diff --git a/.travis.yml b/.travis.yml
index ccd0aafbcd..d984d2a83e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -110,6 +110,7 @@ script:
   - ../Tools/uavcan_copy.sh
   - cd ..
   - echo 'Building NuttX px4fmu-v4 Firmware..' && make px4fmu-v4_default
+  - echo 'Building NuttX px4-stm32f4discovery Firmware..' && make px4-stm32f4discovery_default
   - echo 'Running Tests..' && make px4fmu-v2_default test
 
 after_success:
@@ -117,8 +118,9 @@ after_success:
          cp build_px4fmu-v1_default/src/firmware/nuttx/nuttx-px4fmu-v1-default.px4 px4fmu-v1_default.px4
       && cp build_px4fmu-v2_default/src/firmware/nuttx/nuttx-px4fmu-v2-default.px4 px4fmu-v2_default.px4
       && cp build_px4fmu-v4_default/src/firmware/nuttx/nuttx-px4fmu-v4-default.px4 px4fmu-v4_default.px4
-      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4
-      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
+      && cp build_px4-stm32f4discovery_default/src/firmware/nuttx/nuttx-px4-stm32f4discovery-default.px4 px4-stm32f4discovery-default.px4
+      && zip Firmware.zip px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4
+      && ./CI-Tools/s3cmd-put px4fmu-v1_default.px4 px4fmu-v2_default.px4 px4fmu-v4_default.px4 px4-stm32f4discovery-default.px4 build_px4fmu-v2_default/parameters.xml build_px4fmu-v2_default/airframes.xml CI-Tools/directory/index.html Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put Firmware.zip archives/Firmware/$TRAVIS_BRANCH/$TRAVIS_BUILD_ID/
       && ./CI-Tools/s3cmd-put CI-Tools/directory/index.html archives/Firmware/$TRAVIS_BRANCH/
       && ./CI-Tools/s3cmd-put CI-Tools/index.html index.html
diff --git a/Makefile b/Makefile
index ee2670244d..77abd708a6 100644
--- a/Makefile
+++ b/Makefile
@@ -133,6 +133,9 @@ px4fmu-v2_default:
 px4fmu-v4_default:
 	$(call cmake-build,nuttx_px4fmu-v4_default)
 
+px4-stm32f4discovery_default:
+	$(call cmake-build,nuttx_px4-stm32f4discovery_default)
+
 px4fmu-v2_simple:
 	$(call cmake-build,nuttx_px4fmu-v2_simple)
 
diff --git a/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
new file mode 100644
index 0000000000..8815992e40
--- /dev/null
+++ b/cmake/configs/nuttx_px4-stm32f4discovery_default.cmake
@@ -0,0 +1,87 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	drivers/stm32
+	drivers/led
+	drivers/boards/px4-stm32f4discovery
+
+	#
+	# System commands
+	#
+	systemcmds/bl_update
+	systemcmds/mixer
+	systemcmds/param
+	systemcmds/perf
+	systemcmds/reboot
+	systemcmds/top
+	systemcmds/config
+	systemcmds/nshterm
+	systemcmds/ver
+
+	#
+	# Library modules
+	#
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/controllib
+	modules/uORB
+
+	#
+	# Libraries
+	#
+	#lib/mathlib/CMSIS
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/ecl
+	lib/external_lgpl
+	lib/geo
+	lib/conversion
+	platforms/nuttx
+
+	# had to add for cmake, not sure why wasn't in original config
+	platforms/common
+	platforms/nuttx/px4_layer
+
+	#
+	# Demo apps
+	#
+	#examples/math_demo
+	# Tutorial code from
+	# https://px4.io/dev/px4_simple_app
+	examples/px4_simple_app
+
+	# Tutorial code from
+	# https://px4.io/dev/daemon
+	#examples/px4_daemon_app
+
+	# Tutorial code from
+	# https://px4.io/dev/debug_values
+	#examples/px4_mavlink_debug
+
+	# Tutorial code from
+	# https://px4.io/dev/example_fixedwing_control
+	#examples/fixedwing_control
+
+	# Hardware test
+	#examples/hwtest
+)
+
+set(config_extra_builtin_cmds
+	serdis
+	sercon
+	)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+	MAIN "sercon" STACK "2048")
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+	MAIN "serdis" STACK "2048")
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index ae3d95eaf5..783886e373 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -467,6 +467,14 @@ function(px4_os_add_flags)
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
+	elseif (${BOARD} STREQUAL "px4-stm32f4discovery")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
 	elseif (${BOARD} STREQUAL "aerocore")
 		set(cpu_flags
 			-mcpu=cortex-m4
diff --git a/src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c b/src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c
index fb1b282364..1c74be9058 100644
--- a/src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c
+++ b/src/drivers/boards/px4-stm32f4discovery/px4discovery_init.c
@@ -129,18 +129,6 @@ stm32_boardinitialize(void)
 
 #include <math.h>
 
-#ifdef __cplusplus
-__EXPORT int matherr(struct __exception *e)
-{
-	return 1;
-}
-#else
-__EXPORT int matherr(struct exception *e)
-{
-	return 1;
-}
-#endif
-
 __EXPORT int nsh_archinitialize(void)
 {
 
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 895eec044a..2b24b477b5 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -51,7 +51,7 @@ if(NOT ${BOARD} STREQUAL "sim")
 		)
 	if (config_io_board)
 	    add_dependencies(romfs fw_io)
-    endif()
+	endif()
 	set(fw_file
 		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)