diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6385538b19..0bfcee70d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -235,6 +235,10 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)
 
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if (NOT CMAKE_BUILD_TYPE)
 	if (${PX4_PLATFORM} STREQUAL "nuttx")
diff --git a/cmake/px4_add_library.cmake b/cmake/px4_add_library.cmake
index 67ddc5451b..a7290fd482 100644
--- a/cmake/px4_add_library.cmake
+++ b/cmake/px4_add_library.cmake
@@ -46,7 +46,7 @@ function(px4_add_library target)
 
 	# all PX4 libraries have access to parameters and uORB
 	add_dependencies(${target} uorb_headers)
-	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface uorb_msgs)
+	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform uorb_msgs)
 
 	# TODO: move to platform layer
 	if ("${PX4_PLATFORM}" MATCHES "nuttx")
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 0a8acabd6d..f5f250cba1 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -100,8 +100,8 @@ target_link_libraries(px4 PRIVATE
 	-Wl,--gc-sections
 
 	-Wl,--start-group
-	drivers_boards_common_arch
-	${nuttx_libs}
+		drivers_boards_common_arch
+		${nuttx_libs}
 	-Wl,--end-group
 
 	m
@@ -109,7 +109,6 @@ target_link_libraries(px4 PRIVATE
 	)
 
 target_link_libraries(px4 PRIVATE ${module_libraries})
-target_link_libraries(px4 PRIVATE modules__uORB)
 
 if (config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 7fa17e0ba9..9f49ba5676 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -1,13 +1,3 @@
-cmake_minimum_required(VERSION 3.2)
-
-px4_add_git_submodule(TARGET git_nuttx PATH "nuttx")
-px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps")
-
-if(NOT PX4_BOARD)
-	message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
-endif()
-
-project(NuttX_${PX4_BOARD} LANGUAGES ASM C CXX)
 
 if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
 	# copy with rsync and create file dependencies
@@ -24,46 +14,49 @@ else()
 	set(cp_opts "-aRfl")
 endif()
 
-file(GLOB_RECURSE copy_nuttx_files
-	LIST_DIRECTORIES false
-	${CMAKE_CURRENT_SOURCE_DIR}/nuttx/*)
-
-file(GLOB_RECURSE copy_apps_files
-	LIST_DIRECTORIES false
-	${CMAKE_CURRENT_SOURCE_DIR}/apps/*)
-
 set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config)
 
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
-
-# copy nuttx to build directory
-file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/nuttx)
+###############################################################################
+# NuttX: copy to build directory
+###############################################################################
+file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
 file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
-add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
+
+# setup custom command to copy changes later
+file(GLOB_RECURSE copy_nuttx_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/nuttx/*)
+add_custom_command(
+	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
 	COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
 	COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
 	DEPENDS ${copy_nuttx_files} git_nuttx
-	COMMENT "Copying NuttX/nuttx to ${CMAKE_CURRENT_BINARY_DIR}"
+	COMMENT "Copying NuttX/nuttx to ${CP_DST}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-	)
+)
 
-# copy apps to build directory
-file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/apps)
+###############################################################################
+# NuttX apps: copy to build directory
+###############################################################################
+file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
 file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
-add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
+
+# setup custom command to copy changes later
+file(GLOB_RECURSE copy_apps_files LIST_DIRECTORIES false ${NUTTX_SRC_DIR}/apps/*)
+add_custom_command(
+	OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
 	COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST}
 	COMMAND cmake -E touch ${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
 	DEPENDS ${copy_apps_files} git_nuttx_apps
-	COMMENT "Copying NuttX/apps to ${CMAKE_CURRENT_BINARY_DIR}"
+	COMMENT "Copying NuttX/apps to ${CP_DST}"
 	WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-	)
+)
 set(APPS_DIR ${CMAKE_CURRENT_BINARY_DIR}/apps)
 
+
 # If the board provides a Kconfig Use it or create an empty one
 if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
 	add_custom_command(
 		OUTPUT ${NUTTX_DIR}/configs/dummy/Kconfig
-		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig
 		DEPENDS
 			${CMAKE_CURRENT_BINARY_DIR}/nuttx_copy.stamp
 			${CMAKE_CURRENT_BINARY_DIR}/apps_copy.stamp
@@ -78,8 +71,9 @@ else()
 		)
 endif()
 
-# copy PX4 board config into nuttx
-file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
+###############################################################################
+# NuttX configure
+###############################################################################
 
 if ("x${config_expanded}" STREQUAL "x")
 	# copy PX4 board Compressed config into nuttx and inflate it
@@ -87,22 +81,20 @@ if ("x${config_expanded}" STREQUAL "x")
 		OUTPUT
 			${NUTTX_DIR}/.config
 			${NUTTX_DIR}/arch/arm/include/math.h
-		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config
 		COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps"
 		COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
-		COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
-		COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
-		COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
-		COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
-		COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/include/
+		COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
+		COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h # copy arm math.h into NuttX source
+		COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h
 		COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig
 		DEPENDS
 			${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
 			${NUTTX_CONFIG_DIR}/include/board.h
 			${NUTTX_CONFIG_DIR}/scripts/ld.script
-			${NUTTX_DIR}/configs/dummy/Kconfig
-			${CMAKE_CURRENT_SOURCE_DIR}/math.h
-			${CMAKE_CURRENT_SOURCE_DIR}/nsh_romfsimg.h
+			${NUTTX_SRC_DIR}/math.h
+			${NUTTX_SRC_DIR}/nsh_romfsimg.h
 		WORKING_DIRECTORY ${NUTTX_DIR}
 		COMMENT "Copying NuttX config ${NUTTX_CONFIG} and configuring"
 		)
@@ -114,7 +106,6 @@ else()
 			${NUTTX_DIR}/arch/arm/include/math.h
 		COMMAND ${CMAKE_COMMAND} -E copy ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig ${NUTTX_DIR}/.config
 		COMMAND ${CMAKE_COMMAND} -E remove -f ${NUTTX_DIR}/include/nuttx/config.h
-		COMMAND ${CMAKE_COMMAND} -E remove_directory ${NUTTX_DIR}/configs/${PX4_BOARD}
 		COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config
 		COMMAND ${CMAKE_COMMAND} -E make_directory ${CMAKE_CURRENT_BINARY_DIR}/nuttx-config/src
 		COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_SOURCE_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/ # copy arm math.h into NuttX source
@@ -133,6 +124,12 @@ else()
 		)
 endif()
 
+###############################################################################
+# NuttX build
+###############################################################################
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Make.defs.in ${NUTTX_DIR}/Make.defs)
+
 # verbose build settings (V=1 or VERBOSE=1)
 option(PX4_NUTTX_VERBOSE "PX4 NuttX verbose build" off)
 
@@ -277,11 +274,9 @@ add_custom_target(olddefconfig
 	USES_TERMINAL
 	)
 
-
 # menuconfig helper
 add_custom_target(menuconfig
 	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} menuconfig
-	COMMAND cp ${NUTTX_DIR}/.config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make menuconfig for ${NUTTX_CONFIG}"
@@ -291,52 +286,38 @@ add_custom_target(menuconfig
 # qconfig helper
 add_custom_target(qconfig
 	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} qconfig
-	COMMAND cp .config ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
 	DEPENDS ${NUTTX_DIR}/.config
 	WORKING_DIRECTORY ${NUTTX_DIR}
 	COMMENT "Running NuttX make qconfig for ${NUTTX_CONFIG}"
 	USES_TERMINAL
 	)
 
-# savedefconfig helper needs apps Kconfig
-add_custom_target(apps_kconfig
-	COMMAND
-		TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory -C platform board TOPDIR="${NUTTX_DIR}" APPDIR="${NUTTX_APPS_DIR}"
-	COMMAND
-		TOPDIR=${NUTTX_APPS_DIR} make ${nuttx_build_options} --no-print-directory Kconfig ${nuttx_build_output}
-	DEPENDS
-		${NUTTX_DIR}/configs/dummy/Kconfig
-	WORKING_DIRECTORY ${NUTTX_APPS_DIR}
-	COMMENT "Running Kconfig Build on Apps"
-)
-
 # savedefconfig helper
 add_custom_target(savedefconfig
+	COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD=${PX4_BOARD} savedefconfig
+	COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DIR}/defconfig ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+	DEPENDS ${NUTTX_DIR}/.config
+	COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
+	WORKING_DIRECTORY ${NUTTX_DIR}
+)
+
+# menuconfig and save
+add_custom_target(menuconfig_save
 	COMMAND
-		APPSDIR=${NUTTX_APPS_DIR} kconfig-conf --savedefconfig defconfig.tmp ${NUTTX_DIR}/Kconfig
-	COMMAND
-		sed -i -e "/CONFIG_APPS_DIR=/d" defconfig.tmp			# remove CONFIG_APPS_DIR
-	COMMAND
-		grep "CONFIG_ARCH=" .config >> defconfig.tmp || true		# preserve CONFIG_ARCH=
-	COMMAND
-		grep "^CONFIG_ARCH_CHIP_" .config >> defconfig.tmp || true	# preserve CONFIG_ARCH_CHIP_
-	COMMAND
-		grep "^CONFIG_ARCH_CHIP=" .config >> defconfig.tmp || true	#  PX4 Build preserve CONFIG_ARCH_CHIP=
-	COMMAND
-		grep "^CONFIG_ARCH_FAMILY=" .config >> defconfig.tmp || true	# PX4 Build preserve CONFIG_ARCH_FAMILY
-	COMMAND
-		grep "CONFIG_ARCH_BOARD=" .config >> defconfig.tmp || true	# preserve CONFIG_ARCH_BOARD
-	COMMAND
-		grep "^CONFIG_ARCH_CUSTOM" .config >> defconfig.tmp || true	# preserve CONFIG_ARCH_CUSTOM
-	COMMAND
-		cat defconfig.tmp | LC_ALL=C sort | uniq > defconfig.updated	# sort and save back to original defconfig
+		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces menuconfig to run before savedefconfig
+	DEPENDS menuconfig
+)
+
+# oldconfig and save
+add_custom_target(oldconfig_save
 	COMMAND
-		${CMAKE_COMMAND} -E copy_if_different defconfig.updated ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig
+		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces oldconfig to run before savedefconfig
+	DEPENDS oldconfig
+)
+
+# qconfig and save
+add_custom_target(qconfig_save
 	COMMAND
-		${CMAKE_COMMAND} -E remove -f defconfig.tmp defconfig.updated			# cleanup
-	DEPENDS
-		apps_kconfig
-		${NUTTX_DIR}/.config
-	COMMENT "Compressing .config and saving back to ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig"
-	WORKING_DIRECTORY ${NUTTX_DIR}
+		${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR} -- savedefconfig # this is hacky, but forces qconfig to run before savedefconfig
+	DEPENDS qconfig
 )
diff --git a/platforms/nuttx/cmake/init.cmake b/platforms/nuttx/cmake/init.cmake
new file mode 100644
index 0000000000..5b2f5c7c6f
--- /dev/null
+++ b/platforms/nuttx/cmake/init.cmake
@@ -0,0 +1,114 @@
+
+if(NOT PX4_BOARD)
+	message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
+endif()
+
+if(NOT PX4_BINARY_DIR)
+	message(FATAL_ERROR "PX4_BINARY_DIR must be set")
+endif()
+
+if(NOT PX4_BOARD_DIR)
+	message(FATAL_ERROR "PX4_BOARD_DIR must be set")
+endif()
+
+set(NUTTX_CONFIG_DIR ${PX4_BOARD_DIR}/nuttx-config CACHE FILEPATH "PX4 NuttX config" FORCE)
+
+set(NUTTX_SRC_DIR ${CMAKE_CURRENT_LIST_DIR}/../NuttX)
+set(NUTTX_DIR ${PX4_BINARY_DIR}/NuttX/nuttx CACHE FILEPATH "NuttX directory" FORCE)
+set(NUTTX_APPS_DIR ${PX4_BINARY_DIR}/NuttX/apps CACHE FILEPATH "NuttX apps directory" FORCE)
+
+px4_add_git_submodule(TARGET git_nuttx PATH "${NUTTX_SRC_DIR}/nuttx")
+px4_add_git_submodule(TARGET git_nuttx_apps PATH "${NUTTX_SRC_DIR}/apps")
+
+if (CMAKE_HOST_APPLE OR CMAKE_HOST_WIN32)
+	# copy with rsync and create file dependencies
+	set(cp_cmd "rsync")
+	set(cp_opts)
+	list(APPEND cp_opts
+		-rp
+		--inplace
+	)
+else()
+	# copy with hard links
+	# archive, recursive, force, link (hardlinks)
+	set(cp_cmd "cp")
+	set(cp_opts "-aRfl")
+endif()
+
+###############################################################################
+# NuttX: copy to build directory
+###############################################################################
+file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/nuttx)
+file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
+
+# copy during cmake configure
+execute_process(COMMAND ${CMAKE_COMMAND} -E make_directory ${NUTTX_DIR})
+execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+
+###############################################################################
+# NuttX apps: copy to build directory
+###############################################################################
+file(RELATIVE_PATH CP_SRC ${CMAKE_SOURCE_DIR} ${NUTTX_SRC_DIR}/apps)
+file(RELATIVE_PATH CP_DST ${CMAKE_SOURCE_DIR} ${PX4_BINARY_DIR}/NuttX)
+
+# copy during cmake configure
+execute_process(COMMAND ${cp_cmd} ${cp_opts} ${CP_SRC} ${CP_DST} WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+
+###############################################################################
+# nuttx-config: copy to build directory
+###############################################################################
+
+set(NUTTX_DEFCONFIG ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig CACHE FILEPATH "path to defconfig" FORCE)
+
+# If the board provides a Kconfig Use it or create an empty one
+if(EXISTS ${NUTTX_CONFIG_DIR}/Kconfig)
+	execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_CONFIG_DIR}/Kconfig ${NUTTX_DIR}/configs/dummy/Kconfig)
+else()
+	execute_process(COMMAND ${CMAKE_COMMAND} -E touch ${NUTTX_DIR}/configs/dummy/Kconfig)
+endif()
+
+execute_process(
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/NuttX/nuttx-config/src
+	COMMAND ${CMAKE_COMMAND} -E copy_directory ${NUTTX_CONFIG_DIR}/ ${PX4_BINARY_DIR}/NuttX/nuttx-config
+)
+
+# NuttX extra files
+execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/math.h ${NUTTX_DIR}/arch/arm/include/math.h) # copy arm math.h into NuttX source
+execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_SRC_DIR}/nsh_romfsimg.h ${PX4_BINARY_DIR}/NuttX/nuttx-config/include/nsh_romfsimg.h)
+
+# copy defconfig
+execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different ${NUTTX_DEFCONFIG} ${NUTTX_DIR}/.config)
+
+# copy PX4 board config into nuttx
+file(STRINGS ${NUTTX_CONFIG_DIR}/${NUTTX_CONFIG}/defconfig config_expanded REGEX "# Automatically generated file; DO NOT EDIT.")
+
+if ("x${config_expanded}" STREQUAL "x")
+	execute_process(COMMAND kconfig-tweak --set-str CONFIG_APPS_DIR "../apps" WORKING_DIRECTORY ${NUTTX_DIR})
+	execute_process(COMMAND make --no-print-directory --silent -C ${NUTTX_DIR} CONFIG_ARCH_BOARD_CUSTOM=y olddefconfig WORKING_DIRECTORY ${NUTTX_DIR})
+endif()
+
+###############################################################################
+# NuttX cmake defconfig
+###############################################################################
+
+# parse nuttx config options for cmake
+file(STRINGS ${NUTTX_DIR}/.config ConfigContents)
+foreach(NameAndValue ${ConfigContents})
+	# Strip leading spaces
+	string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
+
+	# Find variable name
+	string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
+
+	if (Name)
+		# Find the value
+		string(REPLACE "${Name}=" "" Value ${NameAndValue})
+
+		# remove extra quotes
+		string(REPLACE "\"" "" Value ${Value})
+
+		# Set the variable
+		#message(STATUS "${Name} ${Value}")
+		set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
+	endif()
+endforeach()
diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake
index 6dfdf99032..85464bdcfb 100644
--- a/platforms/nuttx/cmake/px4_impl_os.cmake
+++ b/platforms/nuttx/cmake/px4_impl_os.cmake
@@ -125,25 +125,4 @@ function(px4_os_prebuild_targets)
 	target_link_libraries(prebuild_targets INTERFACE nuttx_xx nuttx_c nuttx_fs nuttx_mm nuttx_sched m gcc)
 	add_dependencies(prebuild_targets DEPENDS nuttx_context uorb_headers)
 
-	# parse nuttx config options for cmake
-	file(STRINGS ${PX4_BOARD_DIR}/nuttx-config/${NUTTX_CONFIG}/defconfig ConfigContents)
-	foreach(NameAndValue ${ConfigContents})
-		# Strip leading spaces
-		string(REGEX REPLACE "^[ ]+" "" NameAndValue ${NameAndValue})
-
-		# Find variable name
-		string(REGEX MATCH "^CONFIG[^=]+" Name ${NameAndValue})
-
-		if (Name)
-			# Find the value
-			string(REPLACE "${Name}=" "" Value ${NameAndValue})
-
-			# remove extra quotes
-			string(REPLACE "\"" "" Value ${Value})
-
-			# Set the variable
-			#message(STATUS "${Name} ${Value}")
-			set(${Name} ${Value} CACHE INTERNAL "NUTTX DEFCONFIG: ${Name}" FORCE)
-		endif()
-	endforeach()
 endfunction()
diff --git a/src/drivers/boards/common/CMakeLists.txt b/src/drivers/boards/common/CMakeLists.txt
index e81944016b..65949e2e6c 100644
--- a/src/drivers/boards/common/CMakeLists.txt
+++ b/src/drivers/boards/common/CMakeLists.txt
@@ -34,7 +34,7 @@
 # common board drivers (currently only for nuttx fmu boards)
 if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
 
-	px4_add_library(drivers_boards_common
+	add_library(drivers_boards_common
 		board_crashdump.c
 		board_dma_alloc.c
 		board_gpio_init.c
diff --git a/src/drivers/boards/common/board_crashdump.c b/src/drivers/boards/common/board_crashdump.c
index 20628820c2..ef0dc7244f 100644
--- a/src/drivers/boards/common/board_crashdump.c
+++ b/src/drivers/boards/common/board_crashdump.c
@@ -1,8 +1,6 @@
 #ifdef CONFIG_BOARD_CRASHDUMP
 
-#include <px4_config.h>
-#include <px4_log.h>
-#include <px4_tasks.h>
+#include <board_config.h>
 
 #include <stdio.h>
 #include <stdbool.h>
@@ -67,8 +65,8 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 
 	if (hadCrash == OK) {
 
-		PX4_ERR("[boot] There is a hard fault logged. Hold down the SPACE BAR," \
-			" while booting to review!\n");
+		syslog(LOG_ERR, "[boot] There is a hard fault logged. Hold down the SPACE BAR," \
+		       " while booting to review!\n");
 
 		/* Yes. So add one to the boot count - this will be reset after a successful
 		 * commit to SD
@@ -104,9 +102,9 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 				hardfault_write("boot", fileno(stdout), HARDFAULT_DISPLAY_FORMAT, false);
 			}
 
-			PX4_ERR("[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
-				reboots,
-				(bytesWaiting == 0 ? "" : " - Boot halted Due to Key Press\n"));
+			syslog(LOG_ERR, "[boot] There were %d reboots with Hard fault that were not committed to disk%s\n",
+			       reboots,
+			       (bytesWaiting == 0 ? "" : " - Boot halted Due to Key Press\n"));
 
 
 			/* For those of you with a debugger set a break point on up_assert and
@@ -155,9 +153,9 @@ int board_hardfault_init(int display_to_console, bool allow_prompt)
 						break;
 					} // Inner Switch
 
-					PX4_INFO("\nEnter B - Continue booting\n" \
-						 "Enter C - Clear the fault log\n" \
-						 "Enter D - Dump fault log\n\n?>");
+					syslog(LOG_INFO, "\nEnter B - Continue booting\n" \
+					       "Enter C - Clear the fault log\n" \
+					       "Enter D - Dump fault log\n\n?>");
 					fflush(stdout);
 
 read:
diff --git a/src/lib/cdev/CDev.cpp b/src/lib/cdev/CDev.cpp
index c4ea372e0e..78f6282dec 100644
--- a/src/lib/cdev/CDev.cpp
+++ b/src/lib/cdev/CDev.cpp
@@ -55,7 +55,7 @@ CDev::CDev(const char *devname) :
 	int ret = px4_sem_init(&_lock, 0, 1);
 
 	if (ret != 0) {
-		PX4_ERR("SEM INIT FAIL: ret %d", ret);
+		PX4_DEBUG("SEM INIT FAIL: ret %d", ret);
 	}
 }
 
diff --git a/src/modules/uORB/CMakeLists.txt b/src/modules/uORB/CMakeLists.txt
index 8ffeeffebe..319717777c 100644
--- a/src/modules/uORB/CMakeLists.txt
+++ b/src/modules/uORB/CMakeLists.txt
@@ -31,26 +31,30 @@
 #
 ############################################################################
 
-# this includes the generated topics directory
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-
-px4_add_module(
-	MODULE modules__uORB
-	MAIN uorb
-	STACK_MAIN 2100
-	SRCS
-		Publication.cpp
-		Subscription.cpp
-		uORB.cpp
-		uORBDeviceMaster.cpp
-		uORBDeviceNode.cpp
-		uORBMain.cpp
-		uORBManager.cpp
-		uORBUtils.cpp
-	DEPENDS
-		uorb_msgs
-	)
-
-if(PX4_TESTING)
-	add_subdirectory(uORB_tests)
+if(NOT "${PX4_BOARD}" MATCHES "px4_io") # TODO: fix this hack (move uORB to platform layer)
+	
+	# this includes the generated topics directory
+	include_directories(${CMAKE_CURRENT_BINARY_DIR})
+	
+	px4_add_module(
+		MODULE modules__uORB
+		MAIN uorb
+		STACK_MAIN 2100
+		SRCS
+			Publication.cpp
+			Subscription.cpp
+			uORB.cpp
+			uORBDeviceMaster.cpp
+			uORBDeviceNode.cpp
+			uORBMain.cpp
+			uORBManager.cpp
+			uORBUtils.cpp
+		DEPENDS
+			cdev
+			uorb_msgs
+		)
+	
+	if(PX4_TESTING)
+		add_subdirectory(uORB_tests)
+	endif()
 endif()
diff --git a/src/platforms/common/CMakeLists.txt b/src/platforms/common/CMakeLists.txt
index c7547e7be7..afffe9fb34 100644
--- a/src/platforms/common/CMakeLists.txt
+++ b/src/platforms/common/CMakeLists.txt
@@ -39,12 +39,17 @@ if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
 		)
 endif()
 
-px4_add_library(px4_platform
+add_library(px4_platform
 	module.cpp
 	px4_getopt.c
 	px4_cli.cpp
 	shutdown.cpp
 	${SRCS}
 	)
+add_dependencies(px4_platform prebuild_targets)
+
+if (NOT "${PX4_PLATFORM}" MATCHES "qurt" AND NOT "${PX4_BOARD}" MATCHES "io-v2")
+	target_link_libraries(px4_platform PRIVATE modules__uORB) # px4_log awkward dependency with uORB, TODO: orb should part of the platform layer
+endif()
 
 add_subdirectory(work_queue)
diff --git a/src/platforms/common/module.cpp b/src/platforms/common/module.cpp
index 8ecfca3cbd..bb9cf1d762 100644
--- a/src/platforms/common/module.cpp
+++ b/src/platforms/common/module.cpp
@@ -36,6 +36,10 @@
  * Implementation of the API declared in px4_module.h.
  */
 
+#ifndef MODULE_NAME
+#define MODULE_NAME "module"
+#endif
+
 #include <px4_module.h>
 #include <px4_log.h>
 
diff --git a/src/platforms/common/px4_cli.cpp b/src/platforms/common/px4_cli.cpp
index fcd57492e5..a5876fba05 100644
--- a/src/platforms/common/px4_cli.cpp
+++ b/src/platforms/common/px4_cli.cpp
@@ -33,6 +33,11 @@
 
 #include <parameters/param.h>
 #include <px4_cli.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "cli"
+#endif
+
 #include <px4_log.h>
 
 #include <cstring>
diff --git a/src/platforms/common/px4_log.c b/src/platforms/common/px4_log.c
index ab58acdfbb..73ca717b82 100644
--- a/src/platforms/common/px4_log.c
+++ b/src/platforms/common/px4_log.c
@@ -36,6 +36,10 @@
 #include <stdlib.h>
 #include <string.h>
 
+#ifndef MODULE_NAME
+#define MODULE_NAME "log"
+#endif
+
 #include <px4_log.h>
 #if defined(__PX4_POSIX)
 #if !defined(__PX4_CYGWIN)
diff --git a/src/platforms/common/shutdown.cpp b/src/platforms/common/shutdown.cpp
index 8704062657..b45f6f4885 100644
--- a/src/platforms/common/shutdown.cpp
+++ b/src/platforms/common/shutdown.cpp
@@ -37,10 +37,17 @@
  */
 
 #include <board_config.h>
-#include <px4_log.h>
+
 #include <px4_workqueue.h>
 #include <px4_shutdown.h>
 #include <px4_tasks.h>
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "shutdown"
+#endif
+
+#include <px4_log.h>
+
 #include <stdint.h>
 #include <errno.h>
 #include <pthread.h>