diff --git a/src/drivers/airspeed/airspeed.cpp b/src/drivers/airspeed/airspeed.cpp
index d5935dfd46..7a6a58746c 100644
--- a/src/drivers/airspeed/airspeed.cpp
+++ b/src/drivers/airspeed/airspeed.cpp
@@ -38,7 +38,7 @@
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/airspeed/airspeed.h b/src/drivers/airspeed/airspeed.h
index cdaf244dd1..b440338cf9 100644
--- a/src/drivers/airspeed/airspeed.h
+++ b/src/drivers/airspeed/airspeed.h
@@ -38,7 +38,7 @@
  * Generic driver for airspeed sensors connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/ardrone_interface/ardrone_interface.c b/src/drivers/ardrone_interface/ardrone_interface.c
index 53d98ba9a1..cfc80ace22 100644
--- a/src/drivers/ardrone_interface/ardrone_interface.c
+++ b/src/drivers/ardrone_interface/ardrone_interface.c
@@ -37,7 +37,7 @@
  * Implementation of AR.Drone 1.0 / 2.0 motor control interface.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c
index 0f45b65366..46e1f86511 100644
--- a/src/drivers/ardrone_interface/ardrone_motor_control.c
+++ b/src/drivers/ardrone_interface/ardrone_motor_control.c
@@ -37,7 +37,7 @@
  * Implementation of AR.Drone 1.0 / 2.0 motor control interface
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <fcntl.h>
 #include <unistd.h>
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 6d1b3f6ca5..66f959a904 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -39,7 +39,7 @@
  * @author Randy Mackay <rmackay9@yahoo.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp
index d749a0d7b4..0b9dfd2051 100644
--- a/src/drivers/blinkm/blinkm.cpp
+++ b/src/drivers/blinkm/blinkm.cpp
@@ -93,7 +93,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index e43a348052..f4e4622adc 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -36,7 +36,7 @@
  * Driver for the Bosch BMA 180 MEMS accelerometer connected via SPI.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/boards/aerocore/aerocore_init.c b/src/drivers/boards/aerocore/aerocore_init.c
index 1ce235da8f..3bdb0d4238 100644
--- a/src/drivers/boards/aerocore/aerocore_init.c
+++ b/src/drivers/boards/aerocore/aerocore_init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/boards/aerocore/aerocore_led.c b/src/drivers/boards/aerocore/aerocore_led.c
index 94a716029f..22b3a2c240 100644
--- a/src/drivers/boards/aerocore/aerocore_led.c
+++ b/src/drivers/boards/aerocore/aerocore_led.c
@@ -37,7 +37,7 @@
  * AeroCore LED backend.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/src/drivers/boards/aerocore/aerocore_spi.c b/src/drivers/boards/aerocore/aerocore_spi.c
index 0fa474a8c1..5a4dd15b26 100644
--- a/src/drivers/boards/aerocore/aerocore_spi.c
+++ b/src/drivers/boards/aerocore/aerocore_spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/src/drivers/boards/aerocore/board_config.h b/src/drivers/boards/aerocore/board_config.h
index 19518d73d9..1ef2e917dd 100644
--- a/src/drivers/boards/aerocore/board_config.h
+++ b/src/drivers/boards/aerocore/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/src/drivers/boards/px4fmu-v1/board_config.h b/src/drivers/boards/px4fmu-v1/board_config.h
index 17fa9c542e..37bebcbfd8 100644
--- a/src/drivers/boards/px4fmu-v1/board_config.h
+++ b/src/drivers/boards/px4fmu-v1/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_can.c b/src/drivers/boards/px4fmu-v1/px4fmu_can.c
index 1e1f100406..104d6ff237 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_init.c b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
index 293021f8b2..85abe0671c 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_init.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_led.c b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
index ee53fc43d7..888e4f551b 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_led.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c
index 16f94a9f23..8ef17c36ed 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/src/drivers/boards/px4fmu-v1/px4fmu_usb.c b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c
index 0fc8569aa4..69f6bd9b2a 100644
--- a/src/drivers/boards/px4fmu-v1/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu-v1/px4fmu_usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/boards/px4fmu-v2/board_config.h b/src/drivers/boards/px4fmu-v2/board_config.h
index 6188e29ae1..86c026fb04 100644
--- a/src/drivers/boards/px4fmu-v2/board_config.h
+++ b/src/drivers/boards/px4fmu-v2/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ****************************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
index 9b25c574a8..c95c2a46e5 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
index 3c05bfa46a..74f77b3ef6 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu2_led.c
@@ -37,7 +37,7 @@
  * PX4FMU LED backend.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_can.c b/src/drivers/boards/px4fmu-v2/px4fmu_can.c
index f66c7cd79f..62f170957d 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_can.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_can.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <errno.h>
 #include <debug.h>
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
index 27f193513b..64b9926b8d 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_spi.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu_usb.c b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c
index f329e06ff9..e4cfc27e15 100644
--- a/src/drivers/boards/px4fmu-v2/px4fmu_usb.c
+++ b/src/drivers/boards/px4fmu-v2/px4fmu_usb.c
@@ -41,7 +41,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/boards/px4io-v1/board_config.h b/src/drivers/boards/px4io-v1/board_config.h
index 1be4877bad..59c17431c7 100644
--- a/src/drivers/boards/px4io-v1/board_config.h
+++ b/src/drivers/boards/px4io-v1/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/src/drivers/boards/px4io-v1/px4io_init.c b/src/drivers/boards/px4io-v1/px4io_init.c
index 5a02a97164..019f011fa7 100644
--- a/src/drivers/boards/px4io-v1/px4io_init.c
+++ b/src/drivers/boards/px4io-v1/px4io_init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/boards/px4io-v2/board_config.h b/src/drivers/boards/px4io-v2/board_config.h
index 99baee41df..e9b17e7dc7 100644
--- a/src/drivers/boards/px4io-v2/board_config.h
+++ b/src/drivers/boards/px4io-v2/board_config.h
@@ -43,7 +43,7 @@
  * Included Files
  ******************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
 
diff --git a/src/drivers/boards/px4io-v2/px4iov2_init.c b/src/drivers/boards/px4io-v2/px4iov2_init.c
index fd7eb33c3e..f08299e536 100644
--- a/src/drivers/boards/px4io-v2/px4iov2_init.c
+++ b/src/drivers/boards/px4io-v2/px4iov2_init.c
@@ -45,7 +45,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/drivers/device/device.h b/src/drivers/device/device.h
index 4d4bed8358..cf7ec47fc5 100644
--- a/src/drivers/device/device.h
+++ b/src/drivers/device/device.h
@@ -43,7 +43,7 @@
 /*
  * Includes here should only cover the needs of the framework definitions.
  */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <errno.h>
 #include <stdbool.h>
diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp
index 4c75143aca..03ceb1d5cf 100644
--- a/src/drivers/ets_airspeed/ets_airspeed.cpp
+++ b/src/drivers/ets_airspeed/ets_airspeed.cpp
@@ -38,7 +38,7 @@
  * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/gimbal/gimbal.cpp b/src/drivers/gimbal/gimbal.cpp
index 1e27309d83..3e1767002b 100644
--- a/src/drivers/gimbal/gimbal.cpp
+++ b/src/drivers/gimbal/gimbal.cpp
@@ -40,7 +40,7 @@
  * and output via the standardized control group #2 and a mixer.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 714c80ded2..da92c851bc 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -51,7 +51,7 @@
 #include <math.h>
 #include <unistd.h>
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 #include <arch/board/board.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/hil/hil.cpp b/src/drivers/hil/hil.cpp
index 961ec47246..398f053d70 100644
--- a/src/drivers/hil/hil.cpp
+++ b/src/drivers/hil/hil.cpp
@@ -48,7 +48,7 @@
  * driver. Use instead the normal FMU or IO driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index 3a3848446d..639012dcf9 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -37,7 +37,7 @@
  * Driver for the HMC5883 / HMC5983 magnetometer connected via I2C or SPI.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/hmc5883/hmc5883_i2c.cpp b/src/drivers/hmc5883/hmc5883_i2c.cpp
index b13f1fca8f..880610bfd9 100644
--- a/src/drivers/hmc5883/hmc5883_i2c.cpp
+++ b/src/drivers/hmc5883/hmc5883_i2c.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/hmc5883/hmc5883_spi.cpp b/src/drivers/hmc5883/hmc5883_spi.cpp
index b88310539a..0eec3d8d18 100644
--- a/src/drivers/hmc5883/hmc5883_spi.cpp
+++ b/src/drivers/hmc5883/hmc5883_spi.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/hott/hott_sensors/hott_sensors.cpp
index 4ac7e4bdfb..7bc3ca8353 100644
--- a/src/drivers/hott/hott_sensors/hott_sensors.cpp
+++ b/src/drivers/hott/hott_sensors/hott_sensors.cpp
@@ -42,7 +42,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
index 43df0cb8cc..df6fe950b9 100644
--- a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
+++ b/src/drivers/hott/hott_telemetry/hott_telemetry.cpp
@@ -44,7 +44,7 @@
  */
 
 #include <fcntl.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <poll.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 7687236408..2b3f4bf51b 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -39,7 +39,7 @@
  *       also supported by this driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp
index 8f79fc3972..4d1d24a92d 100644
--- a/src/drivers/led/led.cpp
+++ b/src/drivers/led/led.cpp
@@ -37,7 +37,7 @@
  * LED driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <drivers/device/device.h>
 #include <drivers/drv_led.h>
 
diff --git a/src/drivers/ll40ls/ll40ls.cpp b/src/drivers/ll40ls/ll40ls.cpp
index 8e2caf8a04..b3368406a1 100644
--- a/src/drivers/ll40ls/ll40ls.cpp
+++ b/src/drivers/ll40ls/ll40ls.cpp
@@ -38,7 +38,7 @@
  * Driver for the PulsedLight Lidar-Lite range finders connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index e594c92a11..0cfe735412 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -36,7 +36,7 @@
  * Driver for the ST LSM303D MEMS accelerometer / magnetometer connected via SPI.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <sys/stat.h>
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index d5ce5d0feb..1a4ea17cf1 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -39,7 +39,7 @@
  * Driver for the Maxbotix sonar range finders connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index d25d16fa15..afbd10c5cf 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -44,7 +44,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/drivers/meas_airspeed/meas_airspeed.cpp b/src/drivers/meas_airspeed/meas_airspeed.cpp
index 45684b5906..03e7846851 100644
--- a/src/drivers/meas_airspeed/meas_airspeed.cpp
+++ b/src/drivers/meas_airspeed/meas_airspeed.cpp
@@ -51,7 +51,7 @@
  */
 
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp
index 3b8c4ee777..5fc1dd6b21 100644
--- a/src/drivers/mkblctrl/mkblctrl.cpp
+++ b/src/drivers/mkblctrl/mkblctrl.cpp
@@ -41,7 +41,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <drivers/device/i2c.h>
 #include <systemlib/param/param.h>
 
diff --git a/src/drivers/mkblctrl/mkblctrl_params.c b/src/drivers/mkblctrl/mkblctrl_params.c
index 4296260f8b..8c3db720ad 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 <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /**
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index b6642e2bbd..bf0e23da6b 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -40,7 +40,7 @@
  * @author Pat Hickey
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index ef94d03633..9d0e436eeb 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -36,7 +36,7 @@
  * Driver for the MS5611 barometric pressure sensor connected via I2C or SPI.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp
index ca651409f9..30d5e48881 100644
--- a/src/drivers/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/ms5611/ms5611_i2c.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index 554a1d6596..0e68e9cb5d 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/oreoled/oreoled.cpp b/src/drivers/oreoled/oreoled.cpp
index b44c4b720b..b92e950010 100644
--- a/src/drivers/oreoled/oreoled.cpp
+++ b/src/drivers/oreoled/oreoled.cpp
@@ -39,7 +39,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/pca8574/pca8574.cpp b/src/drivers/pca8574/pca8574.cpp
index 904ce18e8a..c697125a71 100644
--- a/src/drivers/pca8574/pca8574.cpp
+++ b/src/drivers/pca8574/pca8574.cpp
@@ -41,7 +41,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/pca9685/pca9685.cpp b/src/drivers/pca9685/pca9685.cpp
index 6f69ce8a1f..c26e1b8fed 100644
--- a/src/drivers/pca9685/pca9685.cpp
+++ b/src/drivers/pca9685/pca9685.cpp
@@ -46,7 +46,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/pwm_input/pwm_input.cpp b/src/drivers/pwm_input/pwm_input.cpp
index 2d771266c0..c7d58579e8 100644
--- a/src/drivers/pwm_input/pwm_input.cpp
+++ b/src/drivers/pwm_input/pwm_input.cpp
@@ -38,7 +38,7 @@
  * which in turn was based on drv_hrt.c
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 8ea7a61709..2adcf1ac9a 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -38,7 +38,7 @@
  * Driver for the PX4FLOW module connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 92afc7cd74..f0412584fa 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -37,7 +37,7 @@
  * Driver/configurator for the PX4 FMU multi-purpose port on v1 and v2 boards.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 33125699f5..1be561dc6e 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -38,7 +38,7 @@
  * PX4IO is connected via I2C or DMA enabled high-speed UART.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/px4io/px4io_i2c.cpp b/src/drivers/px4io/px4io_i2c.cpp
index c57ddf65b0..4cceb5cf29 100755
--- a/src/drivers/px4io/px4io_i2c.cpp
+++ b/src/drivers/px4io/px4io_i2c.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/px4io/px4io_serial.cpp b/src/drivers/px4io/px4io_serial.cpp
index 42d87f7e58..566d43fcb7 100644
--- a/src/drivers/px4io/px4io_serial.cpp
+++ b/src/drivers/px4io/px4io_serial.cpp
@@ -38,7 +38,7 @@
   */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/px4io/px4io_uploader.cpp b/src/drivers/px4io/px4io_uploader.cpp
index 8f98ac92dc..027253905f 100644
--- a/src/drivers/px4io/px4io_uploader.cpp
+++ b/src/drivers/px4io/px4io_uploader.cpp
@@ -36,7 +36,7 @@
  * Firmware uploader for PX4IO
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdlib.h>
diff --git a/src/drivers/rgbled/rgbled.cpp b/src/drivers/rgbled/rgbled.cpp
index 1e38a766e1..999983467b 100644
--- a/src/drivers/rgbled/rgbled.cpp
+++ b/src/drivers/rgbled/rgbled.cpp
@@ -40,7 +40,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/roboclaw/roboclaw_main.cpp b/src/drivers/roboclaw/roboclaw_main.cpp
index ea7178076b..e8462ef5f8 100644
--- a/src/drivers/roboclaw/roboclaw_main.cpp
+++ b/src/drivers/roboclaw/roboclaw_main.cpp
@@ -43,7 +43,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index 66641d6408..5c9978f1f0 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -39,7 +39,7 @@
  * Driver for the Lightware SF0x laser rangefinder series
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/stm32/adc/adc.cpp b/src/drivers/stm32/adc/adc.cpp
index ca2c9fc731..9130c0c29a 100644
--- a/src/drivers/stm32/adc/adc.cpp
+++ b/src/drivers/stm32/adc/adc.cpp
@@ -40,7 +40,7 @@
  * and so forth. It avoids the gross complexity of the NuttX ADC driver.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <board_config.h>
 #include <drivers/device/device.h>
 
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 603c2eb9da..e37b750fe8 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -45,7 +45,7 @@
  * claim the timer and then drive it directly.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/src/drivers/stm32/drv_pwm_servo.c b/src/drivers/stm32/drv_pwm_servo.c
index dbb45a1380..77f5387749 100644
--- a/src/drivers/stm32/drv_pwm_servo.c
+++ b/src/drivers/stm32/drv_pwm_servo.c
@@ -40,7 +40,7 @@
  * have output pins, does not require an interrupt.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 #include <nuttx/irq.h>
 
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index a18b54981f..ca4794bb16 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -86,7 +86,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <debug.h>
 
 #include <drivers/device/device.h>
diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
index 6dad7b3b15..a3c8633725 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -38,7 +38,7 @@
  * Driver for the TeraRanger One range finders connected via I2C.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index 1d590ae61c..168c2bfa92 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -42,7 +42,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c
index ab67bd2532..db21a9cb31 100644
--- a/src/examples/flow_position_estimator/flow_position_estimator_main.c
+++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c
@@ -39,7 +39,7 @@
  * Optical flow position estimator
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/examples/hwtest/hwtest.c b/src/examples/hwtest/hwtest.c
index 8fd8870da7..298f13e842 100644
--- a/src/examples/hwtest/hwtest.c
+++ b/src/examples/hwtest/hwtest.c
@@ -43,7 +43,7 @@
 #include <string.h>
 
 #include <drivers/drv_hrt.h>
-#include <nuttx/config.h>
+#include <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 085ef1fed7..98d2849580 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 <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/examples/px4_daemon_app/px4_daemon_app.c b/src/examples/px4_daemon_app/px4_daemon_app.c
index 6e99939d14..c1d3f8f0bf 100644
--- a/src/examples/px4_daemon_app/px4_daemon_app.c
+++ b/src/examples/px4_daemon_app/px4_daemon_app.c
@@ -43,7 +43,7 @@
 #include <string.h>
 #include <unistd.h>
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/sched.h>
 
 #include <systemlib/systemlib.h>
diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
index aa1eb5ed8f..2c95a17330 100644
--- a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
@@ -37,7 +37,7 @@
  * Debug application example for PX4 autopilot
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <poll.h>
diff --git a/src/examples/px4_simple_app/px4_simple_app.c b/src/examples/px4_simple_app/px4_simple_app.c
index e22c59fa22..a1876265da 100644
--- a/src/examples/px4_simple_app/px4_simple_app.c
+++ b/src/examples/px4_simple_app/px4_simple_app.c
@@ -37,7 +37,7 @@
  * Minimal application example for PX4 autopilot
  */
 
-#include <nuttx/config.h>
+#include <px4_config.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 41df96775c..a64c169863 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lorenz@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index f595467b36..08405dd655 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -43,7 +43,7 @@
  */
 
 #include <geo/geo.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>
diff --git a/src/lib/launchdetection/launchdetection_params.c b/src/lib/launchdetection/launchdetection_params.c
index e3aa7ab2d2..5159f2fcb2 100644
--- a/src/lib/launchdetection/launchdetection_params.c
+++ b/src/lib/launchdetection/launchdetection_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/lib/mathlib/CMSIS/Include/arm_math.h b/src/lib/mathlib/CMSIS/Include/arm_math.h
index 61d3a3b61f..fafa15029d 100644
--- a/src/lib/mathlib/CMSIS/Include/arm_math.h
+++ b/src/lib/mathlib/CMSIS/Include/arm_math.h
@@ -267,7 +267,7 @@
 #define __CMSIS_GENERIC         /* disable NVIC and Systick functions */
 
 /* PX4 */
-#include <nuttx/config.h>
+#include <px4_config.h>
 #ifdef CONFIG_ARCH_CORTEXM4
 # define ARM_MATH_CM4 1
 #endif
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index b2a3572a7d..30439fad58 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -41,7 +41,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <stdio.h>
diff --git a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
index 82bcbc66ff..11c302a8c8 100755
--- a/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
+++ b/src/modules/attitude_estimator_so3/attitude_estimator_so3_main.cpp
@@ -50,7 +50,7 @@
  *  [2] Euston, M.; Coote, P.; Mahony, R.; Jonghyuk Kim; Hamel, T., "A complementary filter for attitude estimation of a fixed-wing UAV," Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on , vol., no., pp.340,345, 22-26 Sept. 2008
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp
index b267209fe3..00e618609c 100644
--- a/src/modules/bottle_drop/bottle_drop.cpp
+++ b/src/modules/bottle_drop/bottle_drop.cpp
@@ -40,7 +40,7 @@
  * @author Julian Oes <joes@student.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/bottle_drop/bottle_drop_params.c b/src/modules/bottle_drop/bottle_drop_params.c
index 51ebfb9a19..4088c9f4a4 100644
--- a/src/modules/bottle_drop/bottle_drop_params.c
+++ b/src/modules/bottle_drop/bottle_drop_params.c
@@ -38,7 +38,7 @@
  * @author Dominik Juchli <juchlid@ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /**
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bb1ed7f5df..48b5070440 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -42,7 +42,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <pthread.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 6663525cc4..02010405d3 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -42,7 +42,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 PARAM_DEFINE_FLOAT(TRIM_ROLL, 0.0f);
diff --git a/src/modules/dataman/dataman.c b/src/modules/dataman/dataman.c
index 68bf120240..c3b4ab8d4d 100644
--- a/src/modules/dataman/dataman.c
+++ b/src/modules/dataman/dataman.c
@@ -40,7 +40,7 @@
  * @author Thomas Gubler
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <fcntl.h>
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e0b4cb2a0d..e1446bbe9b 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -43,7 +43,7 @@
 #include "AttitudePositionEstimatorEKF.h"
 #include "estimator_22states.h"
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
index f8cca6c0dd..f45700eada 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
index bd14863247..447e229b1b 100644
--- a/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
+++ b/src/modules/fixedwing_backside/fixedwing_backside_main.cpp
@@ -39,7 +39,7 @@
  * Fixedwing backside controller using control library
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 0a8d07fed9..70ac4b74ea 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -41,7 +41,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c
index 6b248cbe2e..df93b3adf4 100644
--- a/src/modules/fw_att_control/fw_att_control_params.c
+++ b/src/modules/fw_att_control/fw_att_control_params.c
@@ -41,7 +41,7 @@ f *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index 34265d6a4e..20c2bd46d2 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -51,7 +51,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index c00d822327..5720d7b57c 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /*
diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp
index 42e00da05b..744c5509f1 100644
--- a/src/modules/fw_pos_control_l1/landingslope.cpp
+++ b/src/modules/fw_pos_control_l1/landingslope.cpp
@@ -39,7 +39,7 @@
 
 #include "landingslope.h"
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdlib.h>
 #include <errno.h>
 #include <math.h>
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
index fff506865a..3b98454b95 100644
--- a/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
+++ b/src/modules/fw_pos_control_l1/mtecs/mTecs_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /*
diff --git a/src/modules/mavlink/mavlink.c b/src/modules/mavlink/mavlink.c
index 796d5cbf28..2963e80cb6 100644
--- a/src/modules/mavlink/mavlink.c
+++ b/src/modules/mavlink/mavlink.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdbool.h>
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index ba049bac40..ce80953e2d 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -39,7 +39,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index faede15cb9..81c76ef3f0 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -41,7 +41,7 @@
  */
 
 /* XXX trim includes */
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <pthread.h>
 #include <stdio.h>
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 3a0dfe4c3b..5f5443ab11 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -53,7 +53,7 @@
  * If rotation matrix setpoint is invalid it will be generated from Euler angles for compatibility with old position controllers.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/modules/navigator/datalinkloss_params.c b/src/modules/navigator/datalinkloss_params.c
index 9abc012cf2..5d7775bb23 100644
--- a/src/modules/navigator/datalinkloss_params.c
+++ b/src/modules/navigator/datalinkloss_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 1b66107347..70d93b953d 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -47,7 +47,7 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <ctype.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <mavlink/mavlink_log.h>
 #include <geo/geo.h>
diff --git a/src/modules/navigator/geofence_params.c b/src/modules/navigator/geofence_params.c
index f3e7d4c84a..7c1d8a266a 100644
--- a/src/modules/navigator/geofence_params.c
+++ b/src/modules/navigator/geofence_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/gpsfailure_params.c b/src/modules/navigator/gpsfailure_params.c
index 98104af29e..ca2f540505 100644
--- a/src/modules/navigator/gpsfailure_params.c
+++ b/src/modules/navigator/gpsfailure_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/mission_params.c b/src/modules/navigator/mission_params.c
index 6310cf6de4..2c8af8aee0 100644
--- a/src/modules/navigator/mission_params.c
+++ b/src/modules/navigator/mission_params.c
@@ -39,7 +39,7 @@
  * @author Julian Oes <joes@student.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 9691e26a8d..e5e7103ca4 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -43,7 +43,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index ef4a8dc0c7..b4f948fff0 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -40,7 +40,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/rcloss_params.c b/src/modules/navigator/rcloss_params.c
index f48aabc808..3c9a6e40ef 100644
--- a/src/modules/navigator/rcloss_params.c
+++ b/src/modules/navigator/rcloss_params.c
@@ -39,7 +39,7 @@
  * @author Thomas Gubler <thomasgubler@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c
index 7800a6f03f..2b3465eae6 100644
--- a/src/modules/navigator/rtl_params.c
+++ b/src/modules/navigator/rtl_params.c
@@ -39,7 +39,7 @@
  * @author Julian Oes <julian@oes.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <systemlib/param/param.h>
 
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 437395b1f1..84ae34df2b 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -44,7 +44,7 @@
 #include <stdbool.h>
 #include <fcntl.h>
 #include <string.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/sched.h>
 #include <sys/prctl.h>
 #include <termios.h>
diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c
index 2f5908ac5e..d3db26c233 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 <nuttx/config.h>
+#include <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 e04ffc9400..547e5f43ad 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -37,7 +37,7 @@
  * R/C inputs and servo outputs.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdbool.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c
index 6e57c9ec75..afde16ed39 100644
--- a/src/modules/px4iofirmware/dsm.c
+++ b/src/modules/px4iofirmware/dsm.c
@@ -39,7 +39,7 @@
  * Decodes into the global PPM buffer and updates accordingly.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 
 #include <fcntl.h>
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 6fa26d4fff..d4b95ab537 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -37,7 +37,7 @@
  * Control channel input/output mixer and failsafe.
  */
 
-#include <nuttx/config.h>
+#include <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 14ee9cb405..94f1fc11ef 100644
--- a/src/modules/px4iofirmware/px4io.c
+++ b/src/modules/px4iofirmware/px4io.c
@@ -36,7 +36,7 @@
  * Top-level logic for the PX4IO module.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 
 #include <stdio.h>	// required for task_create
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index 8ddf45a12d..0e024ee509 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -37,7 +37,7 @@
  * General defines and structures for the PX4IO module firmware.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdint.h>
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index e7976446cd..4454d121d1 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -37,7 +37,7 @@
  * Implementation of the PX4IO register space.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 #include <stdlib.h>
diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c
index ff2e4af6ea..06f8733a52 100644
--- a/src/modules/px4iofirmware/safety.c
+++ b/src/modules/px4iofirmware/safety.c
@@ -36,7 +36,7 @@
  * Safety button logic.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdbool.h>
 
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 14d8ccca2e..767741bc5c 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -37,7 +37,7 @@
  * Serial protocol decoder for the Futaba S.bus protocol.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <fcntl.h>
 #include <unistd.h>
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 8193cf1814..d19c1942be 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -42,7 +42,7 @@
  * @author Ban Siesta <bansiesta@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <sys/types.h>
 #include <sys/stat.h>
 #include <sys/prctl.h>
diff --git a/src/modules/segway/segway_main.cpp b/src/modules/segway/segway_main.cpp
index b36d56d6d7..d633f2a420 100644
--- a/src/modules/segway/segway_main.cpp
+++ b/src/modules/segway/segway_main.cpp
@@ -39,7 +39,7 @@
  * Segway controller using control library
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index 18e47865b1..12d50809cf 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -41,7 +41,7 @@
  * @author Thomas Gubler <thomas@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /**
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 3fc8627c15..86041165b3 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -46,7 +46,7 @@
  * @author Anton Babushkin <anton@px4.io>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <fcntl.h>
 #include <poll.h>
diff --git a/src/modules/systemlib/conversions.c b/src/modules/systemlib/conversions.c
index 9105d83cbe..08eeefcaf2 100644
--- a/src/modules/systemlib/conversions.c
+++ b/src/modules/systemlib/conversions.c
@@ -37,7 +37,7 @@
  * Implementation of commonly used conversions.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <float.h>
 
 #include "conversions.h"
diff --git a/src/modules/systemlib/cpuload.c b/src/modules/systemlib/cpuload.c
index b41896abd9..9540584a7b 100644
--- a/src/modules/systemlib/cpuload.c
+++ b/src/modules/systemlib/cpuload.c
@@ -41,7 +41,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  * @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
  */
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/sched.h>
 
 #include <sys/types.h>
diff --git a/src/modules/systemlib/err.c b/src/modules/systemlib/err.c
index a1a8e7ea8e..3e1bdd0b19 100644
--- a/src/modules/systemlib/err.c
+++ b/src/modules/systemlib/err.c
@@ -38,7 +38,7 @@
  * the same names.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdlib.h>
 #include <errno.h>
diff --git a/src/modules/systemlib/mcu_version.c b/src/modules/systemlib/mcu_version.c
index 24f4e42076..515455f59e 100644
--- a/src/modules/systemlib/mcu_version.c
+++ b/src/modules/systemlib/mcu_version.c
@@ -42,7 +42,7 @@
 
 #include "mcu_version.h"
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #ifdef CONFIG_ARCH_CHIP_STM32
 #include <up_arch.h>
diff --git a/src/modules/systemlib/mixer/mixer.cpp b/src/modules/systemlib/mixer/mixer.cpp
index 3ab41c5c58..6d5bcd4857 100644
--- a/src/modules/systemlib/mixer/mixer.cpp
+++ b/src/modules/systemlib/mixer/mixer.cpp
@@ -37,7 +37,7 @@
  * Programmable multi-channel mixer library.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h
index 1190683015..cc3342a572 100644
--- a/src/modules/systemlib/mixer/mixer.h
+++ b/src/modules/systemlib/mixer/mixer.h
@@ -128,7 +128,7 @@
 #ifndef _SYSTEMLIB_MIXER_MIXER_H
 #define _SYSTEMLIB_MIXER_MIXER_H value
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include "drivers/drv_mixer.h"
 
 #include <uORB/topics/multirotor_motor_limits.h>
diff --git a/src/modules/systemlib/mixer/mixer_group.cpp b/src/modules/systemlib/mixer/mixer_group.cpp
index ca5101e657..259e1e687c 100644
--- a/src/modules/systemlib/mixer/mixer_group.cpp
+++ b/src/modules/systemlib/mixer/mixer_group.cpp
@@ -37,7 +37,7 @@
  * Mixer collection.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/modules/systemlib/mixer/mixer_load.c b/src/modules/systemlib/mixer/mixer_load.c
index 0d629d6100..9401655e21 100644
--- a/src/modules/systemlib/mixer/mixer_load.c
+++ b/src/modules/systemlib/mixer/mixer_load.c
@@ -37,7 +37,7 @@
  * Programmable multi-channel mixer library.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <string.h>
 #include <stdio.h>
 #include <ctype.h>
diff --git a/src/modules/systemlib/mixer/mixer_load.h b/src/modules/systemlib/mixer/mixer_load.h
index 4b7091d5b2..3536d7e555 100644
--- a/src/modules/systemlib/mixer/mixer_load.h
+++ b/src/modules/systemlib/mixer/mixer_load.h
@@ -40,7 +40,7 @@
 #ifndef _SYSTEMLIB_MIXER_LOAD_H
 #define _SYSTEMLIB_MIXER_LOAD_H value
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 __BEGIN_DECLS
 
diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp
index e9a8a87ca8..5489e3924f 100644
--- a/src/modules/systemlib/mixer/mixer_multirotor.cpp
+++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp
@@ -36,7 +36,7 @@
  *
  * Multi-rotor mixers.
  */
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <sys/types.h>
 #include <stdint.h>
 #include <stdbool.h>
diff --git a/src/modules/systemlib/mixer/mixer_simple.cpp b/src/modules/systemlib/mixer/mixer_simple.cpp
index e48bda6918..693f23ede2 100644
--- a/src/modules/systemlib/mixer/mixer_simple.cpp
+++ b/src/modules/systemlib/mixer/mixer_simple.cpp
@@ -37,7 +37,7 @@
  * Simple summing mixer.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/modules/systemlib/otp.c b/src/modules/systemlib/otp.c
index 0548a9f7db..8d3257f23a 100644
--- a/src/modules/systemlib/otp.c
+++ b/src/modules/systemlib/otp.c
@@ -43,7 +43,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <board_config.h>
 #include <stdio.h>
 #include <math.h>
diff --git a/src/modules/systemlib/ppm_decode.c b/src/modules/systemlib/ppm_decode.c
index a5d2f738df..fe4ddde190 100644
--- a/src/modules/systemlib/ppm_decode.c
+++ b/src/modules/systemlib/ppm_decode.c
@@ -37,7 +37,7 @@
  * PPM input decoder.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdint.h>
 #include <string.h>
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index b35b333af2..c84cffa18f 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -37,7 +37,7 @@
  * RC calibration check
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <fcntl.h>
diff --git a/src/modules/systemlib/system_params.c b/src/modules/systemlib/system_params.c
index 17ce65d13c..454e5b5aa6 100644
--- a/src/modules/systemlib/system_params.c
+++ b/src/modules/systemlib/system_params.c
@@ -37,7 +37,7 @@
  * System wide parameters
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /**
diff --git a/src/modules/systemlib/systemlib.c b/src/modules/systemlib/systemlib.c
index 280c30023d..73df1051d0 100644
--- a/src/modules/systemlib/systemlib.c
+++ b/src/modules/systemlib/systemlib.c
@@ -37,7 +37,7 @@
  * Implementation of commonly used low-level system-call like functions.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
diff --git a/src/modules/systemlib/up_cxxinitialize.c b/src/modules/systemlib/up_cxxinitialize.c
index c78f295708..f3aca64c7d 100644
--- a/src/modules/systemlib/up_cxxinitialize.c
+++ b/src/modules/systemlib/up_cxxinitialize.c
@@ -38,7 +38,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <debug.h>
 
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 1a38b981e8..eb89b79585 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -41,7 +41,7 @@
  * @defgroup topics List of all uORB topics.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/drv_orb_dev.h>
 
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index b4f81d4293..64ee78414d 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -36,7 +36,7 @@
  * A lightweight object broker.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <drivers/device/device.h>
 
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 2d5abf9591..078decd92c 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <cstdlib>
 #include <cstring>
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index 96b3ec1a60..c6f895c557 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <uavcan_stm32/uavcan_stm32.hpp>
 #include <drivers/device/device.h>
 #include <systemlib/perf_counter.h>
diff --git a/src/modules/uavcan/uavcan_params.c b/src/modules/uavcan/uavcan_params.c
index e6ea8a8fb7..a74c92dc55 100644
--- a/src/modules/uavcan/uavcan_params.c
+++ b/src/modules/uavcan/uavcan_params.c
@@ -35,7 +35,7 @@
  * @author Pavel Kirienko <pavel.kirienko@gmail.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <systemlib/param/param.h>
 
 /**
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index defcff8e4a..4a1f5c1f1f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -44,7 +44,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
diff --git a/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
index 542aef5aac..7aa96bb5c0 100644
--- a/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
+++ b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
@@ -37,7 +37,7 @@
  * Implementation of existing task API for NuttX
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <fcntl.h>
diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c
index 02d2d6f3cf..082865a866 100644
--- a/src/systemcmds/bl_update/bl_update.c
+++ b/src/systemcmds/bl_update/bl_update.c
@@ -37,7 +37,7 @@
  * STM32F4 bootloader update tool.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 78db198018..210b4caa1f 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -39,7 +39,7 @@
  * config tool. Takes the device name as the first parameter.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/dumpfile/dumpfile.c b/src/systemcmds/dumpfile/dumpfile.c
index c188143429..f0e5581ab7 100644
--- a/src/systemcmds/dumpfile/dumpfile.c
+++ b/src/systemcmds/dumpfile/dumpfile.c
@@ -39,7 +39,7 @@
  * @author Anton Babushkin <anton.babushkin@me.com>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/esc_calib/esc_calib.c b/src/systemcmds/esc_calib/esc_calib.c
index d74010553a..f04ca29ff9 100644
--- a/src/systemcmds/esc_calib/esc_calib.c
+++ b/src/systemcmds/esc_calib/esc_calib.c
@@ -38,7 +38,7 @@
  * Tool for ESC calibration
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <platforms/px4_defines.h>
 
 #include <stdio.h>
diff --git a/src/systemcmds/i2c/i2c.c b/src/systemcmds/i2c/i2c.c
index 34405c4969..2991456cf1 100644
--- a/src/systemcmds/i2c/i2c.c
+++ b/src/systemcmds/i2c/i2c.c
@@ -38,7 +38,7 @@
  * i2c hacking tool
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/motor_test/motor_test.c b/src/systemcmds/motor_test/motor_test.c
index 77dc2f0d50..b77730ef16 100644
--- a/src/systemcmds/motor_test/motor_test.c
+++ b/src/systemcmds/motor_test/motor_test.c
@@ -38,7 +38,7 @@
  * Tool for drive testing
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/mtd/24xxxx_mtd.c b/src/systemcmds/mtd/24xxxx_mtd.c
index f85ed8e2d0..2aba9dbb69 100644
--- a/src/systemcmds/mtd/24xxxx_mtd.c
+++ b/src/systemcmds/mtd/24xxxx_mtd.c
@@ -50,7 +50,7 @@
  * Included Files
  ************************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/systemcmds/mtd/mtd.c b/src/systemcmds/mtd/mtd.c
index a925cdd40f..c1dbcad709 100644
--- a/src/systemcmds/mtd/mtd.c
+++ b/src/systemcmds/mtd/mtd.c
@@ -39,7 +39,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/nshterm/nshterm.c b/src/systemcmds/nshterm/nshterm.c
index 50547a5626..5690815322 100644
--- a/src/systemcmds/nshterm/nshterm.c
+++ b/src/systemcmds/nshterm/nshterm.c
@@ -39,7 +39,7 @@
  * for diagnostics
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <termios.h>
 #include <stdbool.h>
 #include <stdio.h>
diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c
index 6b855cf582..7355176554 100644
--- a/src/systemcmds/param/param.c
+++ b/src/systemcmds/param/param.c
@@ -39,7 +39,7 @@
  * Parameter tool.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/perf/perf.c b/src/systemcmds/perf/perf.c
index 4ab92dde6b..fb4e5030fc 100644
--- a/src/systemcmds/perf/perf.c
+++ b/src/systemcmds/perf/perf.c
@@ -36,7 +36,7 @@
  ****************************************************************************/
 
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c
index 6bb9f235cb..d6b03eb880 100644
--- a/src/systemcmds/pwm/pwm.c
+++ b/src/systemcmds/pwm/pwm.c
@@ -37,7 +37,7 @@
  * PWM servo output configuration and monitoring tool.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/reboot/reboot.c b/src/systemcmds/reboot/reboot.c
index d46f96545e..ee9f2e0d8d 100644
--- a/src/systemcmds/reboot/reboot.c
+++ b/src/systemcmds/reboot/reboot.c
@@ -37,7 +37,7 @@
  * Tool similar to UNIX reboot command
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <getopt.h>
diff --git a/src/systemcmds/reflect/reflect.c b/src/systemcmds/reflect/reflect.c
index 6bb53c71a5..fe5f0f0359 100644
--- a/src/systemcmds/reflect/reflect.c
+++ b/src/systemcmds/reflect/reflect.c
@@ -39,7 +39,7 @@
  * @author Andrew Tridgell
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <string.h>
diff --git a/src/systemcmds/tests/test_adc.c b/src/systemcmds/tests/test_adc.c
index ef12c9ad2e..7cb807d4c7 100644
--- a/src/systemcmds/tests/test_adc.c
+++ b/src/systemcmds/tests/test_adc.c
@@ -36,7 +36,7 @@
  * Test for the analog to digital converter.
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 
 #include <sys/types.h>
diff --git a/src/systemcmds/tests/test_conv.cpp b/src/systemcmds/tests/test_conv.cpp
index 9a41b19b95..180c3f1032 100644
--- a/src/systemcmds/tests/test_conv.cpp
+++ b/src/systemcmds/tests/test_conv.cpp
@@ -37,7 +37,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_dataman.c b/src/systemcmds/tests/test_dataman.c
index c58e1a51ea..02fe5d963f 100644
--- a/src/systemcmds/tests/test_dataman.c
+++ b/src/systemcmds/tests/test_dataman.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_float.c b/src/systemcmds/tests/test_float.c
index 1b170f1bbe..55f466e734 100644
--- a/src/systemcmds/tests/test_float.c
+++ b/src/systemcmds/tests/test_float.c
@@ -37,7 +37,7 @@
  * Floating point tests
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <sys/types.h>
 #include <stdio.h>
 #include <stdlib.h>
diff --git a/src/systemcmds/tests/test_gpio.c b/src/systemcmds/tests/test_gpio.c
index 82c1225500..e14b4b4e6c 100644
--- a/src/systemcmds/tests/test_gpio.c
+++ b/src/systemcmds/tests/test_gpio.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_hott_telemetry.c b/src/systemcmds/tests/test_hott_telemetry.c
index ef6173c9ee..281e7e5029 100644
--- a/src/systemcmds/tests/test_hott_telemetry.c
+++ b/src/systemcmds/tests/test_hott_telemetry.c
@@ -44,7 +44,7 @@
  ****************************************************************************/
 
 #include <drivers/drv_gpio.h>
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <sys/types.h>
 #include <systemlib/err.h>
 
diff --git a/src/systemcmds/tests/test_hrt.c b/src/systemcmds/tests/test_hrt.c
index bc0aeefbae..40043c69be 100644
--- a/src/systemcmds/tests/test_hrt.c
+++ b/src/systemcmds/tests/test_hrt.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 #include <sys/time.h>
diff --git a/src/systemcmds/tests/test_int.c b/src/systemcmds/tests/test_int.c
index c59cee7b7c..95ee7652dd 100644
--- a/src/systemcmds/tests/test_int.c
+++ b/src/systemcmds/tests/test_int.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_jig_voltages.c b/src/systemcmds/tests/test_jig_voltages.c
index 554125302a..a04aacc3a7 100644
--- a/src/systemcmds/tests/test_jig_voltages.c
+++ b/src/systemcmds/tests/test_jig_voltages.c
@@ -35,7 +35,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <nuttx/arch.h>
 
 #include <sys/types.h>
diff --git a/src/systemcmds/tests/test_led.c b/src/systemcmds/tests/test_led.c
index a8ee678b5a..f56660b74a 100644
--- a/src/systemcmds/tests/test_led.c
+++ b/src/systemcmds/tests/test_led.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_mixer.cpp b/src/systemcmds/tests/test_mixer.cpp
index 19aa059707..765ba3fad9 100644
--- a/src/systemcmds/tests/test_mixer.cpp
+++ b/src/systemcmds/tests/test_mixer.cpp
@@ -37,7 +37,7 @@
  * Mixer load test
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_ppm_loopback.c b/src/systemcmds/tests/test_ppm_loopback.c
index c802cdf0c6..7f1323f2b9 100644
--- a/src/systemcmds/tests/test_ppm_loopback.c
+++ b/src/systemcmds/tests/test_ppm_loopback.c
@@ -37,7 +37,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_rc.c b/src/systemcmds/tests/test_rc.c
index 3a8144077c..fed11c8cb1 100644
--- a/src/systemcmds/tests/test_rc.c
+++ b/src/systemcmds/tests/test_rc.c
@@ -37,7 +37,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index b6d660c836..8d27247f79 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_servo.c b/src/systemcmds/tests/test_servo.c
index 9ffd83c65f..7dea9ac549 100644
--- a/src/systemcmds/tests/test_servo.c
+++ b/src/systemcmds/tests/test_servo.c
@@ -37,7 +37,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_sleep.c b/src/systemcmds/tests/test_sleep.c
index 3097e68a44..e21763f43f 100644
--- a/src/systemcmds/tests/test_sleep.c
+++ b/src/systemcmds/tests/test_sleep.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_time.c b/src/systemcmds/tests/test_time.c
index 78e13a2420..48e084326b 100644
--- a/src/systemcmds/tests/test_time.c
+++ b/src/systemcmds/tests/test_time.c
@@ -36,7 +36,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_baudchange.c b/src/systemcmds/tests/test_uart_baudchange.c
index cd2e561313..5ee2b6c5b5 100644
--- a/src/systemcmds/tests/test_uart_baudchange.c
+++ b/src/systemcmds/tests/test_uart_baudchange.c
@@ -37,7 +37,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_console.c b/src/systemcmds/tests/test_uart_console.c
index f8582b52f8..e49fc1f94c 100644
--- a/src/systemcmds/tests/test_uart_console.c
+++ b/src/systemcmds/tests/test_uart_console.c
@@ -37,7 +37,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/test_uart_loopback.c b/src/systemcmds/tests/test_uart_loopback.c
index 6076dbdeae..a929a6f94d 100644
--- a/src/systemcmds/tests/test_uart_loopback.c
+++ b/src/systemcmds/tests/test_uart_loopback.c
@@ -37,7 +37,7 @@
  *
  */
 
-#include <nuttx/config.h>
+#include <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 70a9c719e1..ce63071ac2 100644
--- a/src/systemcmds/tests/test_uart_send.c
+++ b/src/systemcmds/tests/test_uart_send.c
@@ -37,7 +37,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h
index 9d13d50d77..552a0c2d6b 100644
--- a/src/systemcmds/tests/tests.h
+++ b/src/systemcmds/tests/tests.h
@@ -44,7 +44,7 @@
  * Included Files
  ****************************************************************************/
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 /****************************************************************************
  * Definitions
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 55d53503a8..04b5efe230 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -38,7 +38,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 
 #include <sys/types.h>
 
diff --git a/src/systemcmds/top/top.c b/src/systemcmds/top/top.c
index 37e913040d..ca48a86a82 100644
--- a/src/systemcmds/top/top.c
+++ b/src/systemcmds/top/top.c
@@ -40,7 +40,7 @@
  * @author Lorenz Meier <lm@inf.ethz.ch>
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <stdio.h>
 #include <fcntl.h>
 #include <stdbool.h>
diff --git a/src/systemcmds/usb_connected/usb_connected.c b/src/systemcmds/usb_connected/usb_connected.c
index 530fee3405..d938863b62 100644
--- a/src/systemcmds/usb_connected/usb_connected.c
+++ b/src/systemcmds/usb_connected/usb_connected.c
@@ -39,7 +39,7 @@
  * @author Andrew Tridgell
  */
 
-#include <nuttx/config.h>
+#include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
 #include <stdlib.h>