diff --git a/.gitignore b/.gitignore
index 9d415d1839..1a6e278539 100644
--- a/.gitignore
+++ b/.gitignore
@@ -54,3 +54,4 @@ src/platforms/posix/px4_messages/
 src/platforms/posix-arm/px4_messages/
 src/platforms/qurt/px4_messages/
 ROMFS/*/*/rc.autostart
+rootfs/
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f04b1fdd6..8354de7399 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -92,6 +92,8 @@
 # Included CMake Files
 # ---------------------------------------------------------------------------
 #
+# * All variables in config files must have the prefix "config_".
+#
 # * Never set global variables in an included cmake file,
 #	you may only define functions. This excludes config and Toolchain files.
 #	This makes it clear to the user when variables are being set or targets
@@ -121,6 +123,9 @@ cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 # parameters
 #
 
+set(CMAKE_BUILD_TYPE "" CACHE STRING "build type")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+	STRINGS ";Debug;Release;RelWithDebInfo;MinSizeRel")
 set(CONFIG "nuttx_px4fmu-v2_default" CACHE STRING "desired configuration")
 file(GLOB_RECURSE configs RELATIVE cmake/configs "cmake/configs/*.cmake")
 set_property(CACHE CONFIG PROPERTY STRINGS ${configs})
@@ -178,8 +183,9 @@ string(REPLACE "_" ";" config_args ${CONFIG})
 list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
+set(target_name "${OS}-${BOARD}-${LABEL}")
 
-message(STATUS "OS=${OS} BOARD=${BOARD} LABEL=${LABEL}")
+message(STATUS "${target_name}")
 
 #=============================================================================
 # programs
@@ -271,6 +277,9 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_subdirectory(src/firmware/${OS})
+if (config_io_board)
+	#add_subdirectory(src/modules/px4iofirmware)
+endif()
 
 #=============================================================================
 # generate git version
diff --git a/Makefile b/Makefile
index b1dd099eb6..db133aea51 100644
--- a/Makefile
+++ b/Makefile
@@ -92,13 +92,13 @@ qurt_eagle_travis:
 
 posix: posix_sitl_simple
 
-sitl_quad:
+sitl_quad: posix
 	Tools/sitl_run.sh posix-configs/SITL/init/rcS
 
-sitl_plane:
+sitl_plane: posix
 	Tools/sitl_run.sh posix-configs/SITL/init/rc.fixed_wing
 
-sitl_ros:
+sitl_ros: posix
 	Tools/sitl_run.sh posix-configs/SITL/init/rc_iris_ros
 
 # Other targets
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 482fc54aa5..022261a58d 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -103,7 +103,7 @@ function(px4_parse_function_args)
 	endif()
 	foreach(arg ${IN_REQUIRED})
 		if (NOT OUT_${arg})
-			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}, ARGN: ${IN_ARGN}")
+			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
 		endif()
 	endforeach()
 	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
@@ -593,25 +593,25 @@ function(px4_add_common_flags)
 		)
 
 	set(added_include_dirs
-		src
+		${CMAKE_SOURCE_DIR}/src
 		${CMAKE_BINARY_DIR}
 		${CMAKE_BINARY_DIR}/src
-		src/modules
-		src/include
-		src/lib
-		src/platforms
+		${CMAKE_SOURCE_DIR}/src/modules
+		${CMAKE_SOURCE_DIR}/src/include
+		${CMAKE_SOURCE_DIR}/src/lib
+		${CMAKE_SOURCE_DIR}/src/platforms
 		# TODO Build/versioning was in Makefile,
 		# do we need this, how does it work with cmake
-		src/drivers/boards/${BOARD}
+		${CMAKE_SOURCE_DIR}/src/drivers/boards/${BOARD}
 		${CMAKE_BINARY_DIR}
 		${CMAKE_BINARY_DIR}/src/modules/px4_messages
 		${CMAKE_BINARY_DIR}/src/modules
-		mavlink/include/mavlink
+		${CMAKE_SOURCE_DIR}/mavlink/include/mavlink
 		)
 
 	if (NOT ${OS} STREQUAL "qurt")
 		list(APPEND added_include_dirs
-			src/lib/eigen
+			${CMAKE_SOURCE_DIR}/src/lib/eigen
 			)
 	endif()
 
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 0ea1c0d800..84885c1c59 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -165,6 +165,18 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	MAIN "sercon" STACK "2048")
diff --git a/cmake/configs/nuttx_px4fmu-v2_simple.cmake b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
index e6777cd32a..c9b054052b 100644
--- a/cmake/configs/nuttx_px4fmu-v2_simple.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
@@ -3,7 +3,6 @@ include(nuttx/px4_impl_nuttx)
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-arm-none-eabi.cmake)
 
 set(config_module_list
-
 	#
 	# Board support modules
 	#
@@ -127,6 +126,18 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
+set(config_io_board
+	px4io-v2
+	)
+
+set(config_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+	)
+
+set(config_io_extra_libs
+	${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM3l_math.a
+	)
+
 add_custom_target(sercon)
 set_target_properties(sercon PROPERTIES
 	MAIN "sercon" STACK "2048")
diff --git a/cmake/configs/nuttx_sim_simple.cmake b/cmake/configs/nuttx_sim_simple.cmake
index a777e915f9..c457431ad6 100644
--- a/cmake/configs/nuttx_sim_simple.cmake
+++ b/cmake/configs/nuttx_sim_simple.cmake
@@ -5,16 +5,16 @@ message(WARNING "this is a work in progress and doesn't build yet")
 set(CMAKE_TOOLCHAIN_FILE cmake/toolchains/Toolchain-native.cmake)
 
 set(config_module_list
-	platforms/nuttx
-	platforms/nuttx/px4_layer
+	#platforms/nuttx
+	#platforms/nuttx/px4_layer
 	platforms/common
-	drivers/led
+	#drivers/led
 	drivers/device
-	modules/systemlib
-	modules/uORB
-	examples/px4_simple_app
-	lib/mathlib/math/filter
-	lib/conversion
+	#modules/systemlib
+	#modules/uORB
+	#examples/px4_simple_app
+	#lib/mathlib/math/filter
+	#lib/conversion
 	)
 
 set(config_firmware_options
@@ -22,15 +22,4 @@ set(config_firmware_options
 	)
 
 set(config_extra_builtin_cmds
-	serdis
-	sercon
 	)
-
-add_custom_target(sercon)
-set_target_properties(sercon PROPERTIES
-	MAIN "sercon" STACK "2048")
-
-add_custom_target(serdis)
-set_target_properties(serdis PROPERTIES
-	MAIN "serdis" STACK "2048")
-
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 0d07dd4560..8b82ed1704 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -61,6 +61,7 @@ include(common/px4_base)
 #
 #	Input:
 #		EXE			: the executable to generate the firmware from
+#		BOARD		: the board
 #
 #	Options:
 #		PARAM_XML	: toggles generation of param_xml	
@@ -74,9 +75,9 @@ include(common/px4_base)
 function(px4_nuttx_add_firmware)
 	px4_parse_function_args(
 		NAME px4_nuttx_add_firmware
-		ONE_VALUE OUT EXE
+		ONE_VALUE BOARD OUT EXE
 		OPTIONS PARAM_XML
-		REQUIRED EXE
+		REQUIRED OUT EXE BOARD
 		ARGN ${ARGN})
 
 	set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
@@ -111,7 +112,7 @@ function(px4_nuttx_add_firmware)
 			DEPENDS ${EXE}
 			)
 	endif()
-	add_custom_target(build_firmware ALL DEPENDS ${OUT})
+	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
 endfunction()
 
 #=============================================================================
@@ -246,14 +247,14 @@ function(px4_nuttx_add_export)
 		DEPENDS ${DEPENDS} __nuttx_copy_${CONFIG})
 
 	# extract
-	add_custom_command(OUTPUT nuttx_export_${BOARD}.stamp
+	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
 		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} ${BOARD}.export -d ${nuttx_src}
-		COMMAND ${TOUCH} nuttx_export_${BOARD}.stamp
-		DEPENDS ${DEPENDS} ${BOARD}.export)
+		COMMAND ${UNZIP} ${CONFIG}.export -d ${nuttx_src}
+		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
+		DEPENDS ${DEPENDS} ${CONFIG}.export)
 
 	add_custom_target(${OUT}
-		DEPENDS nuttx_export_${BOARD}.stamp)
+		DEPENDS nuttx_export_${CONFIG}.stamp)
 
 endfunction()
 
@@ -406,17 +407,24 @@ function(px4_os_add_flags)
 
 	set(added_exe_linker_flags) # none currently
 
-	if ("${BOARD}" STREQUAL "px4fmu-v2")
-		set(arm_build_flags
+	set(cpu_flags)
+	if (${BOARD} STREQUAL "px4fmu-v2")
+		set(cpu_flags
 			-mcpu=cortex-m4
 			-mthumb
 			-march=armv7e-m
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
-		list(APPEND c_flags ${arm_build_flags})
-		list(APPEND cxx_flags ${arm_build_flags})
+	elseif (${BOARD} STREQUAL "px4io-v2")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
 	endif()
+	list(APPEND c_flags ${cpu_flags})
+	list(APPEND cxx_flags ${cpu_flags})
 
 	# output
 	foreach(var ${inout_vars})
@@ -455,11 +463,11 @@ function(px4_os_prebuild_targets)
 			ONE_VALUE OUT BOARD THREADS
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
-	px4_nuttx_add_export(OUT nuttx_export
+	px4_nuttx_add_export(OUT nuttx_export_${BOARD}
 		CONFIG ${BOARD}
 		THREADS ${THREADS}
 		DEPENDS git_nuttx)
-	add_custom_target(${OUT} DEPENDS nuttx_export)
+	add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
 endfunction()
 
 # vim: set noet fenc=utf-8 ff=unix nowrap:
diff --git a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
index 2db5cf82b9..61d63f8677 100644
--- a/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
+++ b/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake
@@ -46,7 +46,7 @@ foreach(tool objcopy nm ld)
 endforeach()
 
 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
diff --git a/cmake/toolchains/Toolchain-arm-none-eabi.cmake b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
index 5fab42f3c2..80da3ad1a2 100644
--- a/cmake/toolchains/Toolchain-arm-none-eabi.cmake
+++ b/cmake/toolchains/Toolchain-arm-none-eabi.cmake
@@ -46,7 +46,7 @@ foreach(tool objcopy nm ld gdb)
 endforeach()
 
 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
diff --git a/cmake/toolchains/Toolchain-native.cmake b/cmake/toolchains/Toolchain-native.cmake
index 0f9ad12f14..888c73a6d8 100644
--- a/cmake/toolchains/Toolchain-native.cmake
+++ b/cmake/toolchains/Toolchain-native.cmake
@@ -8,7 +8,7 @@ foreach(tool nm ld)
 endforeach()
 
 # os tools
-foreach(tool echo patch grep rm mkdir nm genromfs awk cp touch make unzip)
+foreach(tool echo patch grep rm mkdir nm genromfs cp touch make unzip)
 	string(TOUPPER ${tool} TOOL)
 	find_program(${TOOL} ${tool})
 	if(NOT ${TOOL})
diff --git a/src/drivers/ms5611/CMakeLists.txt b/src/drivers/ms5611/CMakeLists.txt
index 8afca6ade0..7359bd9507 100644
--- a/src/drivers/ms5611/CMakeLists.txt
+++ b/src/drivers/ms5611/CMakeLists.txt
@@ -30,15 +30,29 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+set(srcs
+	ms5611_spi.cpp
+	ms5611_i2c.cpp
+	)
+
+if(${OS} STREQUAL "nuttx")
+	list(APPEND srcs
+		ms5611_nuttx.cpp
+		)
+else()
+	list(APPEND srcs
+		ms5611_posix.cpp
+		ms5611_sim.cpp
+		)
+
+endif()
+
 px4_add_module(
 	MODULE drivers__ms5611
 	MAIN ms5611
 	COMPILE_FLAGS
 		-Os
-	SRCS
-		ms5611_nuttx.cpp
-		ms5611_spi.cpp
-		ms5611_i2c.cpp
+	SRCS ${srcs}
 	DEPENDS
 		platforms__common
 	)
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index b069d8849b..bb9aac3113 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -13,44 +13,57 @@ add_executable(firmware_nuttx
 	builtin_commands.c
 	romfs.o)
 set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
-set(main_link_flags
-	"-T${nuttx_export_dir}/build/ld.script"
-	"-Wl,-Map=${CMAKE_BINARY_DIR}/main.map"
+
+set(link_libs
+	apps nuttx m gcc
 	)
-px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
-set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
 
-set(cmsis_lib ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a)
+if(NOT ${BOARD} STREQUAL "sim")
+	list(APPEND link_libs nosys)
+	set(main_link_flags
+		"-T${nuttx_export_dir}/build/ld.script"
+		"-Wl,-Map=${CMAKE_BINARY_DIR}/${BOARD}/main.map"
+		)
+	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+	set_target_properties(firmware_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+endif()
+
+set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${target_name}.px4)
 
 target_link_libraries(firmware_nuttx
 	-Wl,--start-group
 	${module_libraries}
-	${cmsis_lib}
-	apps nuttx nosys m gcc
+	${config_extra_libs}
+	${link_libs}
 	-Wl,--end-group)
 
-set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
-
 add_custom_target(check_weak
-	COMMAND ${NM} firmware_nuttx | grep " w "
+	COMMAND ${NM} firmware_nuttx | ${GREP} " w " | cat
 	DEPENDS firmware_nuttx
+	VERBATIM
 	)
 
-px4_nuttx_add_firmware(OUT ${fw_file}
-	EXE firmware_nuttx
-	${config_firmware_options}
-	)
+if(NOT ${BOARD} STREQUAL "sim")
+	set(fw_file
+		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
 
-configure_file(gdbinit.in .gdbinit)
+	px4_nuttx_add_firmware(OUT ${fw_file}
+		BOARD ${BOARD}
+		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		${config_firmware_options}
+		)
 
-add_custom_target(debug
-	COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-	DEPENDS firmware_nuttx
-		${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
+	configure_file(gdbinit.in .gdbinit)
+
+	add_custom_target(debug
+		COMMAND ${GDB} ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+		DEPENDS firmware_nuttx
+			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+		)
 
-px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
-	BUNDLE ${fw_file})
+	px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
+		BUNDLE ${fw_file})
+endif()
 
 install(FILES ${fw_file} DESTINATION .)
 
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 0680fde22c..a8c5d681ab 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -30,27 +30,108 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-px4_add_module(
-	MODULE modules__px4iofirmware
-	SRCS
-		adc.c
-		controls.c
-		dsm.c
-		px4io.c
-		registers.c
-		safety.c
-		sbus.c
-		../systemlib/up_cxxinitialize.c
-		../systemlib/perf_counter.c
-		mixer.cpp
-		../systemlib/mixer/mixer.cpp
-		../systemlib/mixer/mixer_group.cpp
-		../systemlib/mixer/mixer_multirotor.cpp
-		../systemlib/mixer/mixer_simple.cpp
-		../systemlib/pwm_limit/pwm_limit.c
-		../../lib/rc/st24.c
-		../../lib/rc/sumd.c
-	DEPENDS
-		platforms__common
+
+# kill all flags above us, this is a different board (io)
+set_directory_properties(PROPERTIES
+	INCLUDE_DIRECTORIES ""
+	LINK_DIRECTORIES ""
+	COMPILE_DEFINITIONS ""
 	)
+set(c_flags)
+set(exe_linker_flags)
+set(cxx_flags)
+set(include_dirs)
+set(link_dirs)
+set(definitions)
+
+px4_os_prebuild_targets(OUT io_prebuild_targets
+	BOARD ${config_io_board}
+	THREADS ${THREADS})
+
+px4_os_add_flags(
+	BOARD ${config_io_board}
+	C_FLAGS c_flags
+	CXX_FLAGS cxx_flags
+	EXE_LINKER_FLAGS exe_linker_flags
+	INCLUDE_DIRS include_dirs
+	LINK_DIRS link_dirs
+	DEFINITIONS definitions)
+
+px4_join(OUT CMAKE_EXE_LINKER_FLAGS LIST "${exe_linker_flags}" GLUE " ")
+px4_join(OUT CMAKE_C_FLAGS LIST "${c_flags}" GLUE " ")
+px4_join(OUT CMAKE_CXX_FLAGS LIST "${cxx_flags}" GLUE " ")
+
+include_directories(
+	${include_dirs}
+	${CMAKE_BINARY_DIR}/src/modules/systemlib/mixer
+	)
+link_directories(${link_dirs})
+add_definitions(${definitions})
+
+set(srcs
+	adc.c
+	controls.c
+	dsm.c
+	px4io.c
+	registers.c
+	safety.c
+	sbus.c
+	../systemlib/up_cxxinitialize.c
+	../systemlib/perf_counter.c
+	mixer.cpp
+	../systemlib/mixer/mixer.cpp
+	../systemlib/mixer/mixer_group.cpp
+	../systemlib/mixer/mixer_multirotor.cpp
+	../systemlib/mixer/mixer_simple.cpp
+	../systemlib/pwm_limit/pwm_limit.c
+	../../lib/rc/st24.c
+	../../lib/rc/sumd.c
+	../../drivers/stm32/drv_hrt.c
+	../../drivers/stm32/drv_pwm_servo.c
+	../../drivers/boards/${config_io_board}/px4iov2_init.c
+	../../drivers/boards/${config_io_board}/px4iov2_pwm_servo.c
+	)
+
+if(${config_io_board} STREQUAL "px4io-v1")
+	list(APPEND srcs
+		i2c.c
+		)
+elseif(${config_io_board} STREQUAL "px4io-v2")
+	list(APPEND srcs
+		serial.c
+		../systemlib/hx_stream.c
+		)
+endif()
+
+add_executable(firmware_io_nuttx
+	${srcs})
+
+add_dependencies(firmware_io_nuttx
+	nuttx_export_${config_io_board}
+	msg_gen
+	io_prebuild_targets
+	)
+
+set(nuttx_export_dir ${CMAKE_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(main_link_flags
+	"-T${nuttx_export_dir}/build/ld.script"
+	"-Wl,-Map=${CMAKE_BINARY_DIR}/${config_io_board}/main.map"
+	)
+px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
+set_target_properties(firmware_io_nuttx PROPERTIES LINK_FLAGS ${main_link_flags})
+
+set(io_fw_file ${CMAKE_CURRENT_BINARY_DIR}/${config_io_board}.px4)
+
+target_link_libraries(firmware_io_nuttx
+	-Wl,--start-group
+	apps nuttx nosys m gcc
+	${config_io_extra_libs}
+	-Wl,--end-group)
+
+px4_nuttx_add_firmware(OUT ${io_fw_file}
+	BOARD ${config_io_board}
+	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_io_nuttx
+	${config_firmware_options}
+	)
+
 # vim: set noet ft=cmake fenc=utf-8 ff=unix : 
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index c58048433d..41af1c0417 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -30,6 +30,43 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+set(srcs
+	test_adc.c
+	test_bson.c
+	test_float.c
+	test_gpio.c
+	test_hott_telemetry.c
+	test_hrt.c
+	test_int.c
+	test_jig_voltages.c
+	test_led.c
+	test_sensors.c
+	test_servo.c
+	test_sleep.c
+	test_uart_baudchange.c
+	test_uart_console.c
+	test_uart_loopback.c
+	test_uart_send.c
+	test_mixer.cpp
+	test_mathlib.cpp
+	test_file.c
+	test_file2.c
+	tests_main.c
+	test_param.c
+	test_ppm_loopback.c
+	test_rc.c
+	test_conv.cpp
+	test_mount.c
+	test_eigen.cpp
+	)
+
+if(${OS} STREQUAL "nuttx")
+	list(APPEND srcs
+		test_time.c
+		)
+endif()
+
 px4_add_module(
 	MODULE systemcmds__tests
 	MAIN tests
@@ -37,34 +74,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wframe-larger-than=6000
 		-O0
-	SRCS
-		test_adc.c
-		test_bson.c
-		test_float.c
-		test_gpio.c
-		test_hott_telemetry.c
-		test_hrt.c
-		test_int.c
-		test_jig_voltages.c
-		test_led.c
-		test_sensors.c
-		test_servo.c
-		test_sleep.c
-		test_uart_baudchange.c
-		test_uart_console.c
-		test_uart_loopback.c
-		test_uart_send.c
-		test_mixer.cpp
-		test_mathlib.cpp
-		test_file.c
-		test_file2.c
-		tests_main.c
-		test_param.c
-		test_ppm_loopback.c
-		test_rc.c
-		test_conv.cpp
-		test_mount.c
-		test_eigen.cpp
+	SRCS ${srcs}
 	DEPENDS
 		platforms__common
 	)