diff --git a/Makefile b/Makefile
index 577ebf3838..9af87444dd 100644
--- a/Makefile
+++ b/Makefile
@@ -175,17 +175,29 @@ qurt_eagle_travis:
 
 qurt_eagle_release:
 	$(call cmake-build,$@)
+	
+qurt_eagle_legacy_driver_release:
+	$(call cmake-build,$@)
 
 posix_eagle_release:
 	$(call cmake-build,$@)
+	
+posix_eagle_legacy_driver_release:
+	$(call cmake-build,$@)
 
 qurt_eagle_default:
 	$(call cmake-build,$@)
 
 eagle_default: posix_eagle_default qurt_eagle_default
 
+qurt_eagle_legacy_driver_default:
+	$(call cmake-build,$@)	
+
 posix_eagle_default:
 	$(call cmake-build,$@)
+	
+posix_eagle_legacy_driver_default:
+	$(call cmake-build,$@) 
 
 posix_rpi2_default:
 	$(call cmake-build,$@)
diff --git a/cmake/configs/posix_eagle_legacy_driver_default.cmake b/cmake/configs/posix_eagle_legacy_driver_default.cmake
new file mode 100644
index 0000000000..d6955f9ce4
--- /dev/null
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@@ -0,0 +1,62 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(CONFIG_SHMEM "1")
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the Snapdragon.
+add_definitions(
+	-D__PX4_POSIX_EAGLE
+	-D__USING_SNAPDRAGON_LEGACY_DRIVER
+	)
+
+set(config_module_list
+	drivers/device
+	drivers/blinkm
+	drivers/pwm_out_sim
+	drivers/rgbled
+	drivers/led
+	drivers/boards/sitl
+	drivers/qshell/posix
+
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/topic_listener
+
+	modules/mavlink
+
+	modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+
+	modules/mc_pos_control
+	modules/mc_att_control
+
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/muorb/krait
+	modules/sensors
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+	modules/controllib
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/conversion
+	lib/ecl
+	lib/geo
+	lib/geo_lookup
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+	)
diff --git a/cmake/configs/posix_eagle_legacy_driver_release.cmake b/cmake/configs/posix_eagle_legacy_driver_release.cmake
new file mode 100644
index 0000000000..21ea07afe7
--- /dev/null
+++ b/cmake/configs/posix_eagle_legacy_driver_release.cmake
@@ -0,0 +1,43 @@
+include(posix/px4_impl_posix)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
+
+set(CONFIG_SHMEM "1")
+
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   )
+
+set(config_module_list
+	drivers/device
+	drivers/boards/sitl
+	drivers/led
+
+	systemcmds/param
+	systemcmds/ver
+
+	modules/mavlink
+
+	modules/param
+	modules/systemlib
+	modules/uORB
+	modules/dataman
+	modules/sdlog2
+	modules/simulator
+	modules/commander
+
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/geo_lookup
+	lib/conversion
+
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+
+	modules/muorb/krait
+	)
+
diff --git a/cmake/configs/qurt_eagle_legacy_driver_default.cmake b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
new file mode 100644
index 0000000000..d1da17919b
--- /dev/null
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@@ -0,0 +1,100 @@
+include(qurt/px4_impl_qurt)
+
+#if ("${HEXAGON_DRIVERS_ROOT}" #STREQUAL "")
+#	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
+#endif()
+
+#if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
+#	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
+#endif()
+
+#include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   )
+
+set(CONFIG_SHMEM "1")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_bmp280_wrapper
+	platforms/posix/drivers/df_hmc5883_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+	modules/land_detector
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/uart_esc
+	drivers/qshell/qurt
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)
+
+set(config_df_driver_list
+	mpu9250
+	bmp280
+	hmc5883
+	)
diff --git a/cmake/configs/qurt_eagle_legacy_driver_release.cmake b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
new file mode 100644
index 0000000000..5b137311d8
--- /dev/null
+++ b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
@@ -0,0 +1,102 @@
+include(qurt/px4_impl_qurt)
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   )
+
+if ("$ENV{EAGLE_DRIVERS_SRC}" STREQUAL "")
+	message(FATAL_ERROR "Environment variable EAGLE_DRIVERS_SRC must be set")
+else()
+	set(EAGLE_DRIVERS_SRC $ENV{EAGLE_DRIVERS_SRC})
+endif()
+
+STRING(REGEX REPLACE "//" "/" EAGLE_DRIVERS_SRC ${EAGLE_DRIVERS_SRC})
+STRING(REGEX REPLACE "/" "__" EAGLE_DRIVERS_MODULE_PREFIX ${EAGLE_DRIVERS_SRC})
+
+#include_directories(${EAGLE_ADDON_ROOT}/flight_controller/hexagon/inc)
+include_directories(
+	${HEXAGON_SDK_ROOT}/inc
+	${HEXAGON_SDK_ROOT}/inc/stddef
+	${HEXAGON_SDK_ROOT}/lib/common/qurt/ADSPv5MP/include
+	)
+
+message("hexagon_sdk_root is ${HEXAGON_SDK_ROOT}")
+
+set(QURT_ENABLE_STUBS "0")
+
+set(CONFIG_SHMEM "1")
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
+include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	${EAGLE_DRIVERS_SRC}/mpu_spi
+	${EAGLE_DRIVERS_SRC}/uart_esc
+	${EAGLE_DRIVERS_SRC}/rc_receiver
+	${EAGLE_DRIVERS_SRC}/csr_gps
+
+	#
+	# System commands
+	#
+	systemcmds/param
+
+	#
+	# Estimation modules (EKF/ SO3 / other filters)
+	#
+	#modules/attitude_estimator_ekf
+	modules/ekf_att_pos_estimator
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/commander
+	modules/controllib
+
+	#
+	# Libraries
+	#
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+
+	#
+	# QuRT port
+	#
+	platforms/common
+	platforms/qurt/px4_layer
+	platforms/posix/work_queue
+
+	#
+	# sources for muorb over fastrpc
+	#
+	modules/muorb/adsp
+	)