@ -38,9 +38,9 @@
 
 #include <cmath>
 
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
diff --git a/src/drivers/linux_pwm_out/navio_sysfs.cpp b/src/drivers/linux_pwm_out/navio_sysfs.cpp
index 8b00f49953..2a9b4e130e 100644
--- a/src/drivers/linux_pwm_out/navio_sysfs.cpp
+++ b/src/drivers/linux_pwm_out/navio_sysfs.cpp
@@ -36,7 +36,7 @@
 #include <fcntl.h>
 #include <errno.h>
 #include <unistd.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 using namespace linux_pwm_out;
 
diff --git a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp b/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
index 991aa55300..f570f2bd50 100644
--- a/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
+++ b/src/drivers/linux_pwm_out/ocpoc_mmap.cpp
@@ -33,7 +33,7 @@
 
 #include "ocpoc_mmap.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <fcntl.h>
 #include <sys/mman.h>
diff --git a/src/drivers/linux_sbus/linux_sbus.h b/src/drivers/linux_sbus/linux_sbus.h
index 8c34dd1853..4ccd024a77 100644
--- a/src/drivers/linux_sbus/linux_sbus.h
+++ b/src/drivers/linux_sbus/linux_sbus.h
@@ -47,9 +47,9 @@
 /*For terminal I/O interfaces, termbits.h from asm-generic versions of functions guarantees non-standard communication (100Khz, Non-blocking), not guaranteed by termios.h*/
 #include <asm-generic/termbits.h>
 #include <errno.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/input_rc.h>
diff --git a/src/drivers/magnetometer/ak09916/ak09916.cpp b/src/drivers/magnetometer/ak09916/ak09916.cpp
index 9b78673ee2..afac767da6 100644
--- a/src/drivers/magnetometer/ak09916/ak09916.cpp
+++ b/src/drivers/magnetometer/ak09916/ak09916.cpp
@@ -40,13 +40,13 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 #include <lib/perf/perf_counter.h>
 #include <drivers/drv_hrt.h>
 #include <lib/conversion/rotation.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #include "ak09916.hpp"
 
diff --git a/src/drivers/magnetometer/ak09916/ak09916.hpp b/src/drivers/magnetometer/ak09916/ak09916.hpp
index d42ff99098..899ff628bc 100644
--- a/src/drivers/magnetometer/ak09916/ak09916.hpp
+++ b/src/drivers/magnetometer/ak09916/ak09916.hpp
@@ -34,7 +34,7 @@
 #pragma once
 
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <lib/perf/perf_counter.h>
 #include <systemlib/conversions.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/magnetometer/bmm150/bmm150.cpp b/src/drivers/magnetometer/bmm150/bmm150.cpp
index 0ab3290994..7bca3a8f97 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.cpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.cpp
@@ -37,7 +37,7 @@
  */
 
 #include "bmm150.hpp"
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /** driver 'main' command */
 extern "C" { __EXPORT int bmm150_main(int argc, char *argv[]); }
diff --git a/src/drivers/magnetometer/bmm150/bmm150.hpp b/src/drivers/magnetometer/bmm150/bmm150.hpp
index f9e1fe3d58..8c7fb4bd5f 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.hpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.hpp
@@ -1,7 +1,7 @@
 #ifndef BMM150_HPP_
 #define BMM150_HPP_
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
@@ -16,7 +16,7 @@
 #include <stdio.h>
 #include <math.h>
 #include <unistd.h>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index d9efe6725a..c314b72cd1 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -37,9 +37,9 @@
  * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/time.h>
 
 #include <drivers/device/i2c.h>
 
@@ -73,7 +73,7 @@
 #include <uORB/uORB.h>
 
 #include <float.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 #include <lib/conversion/rotation.h>
 
 #include "hmc5883.h"
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp b/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp
index 2ab4921251..9f6c51e880 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883_i2c.cpp
@@ -38,7 +38,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp b/src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp
index 295baf029d..3930ccba3f 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883_spi.cpp
@@ -38,7 +38,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp
index 4bb6e1513c..3e64111eb5 100644
--- a/src/drivers/magnetometer/ist8310/ist8310.cpp
+++ b/src/drivers/magnetometer/ist8310/ist8310.cpp
@@ -40,9 +40,9 @@
  * @author Maelok Dong
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
index 0fa6b8bd02..81b0688c65 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
@@ -39,7 +39,7 @@
  * Based on the hmc5883 driver.
  */
 
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 #include "lis3mdl.h"
 
 LIS3MDL::LIS3MDL(device::Device *interface, const char *path, enum Rotation rotation) :
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.h b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
index a77e3e85ad..f8512540e5 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.h
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
@@ -51,7 +51,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <perf/perf_counter.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 /**
  * LIS3MDL internal constants and data structures.
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
index 0e17ed6c96..01f47e5d57 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_i2c.cpp
@@ -37,7 +37,7 @@
  * I2C interface for LIS3MDL
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
 #include <debug.h>
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
index 8b2bd1e2bf..7bb3853d82 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_main.cpp
@@ -38,7 +38,7 @@
  */
 
 #include "lis3mdl_main.h"
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /**
  * Driver 'main' command.
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
index dc5a6e9969..7ad3d08d17 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl_spi.cpp
@@ -37,7 +37,7 @@
  * SPI interface for LIS3MDL
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
 #include <debug.h>
diff --git a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
index 2b222be336..38d536b3bc 100644
--- a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
+++ b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
@@ -39,8 +39,8 @@
 
 #include "LSM303AGR.hpp"
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <ecl/geo/geo.h>
 
 /* SPI protocol address bits */
diff --git a/src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp b/src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp
index 064744be8f..0fdf462f9e 100644
--- a/src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp
+++ b/src/drivers/magnetometer/lsm303agr/lsm303agr_main.cpp
@@ -33,9 +33,9 @@
 
 #include "LSM303AGR.hpp"
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 
 #define LSM303AGR_DEVICE_PATH_MAG	"/dev/lsm303agr_mag"
 
diff --git a/src/drivers/magnetometer/qmc5883/qmc5883.cpp b/src/drivers/magnetometer/qmc5883/qmc5883.cpp
index 8226daf1a4..afff2a87d1 100644
--- a/src/drivers/magnetometer/qmc5883/qmc5883.cpp
+++ b/src/drivers/magnetometer/qmc5883/qmc5883.cpp
@@ -37,8 +37,8 @@
  * Driver for the QMC5883 magnetometer connected via I2C or SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/magnetometer/qmc5883/qmc5883_i2c.cpp b/src/drivers/magnetometer/qmc5883/qmc5883_i2c.cpp
index a8378ef013..9664bbbcec 100644
--- a/src/drivers/magnetometer/qmc5883/qmc5883_i2c.cpp
+++ b/src/drivers/magnetometer/qmc5883/qmc5883_i2c.cpp
@@ -38,7 +38,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/magnetometer/qmc5883/qmc5883_spi.cpp b/src/drivers/magnetometer/qmc5883/qmc5883_spi.cpp
index 103a1a97ac..f7b161b3ac 100644
--- a/src/drivers/magnetometer/qmc5883/qmc5883_spi.cpp
+++ b/src/drivers/magnetometer/qmc5883/qmc5883_spi.cpp
@@ -38,7 +38,7 @@
  */
 
 /* XXX trim includes */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/magnetometer/rm3100/rm3100.h b/src/drivers/magnetometer/rm3100/rm3100.h
index 83492e1433..a59a8d353a 100644
--- a/src/drivers/magnetometer/rm3100/rm3100.h
+++ b/src/drivers/magnetometer/rm3100/rm3100.h
@@ -49,7 +49,7 @@
 #include <lib/conversion/rotation.h>
 
 #include <perf/perf_counter.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
diff --git a/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp b/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
index 98469bc5c4..928ba8d380 100644
--- a/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
+++ b/src/drivers/magnetometer/rm3100/rm3100_i2c.cpp
@@ -37,7 +37,7 @@
  * I2C interface for RM3100
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
 #include <debug.h>
diff --git a/src/drivers/magnetometer/rm3100/rm3100_main.cpp b/src/drivers/magnetometer/rm3100/rm3100_main.cpp
index bdfbe63b3b..0cd673e886 100644
--- a/src/drivers/magnetometer/rm3100/rm3100_main.cpp
+++ b/src/drivers/magnetometer/rm3100/rm3100_main.cpp
@@ -38,7 +38,7 @@
  */
 
 #include "rm3100_main.h"
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 /**
  * Driver 'main' command.
diff --git a/src/drivers/magnetometer/rm3100/rm3100_spi.cpp b/src/drivers/magnetometer/rm3100/rm3100_spi.cpp
index 26d9ee219c..4b38ffc895 100644
--- a/src/drivers/magnetometer/rm3100/rm3100_spi.cpp
+++ b/src/drivers/magnetometer/rm3100/rm3100_spi.cpp
@@ -37,7 +37,7 @@
  * SPI interface for RM3100
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <assert.h>
 #include <debug.h>
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index 74c36de2e8..a2ffca19f4 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -44,8 +44,8 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index d6552332b2..a20a1dc36c 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -41,8 +41,8 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/device/i2c.h>
 #include <parameters/param.h>
 
diff --git a/src/drivers/mkblctrl/mkblctrl_params.c b/src/drivers/mkblctrl/mkblctrl_params.c
index 27d8944a9c..7586d00f27 100644
--- a/src/drivers/mkblctrl/mkblctrl_params.c
+++ b/src/drivers/mkblctrl/mkblctrl_params.c
@@ -40,7 +40,7 @@
  * @author Marco Bauer <marco@wtns.de>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/optical_flow/paw3902/PAW3902.hpp b/src/drivers/optical_flow/paw3902/PAW3902.hpp
index 14f4ff3647..4441cc537f 100644
--- a/src/drivers/optical_flow/paw3902/PAW3902.hpp
+++ b/src/drivers/optical_flow/paw3902/PAW3902.hpp
@@ -41,9 +41,9 @@
 
 #include "PixArt_PAW3902JF_Registers.hpp"
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/device/spi.h>
 #include <conversion/rotation.h>
diff --git a/src/drivers/optical_flow/pmw3901/PMW3901.hpp b/src/drivers/optical_flow/pmw3901/PMW3901.hpp
index 942495d401..35d0009c37 100644
--- a/src/drivers/optical_flow/pmw3901/PMW3901.hpp
+++ b/src/drivers/optical_flow/pmw3901/PMW3901.hpp
@@ -38,9 +38,9 @@
  * Driver for the pmw3901 optical flow sensor connected via SPI.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/device/spi.h>
 #include <conversion/rotation.h>
diff --git a/src/drivers/optical_flow/px4flow/px4flow.cpp b/src/drivers/optical_flow/px4flow/px4flow.cpp
index 55e5d40db1..68ab508f2d 100644
--- a/src/drivers/optical_flow/px4flow/px4flow.cpp
+++ b/src/drivers/optical_flow/px4flow/px4flow.cpp
@@ -46,9 +46,9 @@
 #include <lib/conversion/rotation.h>
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/optical_flow.h>
diff --git a/src/drivers/osd/atxxxx/atxxxx.h b/src/drivers/osd/atxxxx/atxxxx.h
index 9af6e441b9..5b90f40c09 100644
--- a/src/drivers/osd/atxxxx/atxxxx.h
+++ b/src/drivers/osd/atxxxx/atxxxx.h
@@ -42,10 +42,10 @@
 #include <drivers/device/spi.h>
 #include <drivers/drv_hrt.h>
 #include <parameters/param.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
diff --git a/src/drivers/pca9685/pca9685.cpp b/src/drivers/pca9685/pca9685.cpp
index 4e30536658..a96a0fc4ed 100644
--- a/src/drivers/pca9685/pca9685.cpp
+++ b/src/drivers/pca9685/pca9685.cpp
@@ -46,8 +46,8 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <drivers/device/i2c.h>
 
@@ -61,7 +61,7 @@
 #include <stdio.h>
 #include <ctype.h>
 #include <math.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index 1b23e888d2..6fd2439e0c 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -41,8 +41,8 @@
 
 #include <string.h>
 
-#include <px4_config.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
 #include <drivers/device/i2c.h>
 #include <lib/perf/perf_counter.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp b/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
index aecd617e2d..35350c12a9 100644
--- a/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
+++ b/src/drivers/power_monitor/voxlpm/voxlpm_main.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include <px4_getopt.h>
-#include <px4_module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
 
 #include "voxlpm.hpp"
 
diff --git a/src/drivers/protocol_splitter/protocol_splitter.cpp b/src/drivers/protocol_splitter/protocol_splitter.cpp
index 6d5b30baab..64b58afd20 100644
--- a/src/drivers/protocol_splitter/protocol_splitter.cpp
+++ b/src/drivers/protocol_splitter/protocol_splitter.cpp
@@ -41,8 +41,8 @@
  */
 
 #include <lib/cdev/CDev.hpp>
-#include <px4_sem.hpp>
-#include <px4_log.h>
+#include <px4_platform_common/sem.hpp>
+#include <px4_platform_common/log.h>
 
 #include <sys/ioctl.h>
 #include <unistd.h>
diff --git a/src/drivers/pwm_input/pwm_input.cpp b/src/drivers/pwm_input/pwm_input.cpp
index 5efca66d64..752d57e1b2 100644
--- a/src/drivers/pwm_input/pwm_input.cpp
+++ b/src/drivers/pwm_input/pwm_input.cpp
@@ -41,8 +41,8 @@
  * @author: Ban Siesta <bansiesta@gmail.com>
  */
 
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/src/drivers/pwm_out_sim/PWMSim.cpp b/src/drivers/pwm_out_sim/PWMSim.cpp
index 3008a9ac5e..2f78059720 100644
--- a/src/drivers/pwm_out_sim/PWMSim.cpp
+++ b/src/drivers/pwm_out_sim/PWMSim.cpp
@@ -34,7 +34,7 @@
 #include "PWMSim.hpp"
 
 #include <mathlib/mathlib.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/drivers/pwm_out_sim/PWMSim.hpp b/src/drivers/pwm_out_sim/PWMSim.hpp
index 50d1ffbe05..191b5da0a6 100644
--- a/src/drivers/pwm_out_sim/PWMSim.hpp
+++ b/src/drivers/pwm_out_sim/PWMSim.hpp
@@ -39,10 +39,10 @@
 #include <drivers/drv_pwm_output.h>
 #include <lib/mixer/mixer.h>
 #include <lib/mixer_module/mixer_module.hpp>
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <uORB/topics/parameter_update.h>
 
 class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 5b288a865f..94bb688001 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -52,10 +52,10 @@
 #include <lib/mixer_module/mixer_module.hpp>
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 6842bbb3cd..a394e6c66c 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -38,9 +38,9 @@
  * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_sem.hpp>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/sem.hpp>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/px4io/px4io_params.c b/src/drivers/px4io/px4io_params.c
index 30dfeab553..7128093038 100644
--- a/src/drivers/px4io/px4io_params.c
+++ b/src/drivers/px4io/px4io_params.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 84c3ddaeb8..fa22b5448e 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -36,8 +36,8 @@
  * Firmware uploader for PX4IO
  */
 
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 
 #include <sys/types.h>
 #include <stdlib.h>
diff --git a/src/drivers/qshell/posix/qshell.cpp b/src/drivers/qshell/posix/qshell.cpp
index 34da787073..6e683478f6 100644
--- a/src/drivers/qshell/posix/qshell.cpp
+++ b/src/drivers/qshell/posix/qshell.cpp
@@ -38,7 +38,7 @@
  * @author Nicolas de Palezieux <ndepal@gmail.com>
  */
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/drivers/qshell/posix/qshell.h b/src/drivers/qshell/posix/qshell.h
index 507cc1dd83..6295938e17 100644
--- a/src/drivers/qshell/posix/qshell.h
+++ b/src/drivers/qshell/posix/qshell.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include "uORB/topics/qshell_req.h"
 #include <vector>
 #include <string>
diff --git a/src/drivers/qshell/posix/qshell_start_posix.cpp b/src/drivers/qshell/posix/qshell_start_posix.cpp
index d14fb26fe2..688c8dc9bf 100644
--- a/src/drivers/qshell/posix/qshell_start_posix.cpp
+++ b/src/drivers/qshell/posix/qshell_start_posix.cpp
@@ -39,9 +39,9 @@
  */
 
 #include "qshell.h"
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/drivers/qshell/qurt/qshell.cpp b/src/drivers/qshell/qurt/qshell.cpp
index 5988fcd073..bebe99dc5b 100644
--- a/src/drivers/qshell/qurt/qshell.cpp
+++ b/src/drivers/qshell/qurt/qshell.cpp
@@ -40,10 +40,10 @@
 
 #include "qshell.h"
 
-#include <px4_log.h>
-#include <px4_time.h>
-#include <px4_posix.h>
-#include <px4_defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
 #include <dspal_platform.h>
 
 #include <unistd.h>
diff --git a/src/drivers/qshell/qurt/qshell.h b/src/drivers/qshell/qurt/qshell.h
index ea38043293..37fb3de518 100644
--- a/src/drivers/qshell/qurt/qshell.h
+++ b/src/drivers/qshell/qurt/qshell.h
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include <string>
 #include <vector>
 #include "uORB/topics/qshell_req.h"
diff --git a/src/drivers/qshell/qurt/qshell_main.cpp b/src/drivers/qshell/qurt/qshell_main.cpp
index ecf966f1ab..56010acf88 100644
--- a/src/drivers/qshell/qurt/qshell_main.cpp
+++ b/src/drivers/qshell/qurt/qshell_main.cpp
@@ -38,9 +38,9 @@
  * @author Nicolas de Palezieux <ndepal@gmail.com>
  */
 
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include "qshell.h"
 
 extern "C" __EXPORT int qshell_entry(int argc, char **argv);
diff --git a/src/drivers/qshell/qurt/qshell_start_qurt.cpp b/src/drivers/qshell/qurt/qshell_start_qurt.cpp
index ca6119fe54..78de3d6f78 100644
--- a/src/drivers/qshell/qurt/qshell_start_qurt.cpp
+++ b/src/drivers/qshell/qurt/qshell_start_qurt.cpp
@@ -39,9 +39,9 @@
  */
 
 #include "qshell.h"
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
index 53388f8f4e..3cefb042ba 100644
--- a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+++ b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
@@ -36,10 +36,10 @@
 #include <unistd.h>
 #include <signal.h>
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 
-#include <px4_log.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/getopt.h>
 
 // TODO-JYW:
 // Include references to the driver framework.  This will produce a duplicate definition
diff --git a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_params.c b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_params.c
index 7f1603d630..91f81cdc56 100644
--- a/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_params.c
+++ b/src/drivers/qurt/fc_addon/mpu_spi/mpu9x50_params.c
@@ -37,7 +37,7 @@
  * Parameters defined by the mpu9x50 driver
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp b/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp
index c2269a88ff..a17b3e473f 100644
--- a/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp
+++ b/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_main.cpp
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-#include <px4_getopt.h>
-#include <px4_tasks.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/log.h>
 #include <string.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/input_rc.h>
diff --git a/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_params.c b/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_params.c
index 18204592ef..485c3c089b 100644
--- a/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_params.c
+++ b/src/drivers/qurt/fc_addon/rc_receiver/rc_receiver_params.c
@@ -37,7 +37,7 @@
  * Parameters defined by the rc_receiver driver
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp b/src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp
index 01ca2a0295..1b76cbc289 100644
--- a/src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp
+++ b/src/drivers/qurt/fc_addon/uart_esc/uart_esc_main.cpp
@@ -33,9 +33,9 @@
 
 #include <stdint.h>
 
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 #include <errno.h>
 
 #include <uORB/uORB.h>
diff --git a/src/drivers/qurt/fc_addon/uart_esc/uart_esc_params.c b/src/drivers/qurt/fc_addon/uart_esc/uart_esc_params.c
index bcac46f73b..657179031a 100644
--- a/src/drivers/qurt/fc_addon/uart_esc/uart_esc_params.c
+++ b/src/drivers/qurt/fc_addon/uart_esc/uart_esc_params.c
@@ -36,7 +36,7 @@
  *
  * Parameters defined for the uart esc driver
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/qurt/tests/hello/hello_example.cpp b/src/drivers/qurt/tests/hello/hello_example.cpp
index 09c356b53f..ef2a2d5e6b 100644
--- a/src/drivers/qurt/tests/hello/hello_example.cpp
+++ b/src/drivers/qurt/tests/hello/hello_example.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "hello_example.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <unistd.h>
 #include <stdio.h>
 
diff --git a/src/drivers/qurt/tests/hello/hello_example.h b/src/drivers/qurt/tests/hello/hello_example.h
index 64c82b13c2..48eb882abe 100644
--- a/src/drivers/qurt/tests/hello/hello_example.h
+++ b/src/drivers/qurt/tests/hello/hello_example.h
@@ -39,7 +39,7 @@
  */
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 
 class HelloExample
 {
diff --git a/src/drivers/qurt/tests/hello/hello_main.cpp b/src/drivers/qurt/tests/hello/hello_main.cpp
index e8ed25bab8..cee761b1a4 100644
--- a/src/drivers/qurt/tests/hello/hello_main.cpp
+++ b/src/drivers/qurt/tests/hello/hello_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include "hello_example.h"
 #include <stdio.h>
 
diff --git a/src/drivers/qurt/tests/hello/hello_start_qurt.cpp b/src/drivers/qurt/tests/hello/hello_start_qurt.cpp
index 56aa52b478..cb933665f3 100644
--- a/src/drivers/qurt/tests/hello/hello_start_qurt.cpp
+++ b/src/drivers/qurt/tests/hello/hello_start_qurt.cpp
@@ -38,9 +38,9 @@
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
 #include "hello_example.h"
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_example.cpp b/src/drivers/qurt/tests/muorb/muorb_test_example.cpp
index d7ab50906d..bbe8f501b0 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_example.cpp
+++ b/src/drivers/qurt/tests/muorb/muorb_test_example.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "muorb_test_example.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_example.h b/src/drivers/qurt/tests/muorb/muorb_test_example.h
index f2dedbb9b2..ccd6a3595e 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_example.h
+++ b/src/drivers/qurt/tests/muorb/muorb_test_example.h
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include "uORB/topics/esc_status.h"
 #include "uORB/topics/vehicle_command.h"
 
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_main.cpp b/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
index fc172f7a90..b818f5e79c 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
+++ b/src/drivers/qurt/tests/muorb/muorb_test_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include "muorb_test_example.h"
 
 extern "C" __EXPORT int muorb_test_entry(int argc, char **argv);
diff --git a/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp b/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
index 0eef795ca3..cd4e25fa12 100644
--- a/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
+++ b/src/drivers/qurt/tests/muorb/muorb_test_start_qurt.cpp
@@ -37,10 +37,10 @@
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
 #include "muorb_test_example.h"
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp
index 48cc8104c2..00b0de6efc 100644
--- a/src/drivers/rc_input/RCInput.hpp
+++ b/src/drivers/rc_input/RCInput.hpp
@@ -44,11 +44,11 @@
 #include <lib/rc/sbus.h>
 #include <lib/rc/st24.h>
 #include <lib/rc/sumd.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_workqueue.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/workqueue.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/adc_report.h>
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index 76fee29c0b..cc8dabc617 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -43,9 +43,9 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h
index 7d3766bbaa..b8e1d553ae 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.h
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.h
@@ -48,9 +48,9 @@
 #include <stdint.h>
 #include <unistd.h>
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <drivers/drv_hrt.h>
 
diff --git a/src/drivers/safety_button/SafetyButton.hpp b/src/drivers/safety_button/SafetyButton.hpp
index ae3f1975b9..1408150cd5 100644
--- a/src/drivers/safety_button/SafetyButton.hpp
+++ b/src/drivers/safety_button/SafetyButton.hpp
@@ -37,10 +37,10 @@
 
 #include <circuit_breaker/circuit_breaker.h>
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
index a216c0bb21..9375f55ebf 100644
--- a/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
+++ b/src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp
@@ -33,9 +33,9 @@
 
 #include <stdint.h>
 
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 #include <errno.h>
 #include <cmath>	// NAN
 #include <string.h>
diff --git a/src/drivers/spektrum_rc/spektrum_rc.cpp b/src/drivers/spektrum_rc/spektrum_rc.cpp
index c12019e9ef..3a9debab3f 100644
--- a/src/drivers/spektrum_rc/spektrum_rc.cpp
+++ b/src/drivers/spektrum_rc/spektrum_rc.cpp
@@ -41,9 +41,9 @@
 
 #include <string.h>
 
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/getopt.h>
 
 #include <lib/rc/dsm.h>
 #include <drivers/drv_rc_input.h>
diff --git a/src/drivers/tap_esc/tap_esc.cpp b/src/drivers/tap_esc/tap_esc.cpp
index e738a1afc9..20bc73a066 100644
--- a/src/drivers/tap_esc/tap_esc.cpp
+++ b/src/drivers/tap_esc/tap_esc.cpp
@@ -33,11 +33,11 @@
 
 #include <stdint.h>
 
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_tasks.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
 #include <errno.h>
 
 #include <cmath>	// NAN
@@ -46,7 +46,7 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
diff --git a/src/drivers/tap_esc/tap_esc_common.cpp b/src/drivers/tap_esc/tap_esc_common.cpp
index 6961f22686..408cb0d792 100644
--- a/src/drivers/tap_esc/tap_esc_common.cpp
+++ b/src/drivers/tap_esc/tap_esc_common.cpp
@@ -42,8 +42,8 @@
 #include <termios.h>
 
 #include <systemlib/px4_macros.h> // arraySize
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #ifndef B250000
 #define B250000 250000
diff --git a/src/drivers/telemetry/bst/bst.cpp b/src/drivers/telemetry/bst/bst.cpp
index fdf44f1354..958cbe1e73 100644
--- a/src/drivers/telemetry/bst/bst.cpp
+++ b/src/drivers/telemetry/bst/bst.cpp
@@ -39,8 +39,8 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/device/i2c.h>
 #include <systemlib/err.h>
diff --git a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
index 7b4d7a077f..92dcaa6fe7 100644
--- a/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
+++ b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.cpp
@@ -57,9 +57,9 @@
 #include <fcntl.h>
 #include <unistd.h>
 
-#include <px4_tasks.h>
-#include <px4_module.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
 #include <systemlib/err.h>
 #include <termios.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp b/src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp
index 2e62cb2991..9986073408 100644
--- a/src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp
@@ -42,9 +42,9 @@
  */
 
 #include <fcntl.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp
index 38c2d1f3fb..8a85877eec 100644
--- a/src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp
@@ -44,9 +44,9 @@
  */
 
 #include <fcntl.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
index ade79e314c..707723a177 100644
--- a/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
+++ b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
@@ -33,7 +33,7 @@
 
 #include "IridiumSBD.h"
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 
 #include <errno.h>
 #include <fcntl.h>
diff --git a/src/drivers/tone_alarm/ToneAlarm.cpp b/src/drivers/tone_alarm/ToneAlarm.cpp
index 15f5cf8078..cbeaff319b 100644
--- a/src/drivers/tone_alarm/ToneAlarm.cpp
+++ b/src/drivers/tone_alarm/ToneAlarm.cpp
@@ -37,7 +37,7 @@
 
 #include "ToneAlarm.h"
 
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 
 ToneAlarm::ToneAlarm() :
 	CDev(TONE_ALARM0_DEVICE_PATH),
diff --git a/src/drivers/tone_alarm/ToneAlarm.h b/src/drivers/tone_alarm/ToneAlarm.h
index b01d7b58c9..e4dc4e5171 100644
--- a/src/drivers/tone_alarm/ToneAlarm.h
+++ b/src/drivers/tone_alarm/ToneAlarm.h
@@ -44,7 +44,7 @@
 #include <drivers/device/device.h>
 #include <drivers/drv_tone_alarm.h>
 #include <lib/tunes/tunes.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/tune_control.h>
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index 064325dc05..b8346a220c 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -42,8 +42,8 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <cstdlib>
 #include <cstring>
diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp
index 7b25e6835e..5d5c200148 100644
--- a/src/drivers/uavcan/uavcan_main.hpp
+++ b/src/drivers/uavcan/uavcan_main.hpp
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include "uavcan_driver.hpp"
 #include "uavcan_servers.hpp"
diff --git a/src/drivers/uavcan/uavcan_module.hpp b/src/drivers/uavcan/uavcan_module.hpp
index a3238dc6ca..4d8247ccb3 100644
--- a/src/drivers/uavcan/uavcan_module.hpp
+++ b/src/drivers/uavcan/uavcan_module.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <drivers/device/device.h>
 
diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c
index 4b9f622b32..a5db12d9f9 100644
--- a/src/drivers/uavcan/uavcan_params.c
+++ b/src/drivers/uavcan/uavcan_params.c
@@ -35,7 +35,7 @@
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/uavcan/uavcan_servers.cpp b/src/drivers/uavcan/uavcan_servers.cpp
index 6491afaccf..9b736fa167 100644
--- a/src/drivers/uavcan/uavcan_servers.cpp
+++ b/src/drivers/uavcan/uavcan_servers.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/drv_hrt.h>
 
 #include <nuttx/config.h>
diff --git a/src/drivers/uavcan/uavcan_servers.hpp b/src/drivers/uavcan/uavcan_servers.hpp
index a88f621dab..66b6eae31a 100644
--- a/src/drivers/uavcan/uavcan_servers.hpp
+++ b/src/drivers/uavcan/uavcan_servers.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include "uavcan_driver.hpp"
 #include <drivers/device/Device.hpp>
 #include <lib/perf/perf_counter.h>
diff --git a/src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp b/src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp
index fba6e7b0dd..d4e0f77ab6 100644
--- a/src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp
+++ b/src/drivers/uavcanesc/commands/cfg/esc_cfg.cpp
@@ -31,8 +31,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdint.h>
 #include <cstdlib>
 
diff --git a/src/drivers/uavcanesc/commands/dc/esc_dc.cpp b/src/drivers/uavcanesc/commands/dc/esc_dc.cpp
index 33dbe9525a..a4a0daa6a8 100644
--- a/src/drivers/uavcanesc/commands/dc/esc_dc.cpp
+++ b/src/drivers/uavcanesc/commands/dc/esc_dc.cpp
@@ -31,8 +31,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdint.h>
 #include <cstdlib>
 
diff --git a/src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp b/src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp
index b7f17a7ffa..eeedc37df0 100644
--- a/src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp
+++ b/src/drivers/uavcanesc/commands/rpm/esc_rpm.cpp
@@ -31,8 +31,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdint.h>
 #include <cstdlib>
 
diff --git a/src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp b/src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp
index c5464984cf..d5a992a5d7 100644
--- a/src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp
+++ b/src/drivers/uavcanesc/commands/selftest/esc_selftest.cpp
@@ -31,8 +31,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdint.h>
 #include <cstdlib>
 
diff --git a/src/drivers/uavcanesc/commands/stat/esc_stat.cpp b/src/drivers/uavcanesc/commands/stat/esc_stat.cpp
index 88e379285e..f2e2698b0f 100644
--- a/src/drivers/uavcanesc/commands/stat/esc_stat.cpp
+++ b/src/drivers/uavcanesc/commands/stat/esc_stat.cpp
@@ -31,8 +31,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <stdint.h>
 #include <cstdlib>
 
diff --git a/src/drivers/uavcanesc/nshterm/nshterm.c b/src/drivers/uavcanesc/nshterm/nshterm.c
index 1bff13bc07..707431522a 100644
--- a/src/drivers/uavcanesc/nshterm/nshterm.c
+++ b/src/drivers/uavcanesc/nshterm/nshterm.c
@@ -39,7 +39,7 @@
  * for diagnostics
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <termios.h>
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/uavcanesc/uavcanesc_main.cpp b/src/drivers/uavcanesc/uavcanesc_main.cpp
index becc598b53..258b6db4e7 100644
--- a/src/drivers/uavcanesc/uavcanesc_main.cpp
+++ b/src/drivers/uavcanesc/uavcanesc_main.cpp
@@ -34,9 +34,9 @@
  ****************************************************************************/
 
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 
 #include <cstdlib>
 #include <cstring>
diff --git a/src/drivers/uavcanesc/uavcanesc_main.hpp b/src/drivers/uavcanesc/uavcanesc_main.hpp
index 5ee26a8c56..5c304c20fb 100644
--- a/src/drivers/uavcanesc/uavcanesc_main.hpp
+++ b/src/drivers/uavcanesc/uavcanesc_main.hpp
@@ -35,7 +35,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <uavcan_stm32/uavcan_stm32.hpp>
 #include <drivers/device/device.h>
 #include <uavcan/protocol/file/BeginFirmwareUpdate.hpp>
diff --git a/src/drivers/uavcanesc/uavcanesc_params.c b/src/drivers/uavcanesc/uavcanesc_params.c
index c3a9143eaa..a0d7e55c03 100644
--- a/src/drivers/uavcanesc/uavcanesc_params.c
+++ b/src/drivers/uavcanesc/uavcanesc_params.c
@@ -35,7 +35,7 @@
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/drivers/uavcannode/resources.cpp b/src/drivers/uavcannode/resources.cpp
index c1f7863cc9..ffa68b1af9 100644
--- a/src/drivers/uavcannode/resources.cpp
+++ b/src/drivers/uavcannode/resources.cpp
@@ -32,7 +32,7 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/progmem.h>
 #include <nuttx/compiler.h>
 #include <stdlib.h>
diff --git a/src/drivers/uavcannode/sim_controller.cpp b/src/drivers/uavcannode/sim_controller.cpp
index 39e99802f7..4caed1c1c6 100644
--- a/src/drivers/uavcannode/sim_controller.cpp
+++ b/src/drivers/uavcannode/sim_controller.cpp
@@ -32,7 +32,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <syslog.h>
 
diff --git a/src/drivers/uavcannode/uavcannode_main.cpp b/src/drivers/uavcannode/uavcannode_main.cpp
index fb7123f5e0..61c565c7eb 100644
--- a/src/drivers/uavcannode/uavcannode_main.cpp
+++ b/src/drivers/uavcannode/uavcannode_main.cpp
@@ -30,15 +30,15 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 
 #ifdef __PX4_NUTTX
 #include <nuttx/clock.h>
 #
 #else
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #endif
 
 #include <cstdlib>
diff --git a/src/drivers/uavcannode/uavcannode_main.hpp b/src/drivers/uavcannode/uavcannode_main.hpp
index bfbaf1db3b..1ae9e29c6b 100644
--- a/src/drivers/uavcannode/uavcannode_main.hpp
+++ b/src/drivers/uavcannode/uavcannode_main.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <uavcan_stm32/uavcan_stm32.hpp>
 #include <drivers/device/device.h>
 #include <uavcan/protocol/global_time_sync_slave.hpp>
diff --git a/src/drivers/uavcannode/uavcannode_params.c b/src/drivers/uavcannode/uavcannode_params.c
index ee1cf43ca8..4e8a6cb2c0 100644
--- a/src/drivers/uavcannode/uavcannode_params.c
+++ b/src/drivers/uavcannode/uavcannode_params.c
@@ -35,7 +35,7 @@
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/examples/bottle_drop/bottle_drop.cpp b/src/examples/bottle_drop/bottle_drop.cpp
index d7be5df8d4..c11d64fb56 100644
--- a/src/examples/bottle_drop/bottle_drop.cpp
+++ b/src/examples/bottle_drop/bottle_drop.cpp
@@ -40,8 +40,8 @@
  * @author Julian Oes <joes@student.ethz.ch>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/examples/bottle_drop/bottle_drop_params.c b/src/examples/bottle_drop/bottle_drop_params.c
index 1e84837d11..54555693c9 100644
--- a/src/examples/bottle_drop/bottle_drop_params.c
+++ b/src/examples/bottle_drop/bottle_drop_params.c
@@ -38,7 +38,7 @@
  * @author Dominik Juchli <juchlid@ethz.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/examples/dyn_hello/hello.cpp b/src/examples/dyn_hello/hello.cpp
index 067e28e951..16b5e20500 100644
--- a/src/examples/dyn_hello/hello.cpp
+++ b/src/examples/dyn_hello/hello.cpp
@@ -1,5 +1,5 @@
-#include <px4_log.h>
-#include <px4_app.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
 
 extern "C" __EXPORT int hello_main(int argc, char *argv[]);
 int hello_main(int argc, char *argv[])
diff --git a/src/examples/fixedwing_control/main.cpp b/src/examples/fixedwing_control/main.cpp
index dc6606e5f3..d8a07ea438 100644
--- a/src/examples/fixedwing_control/main.cpp
+++ b/src/examples/fixedwing_control/main.cpp
@@ -49,8 +49,8 @@
 #include <drivers/drv_hrt.h>
 #include <lib/ecl/geo/geo.h>
 #include <matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
diff --git a/src/examples/hello/hello_example.cpp b/src/examples/hello/hello_example.cpp
index 5a3ebc60af..1c3d2fed4f 100644
--- a/src/examples/hello/hello_example.cpp
+++ b/src/examples/hello/hello_example.cpp
@@ -40,7 +40,7 @@
  */
 
 #include "hello_example.h"
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 #include <unistd.h>
 #include <stdio.h>
 
diff --git a/src/examples/hello/hello_example.h b/src/examples/hello/hello_example.h
index 64c82b13c2..48eb882abe 100644
--- a/src/examples/hello/hello_example.h
+++ b/src/examples/hello/hello_example.h
@@ -39,7 +39,7 @@
  */
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 
 class HelloExample
 {
diff --git a/src/examples/hello/hello_main.cpp b/src/examples/hello/hello_main.cpp
index 227bc0ebc5..7cdd117956 100644
--- a/src/examples/hello/hello_main.cpp
+++ b/src/examples/hello/hello_main.cpp
@@ -40,8 +40,8 @@
 
 #include "hello_example.h"
 
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/src/examples/hello/hello_start.cpp b/src/examples/hello/hello_start.cpp
index c94a20810d..f343c07f55 100644
--- a/src/examples/hello/hello_start.cpp
+++ b/src/examples/hello/hello_start.cpp
@@ -39,9 +39,9 @@
  */
 #include "hello_example.h"
 
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
index d035e4a667..6c7da863db 100644
--- a/src/examples/hwtest/hwtest.c
+++ b/src/examples/hwtest/hwtest.c
@@ -42,7 +42,7 @@
 #include <string.h>
 
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/err.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
index 47d95b854f..c1c14f0d44 100644
--- a/src/examples/matlab_csv_serial/matlab_csv_serial.c
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -40,7 +40,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
index d2e0580fec..97047f0748 100644
--- a/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
@@ -38,7 +38,7 @@
  * @author Example User <mail@example.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index 5274d50796..ea59f1af42 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -38,9 +38,9 @@
  * @author Example User <mail@example.com>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index 3731bc38fe..c07b2981be 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -39,8 +39,8 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/examples/uuv_example_app/uuv_example_app.cpp b/src/examples/uuv_example_app/uuv_example_app.cpp
index 0e3adb0887..a02900c5c1 100644
--- a/src/examples/uuv_example_app/uuv_example_app.cpp
+++ b/src/examples/uuv_example_app/uuv_example_app.cpp
@@ -41,9 +41,9 @@
  * @author Nils Rottann <Nils.Rottmann@tuhh.de>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
diff --git a/src/include/containers/BlockingQueue.hpp b/src/include/containers/BlockingQueue.hpp
index 931cfd0950..3b1ec77a86 100644
--- a/src/include/containers/BlockingQueue.hpp
+++ b/src/include/containers/BlockingQueue.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_sem.h>
+#include <px4_platform_common/sem.h>
 
 #include "LockGuard.hpp"
 
diff --git a/src/include/unit_test.h b/src/include/unit_test.h
index 43ab8ea0ba..f83a07c146 100644
--- a/src/include/unit_test.h
+++ b/src/include/unit_test.h
@@ -35,7 +35,7 @@
 #ifndef UNIT_TEST_H_
 #define UNIT_TEST_H_
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #define ut_declare_test_c(test_function, test_class)	\
 	extern "C" {										\
diff --git a/src/lib/CollisionPrevention/CollisionPrevention.hpp b/src/lib/CollisionPrevention/CollisionPrevention.hpp
index 063be9a232..b111f00578 100644
--- a/src/lib/CollisionPrevention/CollisionPrevention.hpp
+++ b/src/lib/CollisionPrevention/CollisionPrevention.hpp
@@ -47,7 +47,7 @@
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
 #include <matrix/matrix/math.hpp>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
index 27e4425e50..8da77373e0 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <drivers/drv_hrt.h>
 #include <matrix/matrix/math.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
index f32b893248..1a84b9abd8 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.cpp
@@ -38,7 +38,7 @@
 #include "ManualSmoothingXY.hpp"
 #include <mathlib/mathlib.h>
 #include <float.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 using namespace matrix;
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
index b62656da34..5e31a422a9 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingXY.hpp
@@ -47,7 +47,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <matrix/matrix/math.hpp>
 
 class ManualSmoothingXY : public ModuleParams
diff --git a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
index 5425f8c5c8..2a06ba0b30 100644
--- a/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ManualSmoothingZ.hpp
@@ -40,7 +40,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 /**
  * User-intention.
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index a1b224c168..bacc203b8e 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -41,8 +41,8 @@
 
 #pragma once
 
-#include <px4_defines.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module_params.h>
 #include <commander/px4_custom_mode.h>
 #include <drivers/drv_hrt.h>
 
diff --git a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
index 078564c018..db38e522cf 100644
--- a/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
+++ b/src/lib/FlightTasks/tasks/Utility/StraightLine.cpp
@@ -37,7 +37,7 @@
 
 #include "StraightLine.hpp"
 #include <mathlib/mathlib.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 using namespace matrix;
 
diff --git a/src/lib/WeatherVane/WeatherVane.hpp b/src/lib/WeatherVane/WeatherVane.hpp
index 723e94b221..465a7f3d3b 100644
--- a/src/lib/WeatherVane/WeatherVane.hpp
+++ b/src/lib/WeatherVane/WeatherVane.hpp
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <matrix/matrix/math.hpp>
 
 class WeatherVane : public ModuleParams
diff --git a/src/lib/airspeed/airspeed.cpp b/src/lib/airspeed/airspeed.cpp
index 7fa0040b56..f194a22a3f 100644
--- a/src/lib/airspeed/airspeed.cpp
+++ b/src/lib/airspeed/airspeed.cpp
@@ -42,7 +42,7 @@
 
 #include "airspeed.h"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <lib/ecl/geo/geo.h>
 
 /**
diff --git a/src/lib/battery/battery.cpp b/src/lib/battery/battery.cpp
index 7d9a2e506f..b36ca8d19d 100644
--- a/src/lib/battery/battery.cpp
+++ b/src/lib/battery/battery.cpp
@@ -42,7 +42,7 @@
 #include "battery.h"
 #include <mathlib/mathlib.h>
 #include <cstring>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 Battery::Battery() :
 	ModuleParams(nullptr),
diff --git a/src/lib/battery/battery.h b/src/lib/battery/battery.h
index c4aae7a252..4fbe58ee20 100644
--- a/src/lib/battery/battery.h
+++ b/src/lib/battery/battery.h
@@ -43,7 +43,7 @@
 
 #include <uORB/topics/battery_status.h>
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 
 class Battery : public ModuleParams
diff --git a/src/lib/battery/battery_params.c b/src/lib/battery/battery_params.c
index 065cdf7e7c..9a51cf2806 100644
--- a/src/lib/battery/battery_params.c
+++ b/src/lib/battery/battery_params.c
@@ -39,7 +39,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/lib/cdev/CDev.cpp b/src/lib/cdev/CDev.cpp
index 6955cdffc1..336dd6fa34 100644
--- a/src/lib/cdev/CDev.cpp
+++ b/src/lib/cdev/CDev.cpp
@@ -41,7 +41,7 @@
 
 #include <cstring>
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_device.h>
 
 namespace cdev
diff --git a/src/lib/cdev/CDev.hpp b/src/lib/cdev/CDev.hpp
index 049a01ff3d..3e62807b15 100644
--- a/src/lib/cdev/CDev.hpp
+++ b/src/lib/cdev/CDev.hpp
@@ -40,8 +40,8 @@
 #ifndef _CDEV_HPP
 #define _CDEV_HPP
 
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #ifdef __PX4_NUTTX
 #include "nuttx/cdev_platform.hpp"
diff --git a/src/lib/cdev/nuttx/cdev_platform.cpp b/src/lib/cdev/nuttx/cdev_platform.cpp
index 25c942aacd..87d85dc44b 100644
--- a/src/lib/cdev/nuttx/cdev_platform.cpp
+++ b/src/lib/cdev/nuttx/cdev_platform.cpp
@@ -39,7 +39,7 @@
 #include "cdev_platform.hpp"
 #include "../CDev.hpp"
 
-#include "px4_posix.h"
+#include <px4_platform_common/posix.h>
 #include "drivers/drv_device.h"
 #include <sys/ioctl.h>
 
diff --git a/src/lib/cdev/nuttx/cdev_platform.hpp b/src/lib/cdev/nuttx/cdev_platform.hpp
index 1174f6ef4d..7ec2b18bb5 100644
--- a/src/lib/cdev/nuttx/cdev_platform.hpp
+++ b/src/lib/cdev/nuttx/cdev_platform.hpp
@@ -5,7 +5,7 @@
 
 #include <nuttx/arch.h>
 
-#include <px4_micro_hal.h>
+#include <px4_platform_common/micro_hal.h>
 
 #define ATOMIC_ENTER irqstate_t flags = px4_enter_critical_section()
 #define ATOMIC_LEAVE px4_leave_critical_section(flags)
diff --git a/src/lib/cdev/posix/cdev_platform.cpp b/src/lib/cdev/posix/cdev_platform.cpp
index 20406c714a..0491b68ab4 100644
--- a/src/lib/cdev/posix/cdev_platform.cpp
+++ b/src/lib/cdev/posix/cdev_platform.cpp
@@ -40,9 +40,9 @@
 #include "vfile.h"
 #include "../CDev.hpp"
 
-#include <px4_log.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 
 #include "DevMgr.hpp"
 
diff --git a/src/lib/cdev/test/cdevtest_example.cpp b/src/lib/cdev/test/cdevtest_example.cpp
index 837467dea2..1c75b2469e 100644
--- a/src/lib/cdev/test/cdevtest_example.cpp
+++ b/src/lib/cdev/test/cdevtest_example.cpp
@@ -41,8 +41,8 @@
 
 #include "cdevtest_example.h"
 
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <drivers/drv_device.h>
 #include <lib/cdev/CDev.hpp>
 #include <unistd.h>
diff --git a/src/lib/cdev/test/cdevtest_example.h b/src/lib/cdev/test/cdevtest_example.h
index 26d78a56f0..094f1989ad 100644
--- a/src/lib/cdev/test/cdevtest_example.h
+++ b/src/lib/cdev/test/cdevtest_example.h
@@ -39,7 +39,7 @@
  */
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 
 class CDevNode;
 
diff --git a/src/lib/cdev/test/cdevtest_main.cpp b/src/lib/cdev/test/cdevtest_main.cpp
index e642e80b9e..d4e929cb51 100644
--- a/src/lib/cdev/test/cdevtest_main.cpp
+++ b/src/lib/cdev/test/cdevtest_main.cpp
@@ -39,8 +39,8 @@
  */
 #include "cdevtest_example.h"
 
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
diff --git a/src/lib/cdev/test/cdevtest_start.cpp b/src/lib/cdev/test/cdevtest_start.cpp
index 1ea8a2599e..1cb4c2f382 100644
--- a/src/lib/cdev/test/cdevtest_start.cpp
+++ b/src/lib/cdev/test/cdevtest_start.cpp
@@ -39,8 +39,8 @@
  */
 #include "cdevtest_example.h"
 
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 
diff --git a/src/lib/circuit_breaker/circuit_breaker.cpp b/src/lib/circuit_breaker/circuit_breaker.cpp
index 42d7816097..09f5bcef3f 100644
--- a/src/lib/circuit_breaker/circuit_breaker.cpp
+++ b/src/lib/circuit_breaker/circuit_breaker.cpp
@@ -45,7 +45,7 @@
 #include "circuit_breaker.h"
 
 #include <stdint.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 bool circuit_breaker_enabled(const char *breaker, int32_t magic)
 {
diff --git a/src/lib/controllib/BlockDelay.hpp b/src/lib/controllib/BlockDelay.hpp
index 97669369b9..f276f0bf61 100644
--- a/src/lib/controllib/BlockDelay.hpp
+++ b/src/lib/controllib/BlockDelay.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockDerivative.hpp b/src/lib/controllib/BlockDerivative.hpp
index ebba7ad4ef..72d9aea412 100644
--- a/src/lib/controllib/BlockDerivative.hpp
+++ b/src/lib/controllib/BlockDerivative.hpp
@@ -41,7 +41,7 @@
 
 #include "BlockLowPass.hpp"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <math.h>
 
 #include "block/Block.hpp"
diff --git a/src/lib/controllib/BlockHighPass.hpp b/src/lib/controllib/BlockHighPass.hpp
index ac58cfe026..b09ab26e47 100644
--- a/src/lib/controllib/BlockHighPass.hpp
+++ b/src/lib/controllib/BlockHighPass.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockIntegralTrap.hpp b/src/lib/controllib/BlockIntegralTrap.hpp
index 2a085641bd..41c3c18070 100644
--- a/src/lib/controllib/BlockIntegralTrap.hpp
+++ b/src/lib/controllib/BlockIntegralTrap.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockLimit.hpp b/src/lib/controllib/BlockLimit.hpp
index 170998fb53..5ffdf1034f 100644
--- a/src/lib/controllib/BlockLimit.hpp
+++ b/src/lib/controllib/BlockLimit.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockLimitSym.hpp b/src/lib/controllib/BlockLimitSym.hpp
index 2a5258d886..df4804c4ea 100644
--- a/src/lib/controllib/BlockLimitSym.hpp
+++ b/src/lib/controllib/BlockLimitSym.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockLowPass.hpp b/src/lib/controllib/BlockLowPass.hpp
index b0518df9b2..492e364380 100644
--- a/src/lib/controllib/BlockLowPass.hpp
+++ b/src/lib/controllib/BlockLowPass.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockLowPass2.hpp b/src/lib/controllib/BlockLowPass2.hpp
index 0b895d3240..98132ecc76 100644
--- a/src/lib/controllib/BlockLowPass2.hpp
+++ b/src/lib/controllib/BlockLowPass2.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockLowPassVector.hpp b/src/lib/controllib/BlockLowPassVector.hpp
index b0e8c0579c..a591fe5d1f 100644
--- a/src/lib/controllib/BlockLowPassVector.hpp
+++ b/src/lib/controllib/BlockLowPassVector.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockOutput.hpp b/src/lib/controllib/BlockOutput.hpp
index 44787f72b6..fc2da79234 100644
--- a/src/lib/controllib/BlockOutput.hpp
+++ b/src/lib/controllib/BlockOutput.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockP.hpp b/src/lib/controllib/BlockP.hpp
index 5b6011e9eb..4fd6e0cda5 100644
--- a/src/lib/controllib/BlockP.hpp
+++ b/src/lib/controllib/BlockP.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockPD.hpp b/src/lib/controllib/BlockPD.hpp
index fd438c0277..38703b52e7 100644
--- a/src/lib/controllib/BlockPD.hpp
+++ b/src/lib/controllib/BlockPD.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockPI.hpp b/src/lib/controllib/BlockPI.hpp
index b432caadc7..49b65c5738 100644
--- a/src/lib/controllib/BlockPI.hpp
+++ b/src/lib/controllib/BlockPI.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockPID.hpp b/src/lib/controllib/BlockPID.hpp
index acf79b99ab..bf7f90b694 100644
--- a/src/lib/controllib/BlockPID.hpp
+++ b/src/lib/controllib/BlockPID.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockRandGauss.hpp b/src/lib/controllib/BlockRandGauss.hpp
index 8d0a0f89f6..ab50b08990 100644
--- a/src/lib/controllib/BlockRandGauss.hpp
+++ b/src/lib/controllib/BlockRandGauss.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockRandUniform.hpp b/src/lib/controllib/BlockRandUniform.hpp
index 07d2f1eecb..3a6d45cc1a 100644
--- a/src/lib/controllib/BlockRandUniform.hpp
+++ b/src/lib/controllib/BlockRandUniform.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/BlockStats.hpp b/src/lib/controllib/BlockStats.hpp
index ccf12b8a9e..26fbee9780 100644
--- a/src/lib/controllib/BlockStats.hpp
+++ b/src/lib/controllib/BlockStats.hpp
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <assert.h>
 #include <time.h>
 #include <stdlib.h>
diff --git a/src/lib/controllib/block/BlockParam.hpp b/src/lib/controllib/block/BlockParam.hpp
index ac1f33f9bd..c298bdbba7 100644
--- a/src/lib/controllib/block/BlockParam.hpp
+++ b/src/lib/controllib/block/BlockParam.hpp
@@ -42,7 +42,7 @@
 #include "Block.hpp"
 
 #include <containers/List.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <parameters/param.h>
 
 namespace control
diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index f48e1893f2..062de4dad5 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -37,7 +37,7 @@
  * Vector rotation library
  */
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include "math.h"
 #include "rotation.h"
 
diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
index 55af0320c6..5dbf15c287 100644
--- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
@@ -39,7 +39,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
 #include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/uORB.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_accel.h>
diff --git a/src/lib/drivers/airspeed/airspeed.cpp b/src/lib/drivers/airspeed/airspeed.cpp
index 6085c39646..ca8c4d532c 100644
--- a/src/lib/drivers/airspeed/airspeed.cpp
+++ b/src/lib/drivers/airspeed/airspeed.cpp
@@ -38,7 +38,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/device/device.h>
 
 #include <drivers/device/i2c.h>
diff --git a/src/lib/drivers/airspeed/airspeed.h b/src/lib/drivers/airspeed/airspeed.h
index aff712c051..143a815f7f 100644
--- a/src/lib/drivers/airspeed/airspeed.h
+++ b/src/lib/drivers/airspeed/airspeed.h
@@ -37,8 +37,8 @@
 #include <drivers/device/i2c.h>
 #include <drivers/drv_airspeed.h>
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/uORB.h>
diff --git a/src/lib/drivers/device/CDev.cpp b/src/lib/drivers/device/CDev.cpp
index 91656f5803..b97469ba73 100644
--- a/src/lib/drivers/device/CDev.cpp
+++ b/src/lib/drivers/device/CDev.cpp
@@ -41,8 +41,8 @@
 
 #include <cstring>
 
-#include "px4_posix.h"
-#include "drivers/drv_device.h"
+#include <px4_platform_common/posix.h>
+#include <drivers/drv_device.h>
 
 namespace device
 {
diff --git a/src/lib/drivers/device/CDev.hpp b/src/lib/drivers/device/CDev.hpp
index 1a849674fd..6747054689 100644
--- a/src/lib/drivers/device/CDev.hpp
+++ b/src/lib/drivers/device/CDev.hpp
@@ -43,8 +43,8 @@
 #include "Device.hpp"
 #include <lib/cdev/CDev.hpp>
 
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 /**
  * Namespace encapsulating all device framework classes, functions and data.
diff --git a/src/lib/drivers/device/Device.hpp b/src/lib/drivers/device/Device.hpp
index 60854158ef..860f4145c5 100644
--- a/src/lib/drivers/device/Device.hpp
+++ b/src/lib/drivers/device/Device.hpp
@@ -43,8 +43,8 @@
 /*
  * Includes here should only cover the needs of the framework definitions.
  */
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #include <drivers/drv_device.h>
 
diff --git a/src/lib/drivers/device/nuttx/I2C.hpp b/src/lib/drivers/device/nuttx/I2C.hpp
index b098ea8847..6965e82f34 100644
--- a/src/lib/drivers/device/nuttx/I2C.hpp
+++ b/src/lib/drivers/device/nuttx/I2C.hpp
@@ -42,7 +42,7 @@
 
 #include "../CDev.hpp"
 
-#include <px4_i2c.h>
+#include <px4_platform_common/i2c.h>
 
 #if !defined(CONFIG_I2C)
 #  error I2C support requires CONFIG_I2C
diff --git a/src/lib/drivers/device/nuttx/SPI.cpp b/src/lib/drivers/device/nuttx/SPI.cpp
index 9b121dfb28..2f9966dca5 100644
--- a/src/lib/drivers/device/nuttx/SPI.cpp
+++ b/src/lib/drivers/device/nuttx/SPI.cpp
@@ -47,7 +47,7 @@
 
 #include "SPI.hpp"
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <nuttx/arch.h>
 
 #ifndef CONFIG_SPI_EXCHANGE
diff --git a/src/lib/drivers/device/posix/I2C.hpp b/src/lib/drivers/device/posix/I2C.hpp
index ab9e08ecfc..cc1f36ecef 100644
--- a/src/lib/drivers/device/posix/I2C.hpp
+++ b/src/lib/drivers/device/posix/I2C.hpp
@@ -42,7 +42,7 @@
 
 #include "../CDev.hpp"
 
-#include <px4_i2c.h>
+#include <px4_platform_common/i2c.h>
 
 #ifdef __PX4_LINUX
 #include <linux/i2c.h>
diff --git a/src/lib/drivers/device/posix/SPI.cpp b/src/lib/drivers/device/posix/SPI.cpp
index e9f1a2f06f..19e4c541f0 100644
--- a/src/lib/drivers/device/posix/SPI.cpp
+++ b/src/lib/drivers/device/posix/SPI.cpp
@@ -48,7 +48,7 @@
 #include <linux/types.h>
 #include <linux/spi/spidev.h>
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 namespace device
 {
diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
index 7ee7bffbde..eaf8ac2953 100644
--- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
+++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
@@ -39,7 +39,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/conversion/rotation.h>
 #include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/uORB.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/sensor_gyro.h>
diff --git a/src/lib/drivers/led/led.cpp b/src/lib/drivers/led/led.cpp
index ba10a373c0..99b80550ac 100644
--- a/src/lib/drivers/led/led.cpp
+++ b/src/lib/drivers/led/led.cpp
@@ -37,7 +37,7 @@
  * LED driver to control the onboard LED(s) via ioctl interface.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <lib/cdev/CDev.hpp>
 #include <drivers/drv_board_led.h>
 #include <stdio.h>
diff --git a/src/lib/drivers/linux_gpio/linux_gpio.cpp b/src/lib/drivers/linux_gpio/linux_gpio.cpp
index 79b7129c2f..c6d4080bd5 100644
--- a/src/lib/drivers/linux_gpio/linux_gpio.cpp
+++ b/src/lib/drivers/linux_gpio/linux_gpio.cpp
@@ -40,7 +40,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 #define PIN_INDEX_BUFFER_MAX (16)
 #define PIN_DIRECTION_BUFFER_MAX (30 + PIN_INDEX_BUFFER_MAX)
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
index a533bd51b5..2be5227a90 100644
--- a/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
+++ b/src/lib/mathlib/math/filter/LowPassFilter2p.cpp
@@ -33,7 +33,7 @@
 
 #include "LowPassFilter2p.hpp"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <cmath>
 
diff --git a/src/lib/mathlib/math/filter/LowPassFilter2pVector3f.cpp b/src/lib/mathlib/math/filter/LowPassFilter2pVector3f.cpp
index 06ae2992bb..fb4845d19a 100644
--- a/src/lib/mathlib/math/filter/LowPassFilter2pVector3f.cpp
+++ b/src/lib/mathlib/math/filter/LowPassFilter2pVector3f.cpp
@@ -33,7 +33,7 @@
 
 #include "LowPassFilter2pVector3f.hpp"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <cmath>
 
diff --git a/src/lib/mathlib/math/matrix_alg.cpp b/src/lib/mathlib/math/matrix_alg.cpp
index e471c6bad6..5e08b80a95 100644
--- a/src/lib/mathlib/math/matrix_alg.cpp
+++ b/src/lib/mathlib/math/matrix_alg.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "matrix_alg.h"
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 /*
  *    Does matrix multiplication of two regular/square matrices
diff --git a/src/lib/mathlib/math/test/test.cpp b/src/lib/mathlib/math/test/test.cpp
index 18e4aa91d2..f6a1461f0c 100644
--- a/src/lib/mathlib/math/test/test.cpp
+++ b/src/lib/mathlib/math/test/test.cpp
@@ -41,7 +41,7 @@
 #include <math.h>
 #include <stdlib.h>
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include "test.hpp"
 
diff --git a/src/lib/mixer/mixer_group.cpp b/src/lib/mixer/mixer_group.cpp
index 92d8756cc8..ea7448c7a3 100644
--- a/src/lib/mixer/mixer_group.cpp
+++ b/src/lib/mixer/mixer_group.cpp
@@ -37,7 +37,7 @@
  * Mixer collection.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/lib/mixer/mixer_helicopter.cpp b/src/lib/mixer/mixer_helicopter.cpp
index c087b3a283..88b1f96f49 100644
--- a/src/lib/mixer/mixer_helicopter.cpp
+++ b/src/lib/mixer/mixer_helicopter.cpp
@@ -41,7 +41,7 @@
 
 #include <mathlib/mathlib.h>
 #include <cstdio>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #define debug(fmt, args...)	do { } while(0)
 //#define debug(fmt, args...)	do { printf("[mixer] " fmt "\n", ##args); } while(0)
diff --git a/src/lib/mixer/mixer_load.h b/src/lib/mixer/mixer_load.h
index 3536d7e555..d61e93b4f8 100644
--- a/src/lib/mixer/mixer_load.h
+++ b/src/lib/mixer/mixer_load.h
@@ -40,7 +40,7 @@
 #ifndef _SYSTEMLIB_MIXER_LOAD_H
 #define _SYSTEMLIB_MIXER_LOAD_H value
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 __BEGIN_DECLS
 
diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index 58735c7e06..00f81fdc7d 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -34,7 +34,7 @@
 #include "mixer_module.hpp"
 
 #include <uORB/PublicationQueued.hpp>
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 using namespace time_literals;
 
diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp
index 33a0f88b7e..11b1943a89 100644
--- a/src/lib/mixer_module/mixer_module.hpp
+++ b/src/lib/mixer_module/mixer_module.hpp
@@ -38,8 +38,8 @@
 #include <lib/mixer/mixer.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/output_limit/output_limit.h>
-#include <px4_atomic.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/atomic.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
diff --git a/src/lib/output_limit/output_limit.cpp b/src/lib/output_limit/output_limit.cpp
index 781c069b52..c997d18822 100644
--- a/src/lib/output_limit/output_limit.cpp
+++ b/src/lib/output_limit/output_limit.cpp
@@ -33,7 +33,7 @@
 
 #include "output_limit.h"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <math.h>
 #include <stdbool.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/lib/parameters/ParameterTest.cpp b/src/lib/parameters/ParameterTest.cpp
index cecb1a70da..dc1376239e 100644
--- a/src/lib/parameters/ParameterTest.cpp
+++ b/src/lib/parameters/ParameterTest.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/obstacle_distance.h>
 #include <uORB/uORBManager.hpp>
diff --git a/src/lib/parameters/flashparams/flashfs.c b/src/lib/parameters/flashparams/flashfs.c
index 2cb95435af..9d4d4a278b 100644
--- a/src/lib/parameters/flashparams/flashfs.c
+++ b/src/lib/parameters/flashparams/flashfs.c
@@ -42,8 +42,8 @@
  * foot print device.
  */
 
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 #include <crc32.h>
 #include <stddef.h>
 #include <string.h>
diff --git a/src/lib/parameters/flashparams/flashparams.cpp b/src/lib/parameters/flashparams/flashparams.cpp
index db2fdb17ce..c04f0f8574 100644
--- a/src/lib/parameters/flashparams/flashparams.cpp
+++ b/src/lib/parameters/flashparams/flashparams.cpp
@@ -42,9 +42,9 @@
  * foot print device.
  */
 
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_shutdown.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/shutdown.h>
 
 #include <string.h>
 #include <stdbool.h>
diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp
index 70cbef8ce7..35d18b0944 100644
--- a/src/lib/parameters/parameters.cpp
+++ b/src/lib/parameters/parameters.cpp
@@ -51,11 +51,11 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_sem.h>
-#include <px4_shutdown.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/shutdown.h>
 #include <systemlib/uthash/utarray.h>
 
 using namespace time_literals;
@@ -91,7 +91,7 @@ static char *param_user_file = nullptr;
 #endif
 
 #ifndef PARAM_NO_AUTOSAVE
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 /* autosaving variables */
 static hrt_abstime last_autosave_timestamp = 0;
 static struct work_s autosave_work {};
diff --git a/src/lib/parameters/parameters_shmem.cpp b/src/lib/parameters/parameters_shmem.cpp
index 9081e2ac67..82242a3174 100644
--- a/src/lib/parameters/parameters_shmem.cpp
+++ b/src/lib/parameters/parameters_shmem.cpp
@@ -50,11 +50,11 @@
 #include <math.h>
 
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_sem.h>
-#include <px4_shutdown.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/shutdown.h>
 
 #include <perf/perf_counter.h>
 #include <systemlib/uthash/utarray.h>
@@ -73,7 +73,7 @@
 
 #include <sys/stat.h>
 
-#include "shmem.h"
+#include <px4_platform_common/shmem.h>
 
 #ifdef __PX4_QURT
 static const char *param_default_file = "/dev/fs/params";
@@ -91,7 +91,7 @@ static char *param_user_file = nullptr;
 #define PARAM_CLOSE	close
 
 #ifndef PARAM_NO_AUTOSAVE
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 /* autosaving variables */
 static hrt_abstime last_autosave_timestamp = 0;
 static struct work_s autosave_work;
diff --git a/src/lib/parameters/tinybson/tinybson.cpp b/src/lib/parameters/tinybson/tinybson.cpp
index e0b27595aa..3837c7eb9e 100644
--- a/src/lib/parameters/tinybson/tinybson.cpp
+++ b/src/lib/parameters/tinybson/tinybson.cpp
@@ -37,7 +37,7 @@
  * A simple subset SAX-style BSON parser and generator.
  */
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <unistd.h>
 #include <string.h>
 #include <stdlib.h>
diff --git a/src/lib/perf/perf_counter.h b/src/lib/perf/perf_counter.h
index 923ebdbc70..ad03cc3049 100644
--- a/src/lib/perf/perf_counter.h
+++ b/src/lib/perf/perf_counter.h
@@ -40,7 +40,7 @@
 #define _SYSTEMLIB_PERF_COUNTER_H value
 
 #include <stdint.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #define LATENCY_BUCKET_COUNT 8
 
diff --git a/src/lib/pid/pid.cpp b/src/lib/pid/pid.cpp
index c7e5fe542b..748d7c3318 100644
--- a/src/lib/pid/pid.cpp
+++ b/src/lib/pid/pid.cpp
@@ -50,7 +50,7 @@
 
 #include "pid.h"
 #include <math.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #define SIGMA 0.000001f
 
diff --git a/src/lib/rc/crsf.h b/src/lib/rc/crsf.h
index 52639a6c89..6840c685ee 100644
--- a/src/lib/rc/crsf.h
+++ b/src/lib/rc/crsf.h
@@ -45,7 +45,7 @@
 #pragma once
 
 #include <stdint.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 __BEGIN_DECLS
 
diff --git a/src/lib/rc/dsm.cpp b/src/lib/rc/dsm.cpp
index fe9f380f84..05f3b36673 100644
--- a/src/lib/rc/dsm.cpp
+++ b/src/lib/rc/dsm.cpp
@@ -39,9 +39,9 @@
  * Decodes into the global PPM buffer and updates accordingly.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <board_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <fcntl.h>
 #include <unistd.h>
diff --git a/src/lib/rc/dsm.h b/src/lib/rc/dsm.h
index be69d03d21..95f3323b97 100644
--- a/src/lib/rc/dsm.h
+++ b/src/lib/rc/dsm.h
@@ -43,8 +43,8 @@
 
 #include <stdint.h>
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 __BEGIN_DECLS
 
diff --git a/src/lib/rc/sbus.cpp b/src/lib/rc/sbus.cpp
index a765460e94..191c9936b3 100644
--- a/src/lib/rc/sbus.cpp
+++ b/src/lib/rc/sbus.cpp
@@ -37,7 +37,7 @@
  * Serial protocol decoder for the Futaba S.bus protocol.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <fcntl.h>
 #include <unistd.h>
diff --git a/src/lib/systemlib/conversions.c b/src/lib/systemlib/conversions.c
index 08eeefcaf2..94ff326e80 100644
--- a/src/lib/systemlib/conversions.c
+++ b/src/lib/systemlib/conversions.c
@@ -37,7 +37,7 @@
  * Implementation of commonly used conversions.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <float.h>
 
 #include "conversions.h"
diff --git a/src/lib/systemlib/cpuload.c b/src/lib/systemlib/cpuload.c
index 4e18b65776..24ad7f07f0 100644
--- a/src/lib/systemlib/cpuload.c
+++ b/src/lib/systemlib/cpuload.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/lib/systemlib/err.h b/src/lib/systemlib/err.h
index 506cfb9742..4bd95acd6b 100644
--- a/src/lib/systemlib/err.h
+++ b/src/lib/systemlib/err.h
@@ -65,7 +65,7 @@
 #ifndef _SYSTEMLIB_ERR_H
 #define _SYSTEMLIB_ERR_H
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <stdarg.h>
 #include <errno.h>
 #include <stdlib.h>
diff --git a/src/lib/systemlib/hardfault_log.h b/src/lib/systemlib/hardfault_log.h
index 97d531891c..1c5df3fa82 100644
--- a/src/lib/systemlib/hardfault_log.h
+++ b/src/lib/systemlib/hardfault_log.h
@@ -35,7 +35,7 @@
 /****************************************************************************
  * Included Files
  ****************************************************************************/
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/px4_macros.h>
 
 /****************************************************************************
diff --git a/src/lib/systemlib/mavlink_log.cpp b/src/lib/systemlib/mavlink_log.cpp
index 142be78ced..d31136f215 100644
--- a/src/lib/systemlib/mavlink_log.cpp
+++ b/src/lib/systemlib/mavlink_log.cpp
@@ -39,7 +39,7 @@
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <string.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/lib/systemlib/otp.c b/src/lib/systemlib/otp.c
index 89329d0b55..0c070a5146 100644
--- a/src/lib/systemlib/otp.c
+++ b/src/lib/systemlib/otp.c
@@ -43,7 +43,7 @@
  *
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <board_config.h>
 #include <stdio.h>
 #include <math.h>
diff --git a/src/lib/systemlib/print_load_posix.c b/src/lib/systemlib/print_load_posix.c
index bad3d95387..55536d3780 100644
--- a/src/lib/systemlib/print_load_posix.c
+++ b/src/lib/systemlib/print_load_posix.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 #include <unistd.h>
 #include <string.h>
diff --git a/src/lib/systemlib/printload.h b/src/lib/systemlib/printload.h
index 7ab5cdc2cb..70498930c4 100644
--- a/src/lib/systemlib/printload.h
+++ b/src/lib/systemlib/printload.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdint.h>
 
diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp
index bf24de1567..13c2d4def0 100644
--- a/src/lib/terrain_estimation/terrain_estimator.cpp
+++ b/src/lib/terrain_estimation/terrain_estimator.cpp
@@ -38,7 +38,7 @@
 
 #include "terrain_estimator.h"
 #include <lib/ecl/geo/geo.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #define DISTANCE_TIMEOUT 100000		// time in usec after which laser is considered dead
 
diff --git a/src/lib/tunes/tunes.cpp b/src/lib/tunes/tunes.cpp
index 5934153538..5e45bead63 100644
--- a/src/lib/tunes/tunes.cpp
+++ b/src/lib/tunes/tunes.cpp
@@ -37,7 +37,7 @@
 
 #include "tunes.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <math.h>
 #include <ctype.h>
 #include <errno.h>
diff --git a/src/lib/version/version.h b/src/lib/version/version.h
index 3c02e89eeb..4db5927140 100644
--- a/src/lib/version/version.h
+++ b/src/lib/version/version.h
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <systemlib/px4_macros.h>
 #include <stdint.h>
 
diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp
index 3106cffca7..e92b941932 100644
--- a/src/modules/airspeed_selector/airspeed_selector_main.cpp
+++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp
@@ -36,8 +36,8 @@
 #include <matrix/math.hpp>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/airspeed/airspeed.h>
 #include <AirspeedValidator.hpp>
diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
index 92164319f3..219d515043 100644
--- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
@@ -47,9 +47,9 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/parameters/param.h>
 #include <matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
diff --git a/src/modules/battery_status/battery_status.cpp b/src/modules/battery_status/battery_status.cpp
index cbd8d52942..f6bab0100d 100644
--- a/src/modules/battery_status/battery_status.cpp
+++ b/src/modules/battery_status/battery_status.cpp
@@ -41,14 +41,14 @@
  * @author Beat Küng <beat-kueng@gmx.net>
  */
 
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/log.h>
 #include <lib/mathlib/mathlib.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_adc.h>
diff --git a/src/modules/battery_status/parameters.cpp b/src/modules/battery_status/parameters.cpp
index ba1a611a67..4b2e3a41bd 100644
--- a/src/modules/battery_status/parameters.cpp
+++ b/src/modules/battery_status/parameters.cpp
@@ -39,7 +39,7 @@
 
 #include "parameters.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 namespace battery_status
 {
diff --git a/src/modules/battery_status/parameters.h b/src/modules/battery_status/parameters.h
index 3cd23d0008..213d258254 100644
--- a/src/modules/battery_status/parameters.h
+++ b/src/modules/battery_status/parameters.h
@@ -40,7 +40,7 @@
  *
  * @author Beat Kueng <beat-kueng@gmx.net>
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/drv_rc_input.h>
 
 #include <parameters/param.h>
diff --git a/src/modules/camera_feedback/camera_feedback.hpp b/src/modules/camera_feedback/camera_feedback.hpp
index 69487f5d8a..aac70a4a89 100644
--- a/src/modules/camera_feedback/camera_feedback.hpp
+++ b/src/modules/camera_feedback/camera_feedback.hpp
@@ -48,10 +48,10 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_hrt.h>
 
 #include <uORB/uORB.h>
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 03a308287e..c3c9e36edc 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -67,12 +67,12 @@
 #include <lib/ecl/geo/geo.h>
 #include <mathlib/mathlib.h>
 #include <navigator/navigation.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_shutdown.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/shutdown.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <circuit_breaker/circuit_breaker.h>
 #include <systemlib/mavlink_log.h>
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index a32ac7df6e..30f8343bbb 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -39,8 +39,8 @@
 
 #include <lib/controllib/blocks.hpp>
 #include <lib/mathlib/mathlib.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <lib/hysteresis/hysteresis.h>
 
 // publications
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 4efb557c37..4328a4211c 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -127,9 +127,9 @@
 #include "calibration_routines.h"
 #include "commander_helper.h"
 
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
index 5788dcda45..21e1cd9861 100644
--- a/src/modules/commander/airspeed_calibration.cpp
+++ b/src/modules/commander/airspeed_calibration.cpp
@@ -41,9 +41,9 @@
 #include "calibration_routines.h"
 #include "commander_helper.h"
 
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <fcntl.h>
diff --git a/src/modules/commander/arm_auth.cpp b/src/modules/commander/arm_auth.cpp
index 5be6cc73b4..0eb131933c 100644
--- a/src/modules/commander/arm_auth.cpp
+++ b/src/modules/commander/arm_auth.cpp
@@ -35,8 +35,8 @@
 #include <string.h>
 #include <unistd.h>
 
-#include <px4_defines.h>
-#include <px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <systemlib/mavlink_log.h>
 #include <uORB/PublicationQueued.hpp>
diff --git a/src/modules/commander/baro_calibration.cpp b/src/modules/commander/baro_calibration.cpp
index acd0cf71e8..7c9824d87a 100644
--- a/src/modules/commander/baro_calibration.cpp
+++ b/src/modules/commander/baro_calibration.cpp
@@ -41,7 +41,7 @@
 #include <poll.h>
 #include <math.h>
 #include <fcntl.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/topics/sensor_combined.h>
 #include <drivers/drv_baro.h>
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 4ff9a36c19..8a0cfa7b34 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -38,9 +38,9 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <math.h>
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 3f02123107..473141fb1a 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -41,8 +41,8 @@
  *
  */
 
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <stdint.h>
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp
index 7050f93a99..bc1a6a91ce 100644
--- a/src/modules/commander/esc_calibration.cpp
+++ b/src/modules/commander/esc_calibration.cpp
@@ -45,9 +45,9 @@
 
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <systemlib/mavlink_log.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index d99d41ffd0..57737f7b71 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -45,7 +45,7 @@
 
 #include <matrix/matrix/math.hpp>
 #include <mathlib/mathlib.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <hysteresis/hysteresis.h>
 
 // subscriptions
diff --git a/src/modules/commander/failure_detector/failure_detector_params.c b/src/modules/commander/failure_detector/failure_detector_params.c
index 08564a9ff2..c33afcdcf5 100644
--- a/src/modules/commander/failure_detector/failure_detector_params.c
+++ b/src/modules/commander/failure_detector/failure_detector_params.c
@@ -39,7 +39,7 @@
  * @author Mathieu Bresciani <brescianimathieu@gmail.com>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 3346962a48..ed4f18b9c4 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -37,15 +37,15 @@
  * Gyroscope calibration routine
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include "gyro_calibration.h"
 #include "calibration_messages.h"
 #include "calibration_routines.h"
 #include "commander_helper.h"
 
-#include <px4_posix.h>
-#include <px4_defines.h>
-#include <px4_time.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <fcntl.h>
diff --git a/src/modules/commander/health_flag_helper.h b/src/modules/commander/health_flag_helper.h
index 70bc1883ac..525410bfa0 100644
--- a/src/modules/commander/health_flag_helper.h
+++ b/src/modules/commander/health_flag_helper.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <uORB/topics/vehicle_status.h>
 
 void set_health_flags(uint64_t subsystem_type, bool present, bool enabled, bool ok, vehicle_status_s &status);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 7701de9666..a1a7355cf4 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -42,9 +42,9 @@
 #include "calibration_routines.h"
 #include "calibration_messages.h"
 
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <unistd.h>
 #include <stdlib.h>
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp
index 0837fb1ebc..6a0a5ae7dc 100644
--- a/src/modules/commander/rc_calibration.cpp
+++ b/src/modules/commander/rc_calibration.cpp
@@ -36,9 +36,9 @@
  * Remote Control calibration routine
  */
 
-#include <px4_posix.h>
-#include <px4_time.h>
-#include <px4_defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/defines.h>
 
 #include "rc_calibration.h"
 #include "commander_helper.h"
diff --git a/src/modules/commander/rc_check.cpp b/src/modules/commander/rc_check.cpp
index 8d0c225274..ace9176fac 100644
--- a/src/modules/commander/rc_check.cpp
+++ b/src/modules/commander/rc_check.cpp
@@ -39,8 +39,8 @@
 
 #include "rc_check.h"
 
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 
 #include <stdio.h>
 #include <unistd.h>
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 06396cb821..6055e0935f 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -39,7 +39,7 @@
  * @author Julian Oes		<julian@oes.ch>
  * @author Sander Smeets	<sander@droneslab.com>
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/vehicle_status.h>
diff --git a/src/modules/dataman/dataman.cpp b/src/modules/dataman/dataman.cpp
index 7727042903..7239fb679c 100644
--- a/src/modules/dataman/dataman.cpp
+++ b/src/modules/dataman/dataman.cpp
@@ -41,12 +41,12 @@
  * @author David Sidrane
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/getopt.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <stdlib.h>
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 7060c56e67..7340cffc82 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -44,12 +44,12 @@
 #include <lib/ecl/EKF/ekf.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/events/events_params.c b/src/modules/events/events_params.c
index 8e9b65bd2a..d9336bf32d 100644
--- a/src/modules/events/events_params.c
+++ b/src/modules/events/events_params.c
@@ -37,7 +37,7 @@
  * Parameters defined by the events module.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <parameters/param.h>
 
 /**
diff --git a/src/modules/events/rc_loss_alarm.cpp b/src/modules/events/rc_loss_alarm.cpp
index 090305475b..8df8de41fc 100644
--- a/src/modules/events/rc_loss_alarm.cpp
+++ b/src/modules/events/rc_loss_alarm.cpp
@@ -38,7 +38,7 @@
 
 #include "rc_loss_alarm.h"
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <drivers/drv_hrt.h>
 #include <stdint.h>
diff --git a/src/modules/events/send_event.cpp b/src/modules/events/send_event.cpp
index 0a1ffa64cd..4cd7cdcee2 100644
--- a/src/modules/events/send_event.cpp
+++ b/src/modules/events/send_event.cpp
@@ -36,8 +36,8 @@
 
 #include <math.h>
 
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 #include <drivers/drv_hrt.h>
 
 namespace events
diff --git a/src/modules/events/send_event.h b/src/modules/events/send_event.h
index 805084cabd..741fc5d999 100644
--- a/src/modules/events/send_event.h
+++ b/src/modules/events/send_event.h
@@ -37,9 +37,9 @@
 #include "status_display.h"
 #include "rc_loss_alarm.h"
 
-#include <px4_workqueue.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/workqueue.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
diff --git a/src/modules/events/subscriber_handler.cpp b/src/modules/events/subscriber_handler.cpp
index 5ab281a234..97a61f5106 100644
--- a/src/modules/events/subscriber_handler.cpp
+++ b/src/modules/events/subscriber_handler.cpp
@@ -1,7 +1,7 @@
 
 #include "subscriber_handler.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 namespace events
 {
diff --git a/src/modules/events/temperature_calibration/common.h b/src/modules/events/temperature_calibration/common.h
index 27b566220e..f858bbee14 100644
--- a/src/modules/events/temperature_calibration/common.h
+++ b/src/modules/events/temperature_calibration/common.h
@@ -40,7 +40,7 @@
 #define TC_DEBUG(fmt, ...)
 #endif
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <mathlib/mathlib.h>
 
 #include "polyfit.hpp"
diff --git a/src/modules/events/temperature_calibration/polyfit.hpp b/src/modules/events/temperature_calibration/polyfit.hpp
index b3d0e95bc6..2758556c54 100644
--- a/src/modules/events/temperature_calibration/polyfit.hpp
+++ b/src/modules/events/temperature_calibration/polyfit.hpp
@@ -88,11 +88,11 @@ Author: Siddharth Bharat Purohit
 */
 
 #pragma once
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/events/temperature_calibration/task.cpp b/src/modules/events/temperature_calibration/task.cpp
index 29283014b4..548e754c1b 100644
--- a/src/modules/events/temperature_calibration/task.cpp
+++ b/src/modules/events/temperature_calibration/task.cpp
@@ -42,9 +42,9 @@
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/sensor_gyro.h>
 #include <mathlib/mathlib.h>
-#include <px4_log.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_led.h>
 
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index d77638663f..718894bfb7 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -41,13 +41,13 @@
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 #include <matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
-#include <px4_posix.h>
-#include <px4_tasks.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 28a93b7048..3c6e566de0 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -60,11 +60,11 @@
 #include <lib/landing_slope/Landingslope.hpp>
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp b/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp
index 3c63e30dcb..5a610b5037 100644
--- a/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp
+++ b/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.cpp
@@ -41,7 +41,7 @@
 
 #include "CatapultLaunchMethod.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 namespace launchdetection
 {
diff --git a/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h b/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h
index 9b13d8d45b..07ed2cac66 100644
--- a/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h
+++ b/src/modules/fw_pos_control_l1/launchdetection/CatapultLaunchMethod.h
@@ -44,7 +44,7 @@
 #include "LaunchMethod.h"
 
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 namespace launchdetection
 {
diff --git a/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp b/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp
index 36f36f1ab0..6403891bc6 100644
--- a/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp
+++ b/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp
@@ -40,7 +40,7 @@
 #include "CatapultLaunchMethod.h"
 #include "LaunchDetector.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 namespace launchdetection
 {
diff --git a/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h b/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h
index a01ef51644..e08570b15f 100644
--- a/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h
+++ b/src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h
@@ -42,7 +42,7 @@
 #define LAUNCHDETECTOR_H
 
 #include "LaunchMethod.h"
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 namespace launchdetection
 {
diff --git a/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h b/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h
index b4f9c981ac..92bb8cef4d 100644
--- a/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h
+++ b/src/modules/fw_pos_control_l1/runway_takeoff/RunwayTakeoff.h
@@ -46,7 +46,7 @@
 #include <math.h>
 
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <systemlib/mavlink_log.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index 361538a5ab..da72901284 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -46,12 +46,12 @@
 #include <lib/hysteresis/hysteresis.h>
 #include <math.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp
index c01d3a3986..752af2c479 100644
--- a/src/modules/land_detector/land_detector_main.cpp
+++ b/src/modules/land_detector/land_detector_main.cpp
@@ -40,10 +40,10 @@
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 
 #include "FixedwingLandDetector.h"
 #include "MulticopterLandDetector.h"
diff --git a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
index 027a8627e0..b9e9dc5882 100644
--- a/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
+++ b/src/modules/landing_target_estimator/LandingTargetEstimator.cpp
@@ -39,8 +39,8 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 
 #include "LandingTargetEstimator.h"
diff --git a/src/modules/landing_target_estimator/LandingTargetEstimator.h b/src/modules/landing_target_estimator/LandingTargetEstimator.h
index ef4a120617..2fa556c3b2 100644
--- a/src/modules/landing_target_estimator/LandingTargetEstimator.h
+++ b/src/modules/landing_target_estimator/LandingTargetEstimator.h
@@ -42,7 +42,7 @@
 
 #pragma once
 
-#include <px4_workqueue.h>
+#include <px4_platform_common/workqueue.h>
 #include <drivers/drv_hrt.h>
 #include <parameters/param.h>
 #include <uORB/Publication.hpp>
diff --git a/src/modules/landing_target_estimator/landing_target_estimator_main.cpp b/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
index db00255f6c..5cbe7eee18 100644
--- a/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
+++ b/src/modules/landing_target_estimator/landing_target_estimator_main.cpp
@@ -40,10 +40,10 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/modules/load_mon/load_mon.cpp b/src/modules/load_mon/load_mon.cpp
index 1152c1a5a9..c3d46aa669 100644
--- a/src/modules/load_mon/load_mon.cpp
+++ b/src/modules/load_mon/load_mon.cpp
@@ -41,10 +41,10 @@
 
 #include <drivers/drv_hrt.h>
 #include <lib/perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/cpuload.h>
 #include <uORB/Publication.hpp>
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index 4ebfd8045c..9fc6a9b7d1 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -1,8 +1,8 @@
 #pragma once
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <controllib/blocks.hpp>
 #include <mathlib/mathlib.h>
 #include <lib/ecl/geo/geo.h>
diff --git a/src/modules/local_position_estimator/local_position_estimator_main.cpp b/src/modules/local_position_estimator/local_position_estimator_main.cpp
index 12afd159a9..958899a69e 100644
--- a/src/modules/local_position_estimator/local_position_estimator_main.cpp
+++ b/src/modules/local_position_estimator/local_position_estimator_main.cpp
@@ -40,9 +40,9 @@
  * Local position estimator
  */
 
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
 
 #include "BlockLocalPositionEstimator.hpp"
 
diff --git a/src/modules/logger/log_writer_file.cpp b/src/modules/logger/log_writer_file.cpp
index 05a3ebbe40..8f401ce505 100644
--- a/src/modules/logger/log_writer_file.cpp
+++ b/src/modules/logger/log_writer_file.cpp
@@ -39,7 +39,7 @@
 #include <errno.h>
 
 #include <mathlib/mathlib.h>
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #ifdef __PX4_NUTTX
 #include <systemlib/hardfault_log.h>
 #endif /* __PX4_NUTTX */
diff --git a/src/modules/logger/log_writer_file.h b/src/modules/logger/log_writer_file.h
index 9c227d3d1c..b3649b053d 100644
--- a/src/modules/logger/log_writer_file.h
+++ b/src/modules/logger/log_writer_file.h
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdint.h>
 #include <pthread.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/logger/log_writer_mavlink.cpp b/src/modules/logger/log_writer_mavlink.cpp
index 51b1f1c30f..1c2a7b4bc4 100644
--- a/src/modules/logger/log_writer_mavlink.cpp
+++ b/src/modules/logger/log_writer_mavlink.cpp
@@ -36,8 +36,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 #include <cstring>
 
 namespace px4
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 0f49e32f3d..70b807b828 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_console_buffer.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
 #include "logger.h"
 #include "messages.h"
 #include "watchdog.h"
@@ -51,12 +51,12 @@
 
 #include <drivers/drv_hrt.h>
 #include <mathlib/math/Limits.hpp>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_posix.h>
-#include <px4_sem.h>
-#include <px4_shutdown.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/sem.h>
+#include <px4_platform_common/shutdown.h>
+#include <px4_platform_common/tasks.h>
 #include <systemlib/mavlink_log.h>
 #include <replay/definitions.hpp>
 #include <version/version.h>
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index 2c5dc56f7c..0f97f1d3c7 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -37,12 +37,12 @@
 #include "messages.h"
 #include <containers/Array.hpp>
 #include "util.h"
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
 #include <version/version.h>
 #include <parameters/param.h>
 #include <systemlib/printload.h>
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
diff --git a/src/modules/logger/util.cpp b/src/modules/logger/util.cpp
index 832718593d..799df123bc 100644
--- a/src/modules/logger/util.cpp
+++ b/src/modules/logger/util.cpp
@@ -43,8 +43,8 @@
 #include <uORB/topics/vehicle_gps_position.h>
 
 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 #include <systemlib/mavlink_log.h>
 
 #if defined(__PX4_DARWIN)
diff --git a/src/modules/logger/watchdog.cpp b/src/modules/logger/watchdog.cpp
index 4bf734c0b6..c7328bd3ed 100644
--- a/src/modules/logger/watchdog.cpp
+++ b/src/modules/logger/watchdog.cpp
@@ -33,7 +33,7 @@
 
 #include "watchdog.h"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #if defined(__PX4_NUTTX) && !defined(CONFIG_SCHED_INSTRUMENTATION)
 #  error watchdog support requires CONFIG_SCHED_INSTRUMENTATION
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 176ae95919..444c8f6979 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdbool.h>
diff --git a/src/modules/mavlink/mavlink_command_sender.cpp b/src/modules/mavlink/mavlink_command_sender.cpp
index 841de386a1..1355bcce9d 100644
--- a/src/modules/mavlink/mavlink_command_sender.cpp
+++ b/src/modules/mavlink/mavlink_command_sender.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "mavlink_command_sender.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 #define CMD_DEBUG(FMT, ...) PX4_LOG_NAMED_COND("cmd sender", _debug_enabled, FMT, ##__VA_ARGS__)
 
diff --git a/src/modules/mavlink/mavlink_command_sender.h b/src/modules/mavlink/mavlink_command_sender.h
index ba36af1155..46b5ca88dc 100644
--- a/src/modules/mavlink/mavlink_command_sender.h
+++ b/src/modules/mavlink/mavlink_command_sender.h
@@ -40,8 +40,8 @@
 
 #pragma once
 
-#include <px4_tasks.h>
-#include <px4_sem.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/sem.h>
 #include <drivers/drv_hrt.h>
 
 #include <uORB/topics/vehicle_command.h>
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index a94f61cd21..4d3622bd54 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -39,7 +39,7 @@
 #include <dirent.h>
 #include <queue.h>
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
 
diff --git a/src/modules/mavlink/mavlink_main.h b/src/modules/mavlink/mavlink_main.h
index 1b871073be..b29c901748 100644
--- a/src/modules/mavlink/mavlink_main.h
+++ b/src/modules/mavlink/mavlink_main.h
@@ -62,13 +62,13 @@
 #include <drivers/device/ringbuffer.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <px4_cli.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/cli.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 #include <systemlib/mavlink_log.h>
 #include <systemlib/uthash/utlist.h>
 #include <uORB/PublicationQueued.hpp>
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index ddd89820f2..d51013439c 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -51,7 +51,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
-#include <px4_time.h>
+#include <px4_platform_common/time.h>
 #include <systemlib/mavlink_log.h>
 #include <math.h>
 
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 68ec839cd9..857ec0aa2f 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -46,7 +46,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <systemlib/err.h>
 #include <drivers/drv_hrt.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <navigator/navigation.h>
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index f826883051..3062f2e63a 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -47,7 +47,7 @@
 #include "mavlink_parameters.h"
 #include "mavlink_timesync.h"
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/PublicationMulti.hpp>
diff --git a/src/modules/mavlink/mavlink_shell.cpp b/src/modules/mavlink/mavlink_shell.cpp
index 55fc85fa68..afad6a0779 100644
--- a/src/modules/mavlink/mavlink_shell.cpp
+++ b/src/modules/mavlink/mavlink_shell.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "mavlink_shell.h"
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <unistd.h>
 #include <errno.h>
diff --git a/src/modules/mavlink/mavlink_shell.h b/src/modules/mavlink/mavlink_shell.h
index 53bbc32931..649b429b45 100644
--- a/src/modules/mavlink/mavlink_shell.h
+++ b/src/modules/mavlink/mavlink_shell.h
@@ -41,7 +41,7 @@
 
 #include <stddef.h>
 #include <stdint.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 
 #pragma once
 
diff --git a/src/modules/mavlink/mavlink_simple_analyzer.cpp b/src/modules/mavlink/mavlink_simple_analyzer.cpp
index b49fce369c..7ec6edfa39 100644
--- a/src/modules/mavlink/mavlink_simple_analyzer.cpp
+++ b/src/modules/mavlink/mavlink_simple_analyzer.cpp
@@ -41,8 +41,8 @@
 
 #include <float.h>
 
-#include <px4_log.h>
-#include <px4_defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/defines.h>
 
 SimpleAnalyzer::SimpleAnalyzer(Mode mode, float window) :
 	_window(window),
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 8e9bcfffc9..15f956e5a8 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -42,7 +42,7 @@
 #define MAVLINK_STREAM_H_
 
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <containers/List.hpp>
 
 class Mavlink;
diff --git a/src/modules/mavlink/mavlink_ulog.cpp b/src/modules/mavlink/mavlink_ulog.cpp
index 27f85c38f9..1c4a10ca2e 100644
--- a/src/modules/mavlink/mavlink_ulog.cpp
+++ b/src/modules/mavlink/mavlink_ulog.cpp
@@ -39,7 +39,7 @@
  */
 
 #include "mavlink_ulog.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <errno.h>
 #include <mathlib/mathlib.h>
 
diff --git a/src/modules/mavlink/mavlink_ulog.h b/src/modules/mavlink/mavlink_ulog.h
index 95400617d1..c0b81b1998 100644
--- a/src/modules/mavlink/mavlink_ulog.h
+++ b/src/modules/mavlink/mavlink_ulog.h
@@ -42,8 +42,8 @@
 
 #include <stddef.h>
 #include <stdint.h>
-#include <px4_tasks.h>
-#include <px4_sem.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/sem.h>
 #include <drivers/drv_hrt.h>
 
 #include <uORB/Publication.hpp>
diff --git a/src/modules/mc_att_control/RateControl/RateControl.cpp b/src/modules/mc_att_control/RateControl/RateControl.cpp
index 0715f82ebb..83605049e0 100644
--- a/src/modules/mc_att_control/RateControl/RateControl.cpp
+++ b/src/modules/mc_att_control/RateControl/RateControl.cpp
@@ -36,7 +36,7 @@
  */
 
 #include <RateControl.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 using namespace matrix;
 
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
index 49fa149582..5d6770b335 100644
--- a/src/modules/mc_att_control/mc_att_control.hpp
+++ b/src/modules/mc_att_control/mc_att_control.hpp
@@ -34,11 +34,11 @@
 #include <lib/mixer/mixer.h>
 #include <matrix/matrix/math.hpp>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
diff --git a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp
index 655b0f9fda..7bc9c6120f 100644
--- a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp
+++ b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp
@@ -37,7 +37,7 @@
  */
 
 #include "ControlMath.hpp"
-#include <platforms/px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <float.h>
 #include <mathlib/mathlib.h>
 
diff --git a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
index 600eb1cd0c..0594d15bb5 100644
--- a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
+++ b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
@@ -33,7 +33,7 @@
 
 #include <gtest/gtest.h>
 #include <ControlMath.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 using namespace matrix;
 using namespace ControlMath;
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
index 736df064f1..c75c0f703f 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp
@@ -39,7 +39,7 @@
 #include <float.h>
 #include <mathlib/mathlib.h>
 #include <ControlMath.hpp>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 using namespace matrix;
 
diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
index b2dfb777b4..c881762660 100644
--- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
+++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp
@@ -43,7 +43,7 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
 #include <uORB/topics/vehicle_constraints.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #pragma once
 
 struct PositionControlStates {
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index e8140e158a..6d985d6008 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -45,13 +45,13 @@
 #include <lib/perf/perf_counter.h>
 #include <lib/systemlib/mavlink_log.h>
 #include <lib/WeatherVane/WeatherVane.hpp>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
index 973d81d628..7b06bda337 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h
@@ -41,11 +41,11 @@
 #include <termios.h>
 
 #include <ucdr/microcdr.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <uORB/uORB.h>
 
 #define BUFFER_SIZE 1024
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
index 54643e36b0..f544c0b5a0 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_dummy.cpp
@@ -30,9 +30,9 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 
 #include <cstring>
 
diff --git a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
index 0e80dd987d..ae33dc35ca 100644
--- a/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
+++ b/src/modules/micrortps_bridge/micrortps_client/microRTPS_client_main.cpp
@@ -39,13 +39,13 @@
 #include <ctime>
 #include <termios.h>
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_cli.h>
-#include <px4_module.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/cli.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 
 extern "C" __EXPORT int micrortps_client_main(int argc, char *argv[]);
 
diff --git a/src/modules/muorb/adsp/px4muorb.cpp b/src/modules/muorb/adsp/px4muorb.cpp
index b791ebb983..0ef6894d45 100644
--- a/src/modules/muorb/adsp/px4muorb.cpp
+++ b/src/modules/muorb/adsp/px4muorb.cpp
@@ -35,14 +35,14 @@
 #include "uORBFastRpcChannel.hpp"
 #include "uORBManager.hpp"
 
-#include <px4_tasks.h>
-#include <px4_posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
 #include <dspal_platform.h>
-#include "px4_log.h"
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
 #include <parameters/param.h>
-#include <shmem.h>
+#include <px4_platform_common/shmem.h>
+#include <px4_platform_common/log.h>
 
 __BEGIN_DECLS
 extern int dspal_main(int argc, char *argv[]);
diff --git a/src/modules/muorb/adsp/uORBFastRpcChannel.cpp b/src/modules/muorb/adsp/uORBFastRpcChannel.cpp
index e7c0cc2494..4e0f07a0b8 100644
--- a/src/modules/muorb/adsp/uORBFastRpcChannel.cpp
+++ b/src/modules/muorb/adsp/uORBFastRpcChannel.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 #include "uORBFastRpcChannel.hpp"
-#include "px4_log.h"
+#include <px4_platform_common/log.h>
 #include <algorithm>
 #include <string.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/muorb/adsp/uORBFastRpcChannel.hpp b/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
index b908091b29..c83b631266 100644
--- a/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
+++ b/src/modules/muorb/adsp/uORBFastRpcChannel.hpp
@@ -39,7 +39,7 @@
 #include "uORB/uORBCommunicator.hpp"
 #include <semaphore.h>
 #include <set>
-#include <px4_sem.h>
+#include <px4_platform_common/sem.h>
 
 namespace uORB
 {
diff --git a/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp b/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
index b48c09a088..a61606376c 100644
--- a/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
+++ b/src/modules/muorb/krait/px4muorb_KraitRpcWrapper.cpp
@@ -37,8 +37,8 @@
 #include "px4muorb_KraitRpcWrapper.hpp"
 #include <rpcmem.h>
 #include <px4muorb.h>
-#include "px4_log.h"
-#include <shmem.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/shmem.h>
 #include <drivers/drv_hrt.h>
 #include <string.h>
 
diff --git a/src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp b/src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp
index dae0d0260e..a811db5340 100644
--- a/src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp
+++ b/src/modules/muorb/krait/uORBKraitFastRpcChannel.cpp
@@ -32,8 +32,8 @@
  ****************************************************************************/
 
 #include "uORBKraitFastRpcChannel.hpp"
-#include "px4_log.h"
-#include "px4_tasks.h"
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/drv_hrt.h>
 #include <cstdio>
 #include <pthread.h>
diff --git a/src/modules/muorb/test/muorb_test_example.cpp b/src/modules/muorb/test/muorb_test_example.cpp
index 364b24981f..c5bc6dae89 100644
--- a/src/modules/muorb/test/muorb_test_example.cpp
+++ b/src/modules/muorb/test/muorb_test_example.cpp
@@ -39,10 +39,10 @@
  */
 
 #include "muorb_test_example.h"
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <unistd.h>
 #include <stdio.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/muorb/test/muorb_test_example.h b/src/modules/muorb/test/muorb_test_example.h
index ab3743d2d7..1925ba190f 100644
--- a/src/modules/muorb/test/muorb_test_example.h
+++ b/src/modules/muorb/test/muorb_test_example.h
@@ -39,7 +39,7 @@
  */
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 #include "uORB/topics/esc_status.h"
 #include "uORB/topics/vehicle_command.h"
 
diff --git a/src/modules/muorb/test/muorb_test_main.cpp b/src/modules/muorb/test/muorb_test_main.cpp
index 995cc49da1..551b18ea64 100644
--- a/src/modules/muorb/test/muorb_test_main.cpp
+++ b/src/modules/muorb/test/muorb_test_main.cpp
@@ -37,9 +37,9 @@
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 #include "muorb_test_example.h"
 #include <stdio.h>
 #include "uORB/uORBManager.hpp"
diff --git a/src/modules/muorb/test/muorb_test_start_posix.cpp b/src/modules/muorb/test/muorb_test_start_posix.cpp
index 20227ba54e..3ca3b2c0ee 100644
--- a/src/modules/muorb/test/muorb_test_start_posix.cpp
+++ b/src/modules/muorb/test/muorb_test_start_posix.cpp
@@ -38,9 +38,9 @@
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
 #include "muorb_test_example.h"
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 #include <stdio.h>
 #include <string.h>
 #include <sched.h>
diff --git a/src/modules/navigator/datalinkloss.h b/src/modules/navigator/datalinkloss.h
index dc4d06dabc..2a7a13b116 100644
--- a/src/modules/navigator/datalinkloss.h
+++ b/src/modules/navigator/datalinkloss.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 #include "navigator_mode.h"
 #include "mission_block.h"
diff --git a/src/modules/navigator/follow_target.h b/src/modules/navigator/follow_target.h
index 6dbe203c55..25086dca8e 100644
--- a/src/modules/navigator/follow_target.h
+++ b/src/modules/navigator/follow_target.h
@@ -46,7 +46,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/follow_target.h>
 
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index 35d20f9b2d..207c1677ca 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -42,10 +42,10 @@
 
 #include <float.h>
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <drivers/drv_hrt.h>
 #include <lib/ecl/geo/geo.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/vehicle_global_position.h>
diff --git a/src/modules/navigator/gpsfailure.h b/src/modules/navigator/gpsfailure.h
index 536f55b279..bfe56a71b9 100644
--- a/src/modules/navigator/gpsfailure.h
+++ b/src/modules/navigator/gpsfailure.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 #include "mission_block.h"
 
diff --git a/src/modules/navigator/loiter.h b/src/modules/navigator/loiter.h
index e8fd0ed514..9d2e84cda4 100644
--- a/src/modules/navigator/loiter.h
+++ b/src/modules/navigator/loiter.h
@@ -43,7 +43,7 @@
 #include "navigator_mode.h"
 #include "mission_block.h"
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 class Loiter : public MissionBlock, public ModuleParams
 {
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index da7852b4f8..db8c7fe80b 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -52,7 +52,7 @@
 
 #include <dataman/dataman.h>
 #include <drivers/drv_hrt.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/home_position.h>
 #include <uORB/topics/mission.h>
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 26d2e7598b..6f431581d0 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -58,8 +58,8 @@
 #include "navigation.h"
 
 #include <lib/perf/perf_counter.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/geofence_result.h>
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index f36e6a736c..877a0641b0 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -52,10 +52,10 @@
 #include <drivers/drv_hrt.h>
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 #include <systemlib/mavlink_log.h>
 
 /**
diff --git a/src/modules/navigator/precland.h b/src/modules/navigator/precland.h
index 06fe51762d..12edafd877 100644
--- a/src/modules/navigator/precland.h
+++ b/src/modules/navigator/precland.h
@@ -42,7 +42,7 @@
 
 #include <matrix/math.hpp>
 #include <lib/ecl/geo/geo.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/landing_target_pose.h>
 
diff --git a/src/modules/navigator/rcloss.h b/src/modules/navigator/rcloss.h
index 561d457f3a..1cae2ffed9 100644
--- a/src/modules/navigator/rcloss.h
+++ b/src/modules/navigator/rcloss.h
@@ -39,7 +39,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 #include "navigator_mode.h"
 #include "mission_block.h"
diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h
index 1b71f43c3c..a604fceaf4 100644
--- a/src/modules/navigator/rtl.h
+++ b/src/modules/navigator/rtl.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <px4_module_params.h>
+#include <px4_platform_common/module_params.h>
 
 #include "navigator_mode.h"
 #include "mission_block.h"
diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c
index 459508c3ad..668b26cf53 100644
--- a/src/modules/px4iofirmware/adc.c
+++ b/src/modules/px4iofirmware/adc.c
@@ -36,7 +36,7 @@
  *
  * Simple ADC support for PX4IO on STM32.
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdint.h>
 
 #include <nuttx/arch.h>
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index 25129b778a..557ddd7f4d 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdbool.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 80943a7b73..6be8fcd8cc 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <syslog.h>
 
 #include <sys/types.h>
diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c
index 427fc4e7ec..7fab14894a 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include "platform/cxxinitialize.h"
 
 #include <stdio.h>	// required for task_create
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index e5c21d0fa4..9f3171adc4 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -41,7 +41,7 @@
 
 #pragma once
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdint.h>
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index d254165391..f02ddb1fa8 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 #include <stdlib.h>
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index 803eaaa8cb..09d65ef61d 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/src/modules/replay/Replay.cpp b/src/modules/replay/Replay.cpp
index e7a2be01ba..0759f6dd23 100644
--- a/src/modules/replay/Replay.cpp
+++ b/src/modules/replay/Replay.cpp
@@ -41,11 +41,11 @@
 */
 
 #include <drivers/drv_hrt.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
-#include <px4_shutdown.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/shutdown.h>
 
 #include <cstring>
 #include <float.h>
diff --git a/src/modules/replay/Replay.hpp b/src/modules/replay/Replay.hpp
index 59e3ccf2a4..73e93fdbf3 100644
--- a/src/modules/replay/Replay.hpp
+++ b/src/modules/replay/Replay.hpp
@@ -41,7 +41,7 @@
 
 #include "definitions.hpp"
 
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 #include <uORB/uORBTopics.h>
 #include <uORB/topics/ekf2_timestamps.h>
 
diff --git a/src/modules/replay/ReplayEkf2.cpp b/src/modules/replay/ReplayEkf2.cpp
index 142ce756c7..4922e56764 100644
--- a/src/modules/replay/ReplayEkf2.cpp
+++ b/src/modules/replay/ReplayEkf2.cpp
@@ -32,8 +32,8 @@
  ****************************************************************************/
 
 #include <drivers/drv_hrt.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 
 // for ekf2 replay
 #include <uORB/topics/airspeed.h>
diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp
index 2f0aad6f35..c59a829efc 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.hpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.hpp
@@ -49,10 +49,12 @@
 #include <lib/mathlib/mathlib.h>
 #include <lib/perf/perf_counter.h>
 #include <lib/pid/pid.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/parameter_update.h>
@@ -68,8 +70,6 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/ekf2_timestamps.h>
 #include <uORB/uORB.h>
-#include <platforms/px4_module.h>
-#include <platforms/px4_module_params.h>
 
 using matrix::Dcmf;
 
diff --git a/src/modules/sensors/parameters.h b/src/modules/sensors/parameters.h
index 1cfc92f51c..6c7cd44aaf 100644
--- a/src/modules/sensors/parameters.h
+++ b/src/modules/sensors/parameters.h
@@ -40,7 +40,7 @@
  *
  * @author Beat Kueng <beat-kueng@gmx.net>
  */
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/drv_rc_input.h>
 
 #include <parameters/param.h>
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index fb6487ea0e..fccd8359eb 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -43,13 +43,13 @@
 
 #include <board_config.h>
 
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_getopt.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 
 #include <fcntl.h>
 #include <poll.h>
diff --git a/src/modules/sensors/temperature_compensation.cpp b/src/modules/sensors/temperature_compensation.cpp
index dea5b65d6f..b9865dfc60 100644
--- a/src/modules/sensors/temperature_compensation.cpp
+++ b/src/modules/sensors/temperature_compensation.cpp
@@ -41,8 +41,8 @@
 
 #include "temperature_compensation.h"
 #include <parameters/param.h>
-#include <px4_defines.h>
-#include <px4_log.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 
 namespace sensors
 {
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index d62ffeadcf..979b378a49 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -33,7 +33,7 @@
 
 #include "VehicleAcceleration.hpp"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 using namespace matrix;
 using namespace time_literals;
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
index ecb29bb238..6725a9cdf9 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
@@ -36,9 +36,9 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 6cd2e52399..0f762f0d1d 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -33,7 +33,7 @@
 
 #include "VehicleAngularVelocity.hpp"
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 
 using namespace matrix;
 using namespace time_literals;
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index d22b5d0e3f..5f5502bf3e 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -36,9 +36,9 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/sih/sih.cpp b/src/modules/sih/sih.cpp
index c15ff93d3f..dbe0fcb2f9 100644
--- a/src/modules/sih/sih.cpp
+++ b/src/modules/sih/sih.cpp
@@ -42,8 +42,8 @@
 
 #include "sih.hpp"
 
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 
 #include <drivers/drv_pwm_output.h>         // to get PWM flags
 #include <uORB/topics/actuator_outputs.h>
diff --git a/src/modules/sih/sih.hpp b/src/modules/sih/sih.hpp
index e0e510c256..45ea15c51f 100644
--- a/src/modules/sih/sih.hpp
+++ b/src/modules/sih/sih.hpp
@@ -33,9 +33,9 @@
 
 #pragma once
 
-#include <px4_module.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 
 #include <matrix/matrix/math.hpp>   // matrix, vectors, dcm, quaterions
 #include <conversion/rotation.h>    // math::radians,
diff --git a/src/modules/simulator/gpssim/gpssim.cpp b/src/modules/simulator/gpssim/gpssim.cpp
index 656a506715..b02c131cdf 100644
--- a/src/modules/simulator/gpssim/gpssim.cpp
+++ b/src/modules/simulator/gpssim/gpssim.cpp
@@ -37,8 +37,8 @@
  */
 
 #include <sys/types.h>
-#include <px4_defines.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/getopt.h>
 #include <inttypes.h>
 #include <stdio.h>
 #include <stdbool.h>
@@ -53,8 +53,8 @@
 #include <math.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/device.h>
 #include <uORB/uORB.h>
diff --git a/src/modules/simulator/ledsim/led.cpp b/src/modules/simulator/ledsim/led.cpp
index b727a715ff..9f48623a77 100644
--- a/src/modules/simulator/ledsim/led.cpp
+++ b/src/modules/simulator/ledsim/led.cpp
@@ -37,7 +37,7 @@
  * LED driver.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <drivers/drv_board_led.h>
 #include <stdio.h>
 
diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 2872f9cee5..33c7f30d0d 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -39,9 +39,9 @@
  * such as jMAVSim or Gazebo.
  */
 
-#include <px4_log.h>
-#include <px4_tasks.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/time.h>
 #include <pthread.h>
 #include <poll.h>
 #include <systemlib/err.h>
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 7161212789..daba595041 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -51,8 +51,8 @@
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <lib/ecl/geo/geo.h>
 #include <perf/perf_counter.h>
-#include <px4_module_params.h>
-#include <px4_posix.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/battery_status.h>
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 89aeddc9ed..312ead864a 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -34,9 +34,9 @@
  ****************************************************************************/
 
 #include <termios.h>
-#include <px4_log.h>
-#include <px4_time.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/tasks.h>
 #include "simulator.h"
 #include <simulator_config.h>
 #include "errno.h"
diff --git a/src/modules/uORB/Publication.hpp b/src/modules/uORB/Publication.hpp
index eac2a8f52d..6076504fc7 100644
--- a/src/modules/uORB/Publication.hpp
+++ b/src/modules/uORB/Publication.hpp
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/modules/uORB/PublicationMulti.hpp b/src/modules/uORB/PublicationMulti.hpp
index f00acfa753..cdd4257a80 100644
--- a/src/modules/uORB/PublicationMulti.hpp
+++ b/src/modules/uORB/PublicationMulti.hpp
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/modules/uORB/PublicationQueued.hpp b/src/modules/uORB/PublicationQueued.hpp
index 79ee1550de..62bf00388e 100644
--- a/src/modules/uORB/PublicationQueued.hpp
+++ b/src/modules/uORB/PublicationQueued.hpp
@@ -38,7 +38,7 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index 9268a21ad9..f996d73cb7 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -37,7 +37,7 @@
  */
 
 #include "Subscription.hpp"
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 namespace uORB
 {
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index 47f87112c9..c23aa960ae 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include "uORBDeviceNode.hpp"
 #include "uORBManager.hpp"
diff --git a/src/modules/uORB/SubscriptionInterval.hpp b/src/modules/uORB/SubscriptionInterval.hpp
index 33aad03bd7..901648eb87 100644
--- a/src/modules/uORB/SubscriptionInterval.hpp
+++ b/src/modules/uORB/SubscriptionInterval.hpp
@@ -39,7 +39,7 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include "uORBDeviceNode.hpp"
 #include "uORBManager.hpp"
diff --git a/src/modules/uORB/SubscriptionPollable.cpp b/src/modules/uORB/SubscriptionPollable.cpp
index cfeac7ef56..22beb7c0ff 100644
--- a/src/modules/uORB/SubscriptionPollable.cpp
+++ b/src/modules/uORB/SubscriptionPollable.cpp
@@ -37,7 +37,7 @@
  */
 
 #include "SubscriptionPollable.hpp"
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 namespace uORB
 {
diff --git a/src/modules/uORB/SubscriptionPollable.hpp b/src/modules/uORB/SubscriptionPollable.hpp
index 21de9095b9..2e8d5d3be3 100644
--- a/src/modules/uORB/SubscriptionPollable.hpp
+++ b/src/modules/uORB/SubscriptionPollable.hpp
@@ -41,7 +41,7 @@
 #include <uORB/uORB.h>
 #include <containers/List.hpp>
 #include <systemlib/err.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 namespace uORB
 {
diff --git a/src/modules/uORB/uORBDeviceMaster.cpp b/src/modules/uORB/uORBDeviceMaster.cpp
index 84127955f4..16644df6ad 100644
--- a/src/modules/uORB/uORBDeviceMaster.cpp
+++ b/src/modules/uORB/uORBDeviceMaster.cpp
@@ -40,7 +40,7 @@
 #include "uORBCommunicator.hpp"
 #endif /* ORB_COMMUNICATOR */
 
-#include <px4_sem.hpp>
+#include <px4_platform_common/sem.hpp>
 #include <systemlib/px4_macros.h>
 
 uORB::DeviceMaster::DeviceMaster()
diff --git a/src/modules/uORB/uORBDeviceMaster.hpp b/src/modules/uORB/uORBDeviceMaster.hpp
index 60c9c0d628..1687d54bee 100644
--- a/src/modules/uORB/uORBDeviceMaster.hpp
+++ b/src/modules/uORB/uORBDeviceMaster.hpp
@@ -36,7 +36,7 @@
 #include <stdint.h>
 
 #include "uORBCommon.hpp"
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 namespace uORB
 {
diff --git a/src/modules/uORB/uORBMain.cpp b/src/modules/uORB/uORBMain.cpp
index 2459194d38..8039e0a390 100644
--- a/src/modules/uORB/uORBMain.cpp
+++ b/src/modules/uORB/uORBMain.cpp
@@ -37,8 +37,8 @@
 #include "uORB.h"
 #include "uORBCommon.hpp"
 
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 
 extern "C" { __EXPORT int uorb_main(int argc, char *argv[]); }
 
diff --git a/src/modules/uORB/uORBManager.cpp b/src/modules/uORB/uORBManager.cpp
index 66fe3ebaf2..edc625fa1e 100644
--- a/src/modules/uORB/uORBManager.cpp
+++ b/src/modules/uORB/uORBManager.cpp
@@ -36,9 +36,9 @@
 #include <stdarg.h>
 #include <fcntl.h>
 
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 
 #include "uORBDeviceNode.hpp"
 #include "uORBUtils.hpp"
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
index 8faf4811c3..2cc1c1ade1 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -33,8 +33,8 @@
 
 #include "uORBTest_UnitTest.hpp"
 #include "../uORBCommon.hpp"
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 #include <stdio.h>
 #include <errno.h>
 #include <poll.h>
diff --git a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
index 73559040bf..c328fff506 100644
--- a/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
+++ b/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp
@@ -35,8 +35,8 @@
 #define _uORBTest_UnitTest_hpp_
 #include "../uORBCommon.hpp"
 #include "../uORB.h"
-#include <px4_time.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/tasks.h>
 #include <unistd.h>
 
 struct orb_test {
diff --git a/src/modules/vmount/input_mavlink.cpp b/src/modules/vmount/input_mavlink.cpp
index dbceb7d15f..107484801a 100644
--- a/src/modules/vmount/input_mavlink.cpp
+++ b/src/modules/vmount/input_mavlink.cpp
@@ -45,8 +45,8 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <drivers/drv_hrt.h>
 
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 #include <errno.h>
 #include <math.h>
 
diff --git a/src/modules/vmount/input_rc.cpp b/src/modules/vmount/input_rc.cpp
index 2cf61f8767..702ca6ea36 100644
--- a/src/modules/vmount/input_rc.cpp
+++ b/src/modules/vmount/input_rc.cpp
@@ -41,8 +41,8 @@
 
 #include <math.h>
 #include <errno.h>
-#include <px4_posix.h>
-#include <px4_defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/defines.h>
 
 
 namespace vmount
diff --git a/src/modules/vmount/input_test.cpp b/src/modules/vmount/input_test.cpp
index e418bb7f75..1acac19625 100644
--- a/src/modules/vmount/input_test.cpp
+++ b/src/modules/vmount/input_test.cpp
@@ -41,7 +41,7 @@
 
 #include <math.h>
 
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 
 
 namespace vmount
diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp
index 450b7166c9..64a14095ed 100644
--- a/src/modules/vmount/output.cpp
+++ b/src/modules/vmount/output.cpp
@@ -45,7 +45,7 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/mount_orientation.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <lib/ecl/geo/geo.h>
 #include <math.h>
 #include <mathlib/mathlib.h>
diff --git a/src/modules/vmount/output_mavlink.cpp b/src/modules/vmount/output_mavlink.cpp
index 1d508be2b1..60efc017bc 100644
--- a/src/modules/vmount/output_mavlink.cpp
+++ b/src/modules/vmount/output_mavlink.cpp
@@ -43,7 +43,7 @@
 #include <math.h>
 
 #include <uORB/topics/vehicle_command.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 
 namespace vmount
diff --git a/src/modules/vmount/output_rc.cpp b/src/modules/vmount/output_rc.cpp
index 59731f41b8..8f25a4cb52 100644
--- a/src/modules/vmount/output_rc.cpp
+++ b/src/modules/vmount/output_rc.cpp
@@ -41,7 +41,7 @@
 #include "output_rc.h"
 
 #include <uORB/topics/actuator_controls.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 
 namespace vmount
diff --git a/src/modules/vmount/vmount.cpp b/src/modules/vmount/vmount.cpp
index 6774bb9168..ca80b1d865 100644
--- a/src/modules/vmount/vmount.cpp
+++ b/src/modules/vmount/vmount.cpp
@@ -52,8 +52,8 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include <systemlib/err.h>
-#include <px4_defines.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/tasks.h>
 
 #include "input_mavlink.h"
 #include "input_rc.h"
@@ -64,8 +64,8 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 
 using namespace vmount;
 
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 82a3505731..938b919518 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -56,10 +56,10 @@
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 #include <matrix/math.hpp>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/posix.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp
index 2e67e2cf68..34d41da952 100644
--- a/src/modules/vtol_att_control/vtol_type.cpp
+++ b/src/modules/vtol_att_control/vtol_type.cpp
@@ -43,7 +43,7 @@
 #include "vtol_att_control_main.h"
 
 #include <float.h>
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <matrix/math.hpp>
 
 
diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c
index aa125ee5d4..a59b260b8a 100644
--- a/src/systemcmds/bl_update/bl_update.c
+++ b/src/systemcmds/bl_update/bl_update.c
@@ -37,9 +37,9 @@
  * STM32F4 & STM32F7 bootloader update tool.
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index b5e0eb4505..b80d16db16 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -39,9 +39,9 @@
  * config tool. Takes the device name as the first parameter.
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/dmesg/dmesg.cpp b/src/systemcmds/dmesg/dmesg.cpp
index cc34b5db3d..89cb51a67b 100644
--- a/src/systemcmds/dmesg/dmesg.cpp
+++ b/src/systemcmds/dmesg/dmesg.cpp
@@ -31,10 +31,10 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_console_buffer.h>
-#include <px4_module.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/console_buffer.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
 
 #ifndef BOARD_ENABLE_CONSOLE_BUFFER
 #error "This module can only be used on boards that enable BOARD_ENABLE_CONSOLE_BUFFER"
diff --git a/src/systemcmds/dumpfile/dumpfile.c b/src/systemcmds/dumpfile/dumpfile.c
index 8f2e798944..ce947518ea 100644
--- a/src/systemcmds/dumpfile/dumpfile.c
+++ b/src/systemcmds/dumpfile/dumpfile.c
@@ -37,9 +37,9 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/dyn/dyn.cpp b/src/systemcmds/dyn/dyn.cpp
index 150d42f146..a7e72c3f1d 100644
--- a/src/systemcmds/dyn/dyn.cpp
+++ b/src/systemcmds/dyn/dyn.cpp
@@ -39,8 +39,8 @@
 
 #include <dlfcn.h>
 
-#include <px4_module.h>
-#include <px4_log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/log.h>
 
 static void usage();
 
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index 72e37b6f67..d905bc2f02 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -36,11 +36,11 @@
  * @file esc_calib.c
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_module.h>
-#include <px4_defines.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/hardfault_log/hardfault_log.c b/src/systemcmds/hardfault_log/hardfault_log.c
index 5a255840a7..3eee294087 100644
--- a/src/systemcmds/hardfault_log/hardfault_log.c
+++ b/src/systemcmds/hardfault_log/hardfault_log.c
@@ -36,8 +36,8 @@
  * Included Files
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <nuttx/compiler.h>
 #include <nuttx/arch.h>
 
diff --git a/src/systemcmds/i2cdetect/i2cdetect.cpp b/src/systemcmds/i2cdetect/i2cdetect.cpp
index 9f038b94c9..2d4c3a3091 100644
--- a/src/systemcmds/i2cdetect/i2cdetect.cpp
+++ b/src/systemcmds/i2cdetect/i2cdetect.cpp
@@ -38,11 +38,11 @@
  *
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_getopt.h>
-#include <px4_i2c.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c.h>
 
 namespace i2cdetect
 {
diff --git a/src/systemcmds/led_control/led_control.cpp b/src/systemcmds/led_control/led_control.cpp
index bd07fbb2cf..f8ea389a7d 100644
--- a/src/systemcmds/led_control/led_control.cpp
+++ b/src/systemcmds/led_control/led_control.cpp
@@ -35,9 +35,9 @@
  * @file led_control.cpp
  */
 
-#include <px4_getopt.h>
-#include <px4_module.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/log.h>
 
 #include <stdlib.h>
 #include <unistd.h>
diff --git a/src/systemcmds/mixer/mixer.cpp b/src/systemcmds/mixer/mixer.cpp
index 7524c7b30e..75c7ca5e37 100644
--- a/src/systemcmds/mixer/mixer.cpp
+++ b/src/systemcmds/mixer/mixer.cpp
@@ -37,9 +37,9 @@
  * Mixer utility.
  */
 
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/posix.h>
 #include <string.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/systemcmds/motor_ramp/motor_ramp.cpp b/src/systemcmds/motor_ramp/motor_ramp.cpp
index 25ef8cd1aa..331d0e56fd 100644
--- a/src/systemcmds/motor_ramp/motor_ramp.cpp
+++ b/src/systemcmds/motor_ramp/motor_ramp.cpp
@@ -38,12 +38,12 @@
  * @author Roman Bapst <bapstroman@gmail.com>
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_module.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/getopt.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -55,7 +55,6 @@
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_pwm_output.h>
-#include <platforms/px4_defines.h>
 
 #include "systemlib/err.h"
 #include "uORB/topics/actuator_controls.h"
diff --git a/src/systemcmds/motor_test/motor_test.cpp b/src/systemcmds/motor_test/motor_test.cpp
index 6aa1b52b5f..bfb95635c1 100644
--- a/src/systemcmds/motor_test/motor_test.cpp
+++ b/src/systemcmds/motor_test/motor_test.cpp
@@ -39,10 +39,10 @@
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/topics/test_motor.h>
 
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index fdae55edcd..b90a8daa59 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -50,8 +50,8 @@
  * Included Files
  ************************************************************************************/
 
-#include <px4_config.h>
-#include <px4_time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/time.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index 96ac36bebe..67dedea637 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -39,9 +39,9 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index dfbaaa577d..c7ed1696a3 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -36,8 +36,8 @@
  * @file nshterm.c
  */
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <termios.h>
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/systemcmds/param/param.cpp b/src/systemcmds/param/param.cpp
index 7f14301530..32285f3203 100644
--- a/src/systemcmds/param/param.cpp
+++ b/src/systemcmds/param/param.cpp
@@ -39,10 +39,10 @@
  * Parameter tool.
  */
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/posix.h>
 
 #include <errno.h>
 #include <stdio.h>
diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index 8daa4a6bba..c58daf0359 100644
--- a/src/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -33,8 +33,8 @@
 
 
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index d9b2a333b4..bb039a4fdd 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -37,14 +37,14 @@
  * PWM servo output configuration and monitoring tool.
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
-#include <px4_posix.h>
-#include <px4_getopt.h>
-#include <px4_defines.h>
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_cli.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/cli.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index 56d7c1f42f..c730272612 100644
--- a/src/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
@@ -38,11 +38,11 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_module.h>
-#include <px4_shutdown.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/shutdown.h>
 #include <string.h>
 
 __EXPORT int reboot_main(int argc, char *argv[]);
diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c
index 683ff7c6ea..9e1b2a1f94 100644
--- a/src/systemcmds/reflect/reflect.c
+++ b/src/systemcmds/reflect/reflect.c
@@ -39,7 +39,7 @@
  * @author Andrew Tridgell
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/sd_bench/sd_bench.c b/src/systemcmds/sd_bench/sd_bench.c
index b931f86dec..93556847e0 100644
--- a/src/systemcmds/sd_bench/sd_bench.c
+++ b/src/systemcmds/sd_bench/sd_bench.c
@@ -42,10 +42,10 @@
 #include <fcntl.h>
 #include <unistd.h>
 
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 
 #include <drivers/drv_hrt.h>
 
diff --git a/src/systemcmds/shutdown/shutdown.c b/src/systemcmds/shutdown/shutdown.c
index 81432789c0..8230a86e2e 100644
--- a/src/systemcmds/shutdown/shutdown.c
+++ b/src/systemcmds/shutdown/shutdown.c
@@ -36,7 +36,7 @@
  * Tool similar to UNIX shutdown command.
  */
 
-#include <px4_tasks.h>
+#include <px4_platform_common/tasks.h>
 //#include <systemlib/systemlib.h>
 
 
diff --git a/src/systemcmds/tests/hrt_test/hrt_test.cpp b/src/systemcmds/tests/hrt_test/hrt_test.cpp
index 38068d95f0..07560ced62 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test.cpp
+++ b/src/systemcmds/tests/hrt_test/hrt_test.cpp
@@ -42,8 +42,8 @@
 #include "hrt_test.h"
 
 #include <drivers/drv_hrt.h>
-#include <px4_log.h>
-#include <px4_time.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 
 #include <unistd.h>
 #include <stdio.h>
diff --git a/src/systemcmds/tests/hrt_test/hrt_test.h b/src/systemcmds/tests/hrt_test/hrt_test.h
index 0d63dee810..b17252385b 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test.h
+++ b/src/systemcmds/tests/hrt_test/hrt_test.h
@@ -39,7 +39,7 @@
  */
 #pragma once
 
-#include <px4_app.h>
+#include <px4_platform_common/app.h>
 
 class HRTTest
 {
diff --git a/src/systemcmds/tests/hrt_test/hrt_test_main.cpp b/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
index 3509142d24..843ea2e865 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
+++ b/src/systemcmds/tests/hrt_test/hrt_test_main.cpp
@@ -42,8 +42,8 @@
 
 #include <stdio.h>
 
-#include <px4_app.h>
-#include <px4_init.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/init.h>
 
 int PX4_MAIN(int argc, char **argv)
 {
diff --git a/src/systemcmds/tests/hrt_test/hrt_test_start.cpp b/src/systemcmds/tests/hrt_test/hrt_test_start.cpp
index fe50e1c79c..b05492281e 100644
--- a/src/systemcmds/tests/hrt_test/hrt_test_start.cpp
+++ b/src/systemcmds/tests/hrt_test/hrt_test_start.cpp
@@ -42,9 +42,9 @@
 #include <string.h>
 #include <sched.h>
 
-#include <px4_log.h>
-#include <px4_app.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/tasks.h>
 
 static int daemon_task;             /* Handle of deamon task / thread */
 
diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c
index 99252a2dd4..605440fb11 100644
--- a/src/systemcmds/tests/test_adc.c
+++ b/src/systemcmds/tests/test_adc.c
@@ -36,10 +36,10 @@
  * Test for the analog to digital converter.
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_log.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/log.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_bson.cpp b/src/systemcmds/tests/test_bson.cpp
index 831c883b75..6920b05719 100644
--- a/src/systemcmds/tests/test_bson.cpp
+++ b/src/systemcmds/tests/test_bson.cpp
@@ -38,7 +38,7 @@
 
 #include <inttypes.h>
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdio.h>
 #include <string.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c
index 3834020f19..9cea47aedd 100644
--- a/src/systemcmds/tests/test_dataman.c
+++ b/src/systemcmds/tests/test_dataman.c
@@ -36,8 +36,8 @@
  * Tests for the data manager.
  */
 
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c
index 56838c6139..941a7f63be 100644
--- a/src/systemcmds/tests/test_file.c
+++ b/src/systemcmds/tests/test_file.c
@@ -37,8 +37,8 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #include <sys/stat.h>
 #include <poll.h>
diff --git a/src/systemcmds/tests/test_file2.c b/src/systemcmds/tests/test_file2.c
index dad7096e1a..941cf06cf2 100644
--- a/src/systemcmds/tests/test_file2.c
+++ b/src/systemcmds/tests/test_file2.c
@@ -36,7 +36,7 @@
  * File write test.
  */
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <sys/stat.h>
 #include <dirent.h>
 #include <stdio.h>
@@ -46,7 +46,7 @@
 #include <perf/perf_counter.h>
 #include <string.h>
 #include <stdlib.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/getopt.h>
 
 #include "tests_main.h"
 
diff --git a/src/systemcmds/tests/test_float.cpp b/src/systemcmds/tests/test_float.cpp
index b18f253804..aaccf1a4f0 100644
--- a/src/systemcmds/tests/test_float.cpp
+++ b/src/systemcmds/tests/test_float.cpp
@@ -38,7 +38,7 @@
 
 #include <unit_test.h>
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <float.h>
 #include <math.h>
diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c
index bb15a299c5..7dfd1efe50 100644
--- a/src/systemcmds/tests/test_hott_telemetry.c
+++ b/src/systemcmds/tests/test_hott_telemetry.c
@@ -36,11 +36,11 @@
  * Tests the Graupner HoTT telemetry support.
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 #include <sys/ioctl.h>
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_hrt.cpp b/src/systemcmds/tests/test_hrt.cpp
index 259abc3029..dc89f909c1 100644
--- a/src/systemcmds/tests/test_hrt.cpp
+++ b/src/systemcmds/tests/test_hrt.cpp
@@ -37,7 +37,7 @@
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <sys/time.h>
 
 #include "tests_main.h"
diff --git a/src/systemcmds/tests/test_int.cpp b/src/systemcmds/tests/test_int.cpp
index bca7d70916..501332e420 100644
--- a/src/systemcmds/tests/test_int.cpp
+++ b/src/systemcmds/tests/test_int.cpp
@@ -42,7 +42,7 @@
 #include <fcntl.h>
 #include <float.h>
 #include <math.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c
index 80b386c3db..1aa7f96e21 100644
--- a/src/systemcmds/tests/test_jig_voltages.c
+++ b/src/systemcmds/tests/test_jig_voltages.c
@@ -36,8 +36,8 @@
  * Tests for jig voltages.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_led.c b/src/systemcmds/tests/test_led.c
index 4d4d1c9855..71110a915e 100644
--- a/src/systemcmds/tests/test_led.c
+++ b/src/systemcmds/tests/test_led.c
@@ -36,9 +36,9 @@
  * Tests for led functionality.
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index 3516edbd08..6dd5b5841c 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -42,14 +42,14 @@
 #include <fcntl.h>
 #include <float.h>
 #include <math.h>
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <sys/types.h>
 #include <unistd.h>
 
-#include <px4_log.h>
+#include <px4_platform_common/log.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
diff --git a/src/systemcmds/tests/test_microbench_hrt.cpp b/src/systemcmds/tests/test_microbench_hrt.cpp
index 40ed924337..739704302f 100644
--- a/src/systemcmds/tests/test_microbench_hrt.cpp
+++ b/src/systemcmds/tests/test_microbench_hrt.cpp
@@ -44,8 +44,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 
 namespace MicroBenchHRT
 {
diff --git a/src/systemcmds/tests/test_microbench_math.cpp b/src/systemcmds/tests/test_microbench_math.cpp
index a208766352..a8b91ce1ae 100644
--- a/src/systemcmds/tests/test_microbench_math.cpp
+++ b/src/systemcmds/tests/test_microbench_math.cpp
@@ -45,8 +45,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 
 namespace MicroBenchMath
 {
diff --git a/src/systemcmds/tests/test_microbench_matrix.cpp b/src/systemcmds/tests/test_microbench_matrix.cpp
index 07969058f8..dd1d8183a8 100644
--- a/src/systemcmds/tests/test_microbench_matrix.cpp
+++ b/src/systemcmds/tests/test_microbench_matrix.cpp
@@ -44,8 +44,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 
 #include <matrix/math.hpp>
 
diff --git a/src/systemcmds/tests/test_microbench_uorb.cpp b/src/systemcmds/tests/test_microbench_uorb.cpp
index 47daa3bc72..13643d95a4 100644
--- a/src/systemcmds/tests/test_microbench_uorb.cpp
+++ b/src/systemcmds/tests/test_microbench_uorb.cpp
@@ -44,8 +44,8 @@
 
 #include <drivers/drv_hrt.h>
 #include <perf/perf_counter.h>
-#include <px4_config.h>
-#include <px4_micro_hal.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/micro_hal.h>
 
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/sensor_accel.h>
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 40aa7830db..89183bbf58 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -42,7 +42,7 @@
 #include <unistd.h>
 #include <math.h>
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <mixer/mixer.h>
 #include <mixer/mixer_load.h>
 #include <output_limit/output_limit.h>
diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c
index 87d70c56cf..c776c8b449 100644
--- a/src/systemcmds/tests/test_mount.c
+++ b/src/systemcmds/tests/test_mount.c
@@ -37,9 +37,9 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <px4_config.h>
-#include <px4_posix.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/tasks.h>
 
 #include <sys/stat.h>
 #include <dirent.h>
diff --git a/src/systemcmds/tests/test_param.c b/src/systemcmds/tests/test_param.c
index 726cb6aa96..9660f3e170 100644
--- a/src/systemcmds/tests/test_param.c
+++ b/src/systemcmds/tests/test_param.c
@@ -36,7 +36,7 @@
  * Tests related to the parameter system.
  */
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <stdio.h>
 #include "systemlib/err.h"
 #include <parameters/param.h>
diff --git a/src/systemcmds/tests/test_parameters.cpp b/src/systemcmds/tests/test_parameters.cpp
index 71efdae0fe..ec829b40d2 100644
--- a/src/systemcmds/tests/test_parameters.cpp
+++ b/src/systemcmds/tests/test_parameters.cpp
@@ -38,7 +38,7 @@
 
 #include <unit_test.h>
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 
 #include <errno.h>
 #include <fcntl.h>
diff --git a/src/systemcmds/tests/test_perf.c b/src/systemcmds/tests/test_perf.c
index f56f1ec051..63a218b08d 100644
--- a/src/systemcmds/tests/test_perf.c
+++ b/src/systemcmds/tests/test_perf.c
@@ -36,8 +36,8 @@
  * Tests related to the performance counter.
  */
 
-#include <px4_config.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/posix.h>
 
 #include <perf/perf_counter.h>
 
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index e1e6306b06..fb7c7b2db3 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -36,8 +36,8 @@
  * Tests the PWM outputs and PPM input
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 88eb8fa979..402c11ed3a 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -36,7 +36,7 @@
  * Tests RC input.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index f1950397fe..9bfc457d56 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -36,8 +36,8 @@
  * Tests the servo outputs
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c
index 1e6af68614..42c3476575 100644
--- a/src/systemcmds/tests/test_sleep.c
+++ b/src/systemcmds/tests/test_sleep.c
@@ -36,9 +36,9 @@
  * Tests the px4_usleep() method.
  */
 
-#include <px4_time.h>
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_time.c b/src/systemcmds/tests/test_time.c
index 4463701dba..1f0989a24c 100644
--- a/src/systemcmds/tests/test_time.c
+++ b/src/systemcmds/tests/test_time.c
@@ -36,9 +36,9 @@
  * Tests clocks/timekeeping.
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
-#include <px4_posix.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
 #include <sys/types.h>
 
 #include <stdio.h>
diff --git a/src/systemcmds/tests/test_tone.cpp b/src/systemcmds/tests/test_tone.cpp
index 5e63019b3c..283562bef4 100644
--- a/src/systemcmds/tests/test_tone.cpp
+++ b/src/systemcmds/tests/test_tone.cpp
@@ -41,7 +41,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_tone_alarm.h>
 #include <lib/tunes/tunes.h>
-#include <px4_posix.h>
+#include <px4_platform_common/posix.h>
 #include <uORB/topics/tune_control.h>
 
 #include "tests_main.h"
diff --git a/src/systemcmds/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c
index e64bf5809b..8fb6eea1a0 100644
--- a/src/systemcmds/tests/test_uart_baudchange.c
+++ b/src/systemcmds/tests/test_uart_baudchange.c
@@ -36,8 +36,8 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_break.c b/src/systemcmds/tests/test_uart_break.c
index 213bab2135..7c955c52b1 100644
--- a/src/systemcmds/tests/test_uart_break.c
+++ b/src/systemcmds/tests/test_uart_break.c
@@ -37,8 +37,8 @@
  * @author David Sidrane <david_s5@nscdg.com>
  */
 
-#include <px4_config.h>
-#include <px4_defines.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/defines.h>
 
 #include <sys/types.h>
 #include <sys/ioctl.h>
diff --git a/src/systemcmds/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c
index bd46bfb371..5d4cedbc3f 100644
--- a/src/systemcmds/tests/test_uart_console.c
+++ b/src/systemcmds/tests/test_uart_console.c
@@ -39,8 +39,8 @@
  * @author David Sidrane <david_s5@nscdg.com>
  */
 
-#include <px4_config.h>
-#include <px4_tasks.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c
index b818cf1497..73cb6c58f0 100644
--- a/src/systemcmds/tests/test_uart_loopback.c
+++ b/src/systemcmds/tests/test_uart_loopback.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_send.c b/src/systemcmds/tests/test_uart_send.c
index 5432d5a495..c860c70a91 100644
--- a/src/systemcmds/tests/test_uart_send.c
+++ b/src/systemcmds/tests/test_uart_send.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index e701803c27..9906a635ff 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -40,7 +40,7 @@
 
 #include "tests_main.h"
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h
index 55a73a5a5e..edd5232840 100644
--- a/src/systemcmds/tests/tests_main.h
+++ b/src/systemcmds/tests/tests_main.h
@@ -36,7 +36,7 @@
  * Tests declaration file.
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 
 #ifndef __APPS_PX4_TESTS_H
 #define __APPS_PX4_TESTS_H
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
index 2ba775d47d..66c0ba1c05 100644
--- a/src/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <px4_config.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdio.h>
 #include <fcntl.h>
 #include <stdbool.h>
@@ -50,7 +50,7 @@
 #include <systemlib/cpuload.h>
 #include <systemlib/printload.h>
 #include <drivers/drv_hrt.h>
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 
 /**
  * Start the top application.
diff --git a/src/systemcmds/topic_listener/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
index 8fb073e284..402818cbb8 100755
--- a/src/systemcmds/topic_listener/generate_listener.py
+++ b/src/systemcmds/topic_listener/generate_listener.py
@@ -89,9 +89,9 @@ print("""
  */
 
 #include <drivers/drv_hrt.h>
-#include <px4_app.h>
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
diff --git a/src/systemcmds/topic_listener/listener_main.cpp b/src/systemcmds/topic_listener/listener_main.cpp
index b16cca31aa..c1a76c5ac4 100644
--- a/src/systemcmds/topic_listener/listener_main.cpp
+++ b/src/systemcmds/topic_listener/listener_main.cpp
@@ -37,8 +37,8 @@
  * Tool for listening to topics.
  */
 
-#include <px4_module.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
 
 #include <poll.h>
 
diff --git a/src/systemcmds/topic_listener/topic_listener.hpp b/src/systemcmds/topic_listener/topic_listener.hpp
index be1b940772..aef71d3797 100644
--- a/src/systemcmds/topic_listener/topic_listener.hpp
+++ b/src/systemcmds/topic_listener/topic_listener.hpp
@@ -38,11 +38,11 @@
 
 #pragma once
 
-#include <px4_defines.h>
+#include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
-#include <px4_app.h>
-#include <px4_config.h>
-#include <px4_log.h>
+#include <px4_platform_common/app.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/log.h>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
diff --git a/src/systemcmds/tune_control/tune_control.cpp b/src/systemcmds/tune_control/tune_control.cpp
index 87c971198e..70da7fdc41 100644
--- a/src/systemcmds/tune_control/tune_control.cpp
+++ b/src/systemcmds/tune_control/tune_control.cpp
@@ -38,15 +38,15 @@
  * To use it make sure there's a driver running, which handles the tune_control uorb topic.
  */
 
-#include <px4_getopt.h>
-#include <px4_log.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
 
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
 #include <errno.h>
 
-#include <px4_module.h>
+#include <px4_platform_common/module.h>
 
 #include <lib/tunes/tunes.h>
 #include <uORB/topics/tune_control.h>
diff --git a/src/systemcmds/usb_connected/usb_connected.c b/src/systemcmds/usb_connected/usb_connected.c
index b6d12443a4..fd51a8cc9b 100644
--- a/src/systemcmds/usb_connected/usb_connected.c
+++ b/src/systemcmds/usb_connected/usb_connected.c
@@ -37,8 +37,8 @@
  * @author Andrew Tridgell
  */
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index eee12123c1..36dc62cb0a 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -40,8 +40,8 @@
 * @author Vladimir Kulla <ufon@kullaonline.net>
 */
 
-#include <px4_config.h>
-#include <px4_module.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
 #include <stdio.h>
 #include <stdbool.h>
 #include <string.h>
diff --git a/src/systemcmds/work_queue/work_queue_main.cpp b/src/systemcmds/work_queue/work_queue_main.cpp
index 0f6fdcfcf2..3764712c69 100644
--- a/src/systemcmds/work_queue/work_queue_main.cpp
+++ b/src/systemcmds/work_queue/work_queue_main.cpp
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-#include <px4_config.h>
-#include <px4_module.h>
-#include <px4_getopt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
 static void	usage();
diff --git a/src/templates/module/module.cpp b/src/templates/module/module.cpp
index 6780cc6c4e..0c56ea54ec 100644
--- a/src/templates/module/module.cpp
+++ b/src/templates/module/module.cpp
@@ -33,9 +33,9 @@
 
 #include "module.h"
 
-#include <px4_getopt.h>
-#include <px4_log.h>
-#include <px4_posix.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/log.h>
+#include <px4_platform_common/posix.h>
 
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_combined.h>
diff --git a/src/templates/module/module.h b/src/templates/module/module.h
index 772d59bd68..56cea2dad4 100644
--- a/src/templates/module/module.h
+++ b/src/templates/module/module.h
@@ -33,8 +33,8 @@
 
 #pragma once
 
-#include <px4_module.h>
-#include <px4_module_params.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>