diff --git a/CMakeLists.txt b/CMakeLists.txt
index 27726052d1..a3071a9455 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -463,7 +463,7 @@ include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
 
 add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(src/platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)
 add_subdirectory(src/modules/uORB EXCLUDE_FROM_ALL) # TODO: platform layer
 add_subdirectory(src/drivers/boards EXCLUDE_FROM_ALL)
 
diff --git a/cmake/px4_add_common_flags.cmake b/cmake/px4_add_common_flags.cmake
index 6347394a6f..a13f6ce47a 100644
--- a/cmake/px4_add_common_flags.cmake
+++ b/cmake/px4_add_common_flags.cmake
@@ -184,7 +184,6 @@ function(px4_add_common_flags)
 		${PX4_SOURCE_DIR}/src/lib/matrix
 		${PX4_SOURCE_DIR}/src/modules
 		${PX4_SOURCE_DIR}/src/platforms
-		${PX4_SOURCE_DIR}/src/platforms/common
 		)
 
 	add_definitions(
diff --git a/src/platforms/CMakeLists.txt b/platforms/CMakeLists.txt
similarity index 99%
rename from src/platforms/CMakeLists.txt
rename to platforms/CMakeLists.txt
index 83f9afca82..cca36ff6c7 100644
--- a/src/platforms/CMakeLists.txt
+++ b/platforms/CMakeLists.txt
@@ -33,3 +33,4 @@
 
 add_subdirectory(common)
 
+
diff --git a/src/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt
similarity index 100%
rename from src/platforms/common/CMakeLists.txt
rename to platforms/common/CMakeLists.txt
diff --git a/src/platforms/common/px4_work_queue/ScheduledWorkItem.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/ScheduledWorkItem.hpp
rename to platforms/common/include/px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp
diff --git a/src/platforms/common/px4_work_queue/WorkItem.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/WorkItem.hpp
rename to platforms/common/include/px4_platform_common/px4_work_queue/WorkItem.hpp
diff --git a/src/platforms/common/px4_work_queue/WorkQueue.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/WorkQueue.hpp
rename to platforms/common/include/px4_platform_common/px4_work_queue/WorkQueue.hpp
diff --git a/src/platforms/common/px4_work_queue/WorkQueueManager.hpp b/platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/WorkQueueManager.hpp
rename to platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp
diff --git a/src/platforms/common/module.cpp b/platforms/common/module.cpp
similarity index 100%
rename from src/platforms/common/module.cpp
rename to platforms/common/module.cpp
diff --git a/src/platforms/common/px4_cli.cpp b/platforms/common/px4_cli.cpp
similarity index 100%
rename from src/platforms/common/px4_cli.cpp
rename to platforms/common/px4_cli.cpp
diff --git a/src/platforms/common/px4_getopt.c b/platforms/common/px4_getopt.c
similarity index 100%
rename from src/platforms/common/px4_getopt.c
rename to platforms/common/px4_getopt.c
diff --git a/src/platforms/common/px4_log.c b/platforms/common/px4_log.c
similarity index 100%
rename from src/platforms/common/px4_log.c
rename to platforms/common/px4_log.c
diff --git a/src/platforms/common/px4_work_queue/CMakeLists.txt b/platforms/common/px4_work_queue/CMakeLists.txt
similarity index 100%
rename from src/platforms/common/px4_work_queue/CMakeLists.txt
rename to platforms/common/px4_work_queue/CMakeLists.txt
diff --git a/src/platforms/common/px4_work_queue/ScheduledWorkItem.cpp b/platforms/common/px4_work_queue/ScheduledWorkItem.cpp
similarity index 97%
rename from src/platforms/common/px4_work_queue/ScheduledWorkItem.cpp
rename to platforms/common/px4_work_queue/ScheduledWorkItem.cpp
index d729e24134..72c45598a7 100644
--- a/src/platforms/common/px4_work_queue/ScheduledWorkItem.cpp
+++ b/platforms/common/px4_work_queue/ScheduledWorkItem.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "ScheduledWorkItem.hpp"
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 namespace px4
 {
diff --git a/src/platforms/common/px4_work_queue/WorkItem.cpp b/platforms/common/px4_work_queue/WorkItem.cpp
similarity index 92%
rename from src/platforms/common/px4_work_queue/WorkItem.cpp
rename to platforms/common/px4_work_queue/WorkItem.cpp
index cbf8541b20..865df26e50 100644
--- a/src/platforms/common/px4_work_queue/WorkItem.cpp
+++ b/platforms/common/px4_work_queue/WorkItem.cpp
@@ -31,10 +31,10 @@
  *
  ****************************************************************************/
 
-#include "WorkItem.hpp"
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 
-#include "WorkQueue.hpp"
-#include "WorkQueueManager.hpp"
+#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
 #include <px4_log.h>
 #include <drivers/drv_hrt.h>
diff --git a/src/platforms/common/px4_work_queue/WorkQueue.cpp b/platforms/common/px4_work_queue/WorkQueue.cpp
similarity index 96%
rename from src/platforms/common/px4_work_queue/WorkQueue.cpp
rename to platforms/common/px4_work_queue/WorkQueue.cpp
index e9fd51be4d..41641bae18 100644
--- a/src/platforms/common/px4_work_queue/WorkQueue.cpp
+++ b/platforms/common/px4_work_queue/WorkQueue.cpp
@@ -31,8 +31,8 @@
  *
  ****************************************************************************/
 
-#include "WorkQueue.hpp"
-#include "WorkItem.hpp"
+#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 
 #include <string.h>
 
diff --git a/src/platforms/common/px4_work_queue/WorkQueueManager.cpp b/platforms/common/px4_work_queue/WorkQueueManager.cpp
similarity index 98%
rename from src/platforms/common/px4_work_queue/WorkQueueManager.cpp
rename to platforms/common/px4_work_queue/WorkQueueManager.cpp
index f9d092396f..db111a7dc8 100644
--- a/src/platforms/common/px4_work_queue/WorkQueueManager.cpp
+++ b/platforms/common/px4_work_queue/WorkQueueManager.cpp
@@ -31,9 +31,9 @@
  *
  ****************************************************************************/
 
-#include "WorkQueueManager.hpp"
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
-#include "WorkQueue.hpp"
+#include <px4_platform_common/px4_work_queue/WorkQueue.hpp>
 
 #include <drivers/drv_hrt.h>
 #include <px4_posix.h>
diff --git a/src/platforms/common/px4_work_queue/test/CMakeLists.txt b/platforms/common/px4_work_queue/test/CMakeLists.txt
similarity index 100%
rename from src/platforms/common/px4_work_queue/test/CMakeLists.txt
rename to platforms/common/px4_work_queue/test/CMakeLists.txt
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_main.cpp b/platforms/common/px4_work_queue/test/wqueue_main.cpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/test/wqueue_main.cpp
rename to platforms/common/px4_work_queue/test/wqueue_main.cpp
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
rename to platforms/common/px4_work_queue/test/wqueue_scheduled_test.cpp
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
similarity index 96%
rename from src/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
rename to platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
index 5382670033..52ba1c98b2 100644
--- a/src/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
+++ b/platforms/common/px4_work_queue/test/wqueue_scheduled_test.h
@@ -34,7 +34,7 @@
 #pragma once
 
 #include <px4_app.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <string.h>
 
 using namespace px4;
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_start.cpp b/platforms/common/px4_work_queue/test/wqueue_start.cpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/test/wqueue_start.cpp
rename to platforms/common/px4_work_queue/test/wqueue_start.cpp
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_test.cpp b/platforms/common/px4_work_queue/test/wqueue_test.cpp
similarity index 100%
rename from src/platforms/common/px4_work_queue/test/wqueue_test.cpp
rename to platforms/common/px4_work_queue/test/wqueue_test.cpp
diff --git a/src/platforms/common/px4_work_queue/test/wqueue_test.h b/platforms/common/px4_work_queue/test/wqueue_test.h
similarity index 97%
rename from src/platforms/common/px4_work_queue/test/wqueue_test.h
rename to platforms/common/px4_work_queue/test/wqueue_test.h
index 4935901b74..573fea9007 100644
--- a/src/platforms/common/px4_work_queue/test/wqueue_test.h
+++ b/platforms/common/px4_work_queue/test/wqueue_test.h
@@ -34,7 +34,7 @@
 #pragma once
 
 #include <px4_app.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <string.h>
 
 using namespace px4;
diff --git a/src/platforms/common/shutdown.cpp b/platforms/common/shutdown.cpp
similarity index 100%
rename from src/platforms/common/shutdown.cpp
rename to platforms/common/shutdown.cpp
diff --git a/src/platforms/common/work_queue/CMakeLists.txt b/platforms/common/work_queue/CMakeLists.txt
similarity index 100%
rename from src/platforms/common/work_queue/CMakeLists.txt
rename to platforms/common/work_queue/CMakeLists.txt
diff --git a/src/platforms/common/work_queue/dq_addlast.c b/platforms/common/work_queue/dq_addlast.c
similarity index 100%
rename from src/platforms/common/work_queue/dq_addlast.c
rename to platforms/common/work_queue/dq_addlast.c
diff --git a/src/platforms/common/work_queue/dq_rem.c b/platforms/common/work_queue/dq_rem.c
similarity index 100%
rename from src/platforms/common/work_queue/dq_rem.c
rename to platforms/common/work_queue/dq_rem.c
diff --git a/src/platforms/common/work_queue/dq_remfirst.c b/platforms/common/work_queue/dq_remfirst.c
similarity index 100%
rename from src/platforms/common/work_queue/dq_remfirst.c
rename to platforms/common/work_queue/dq_remfirst.c
diff --git a/src/platforms/common/work_queue/hrt_queue.c b/platforms/common/work_queue/hrt_queue.c
similarity index 100%
rename from src/platforms/common/work_queue/hrt_queue.c
rename to platforms/common/work_queue/hrt_queue.c
diff --git a/src/platforms/common/work_queue/hrt_thread.c b/platforms/common/work_queue/hrt_thread.c
similarity index 100%
rename from src/platforms/common/work_queue/hrt_thread.c
rename to platforms/common/work_queue/hrt_thread.c
diff --git a/src/platforms/common/work_queue/hrt_work_cancel.c b/platforms/common/work_queue/hrt_work_cancel.c
similarity index 100%
rename from src/platforms/common/work_queue/hrt_work_cancel.c
rename to platforms/common/work_queue/hrt_work_cancel.c
diff --git a/src/platforms/common/work_queue/queue.c b/platforms/common/work_queue/queue.c
similarity index 100%
rename from src/platforms/common/work_queue/queue.c
rename to platforms/common/work_queue/queue.c
diff --git a/src/platforms/common/work_queue/sq_addafter.c b/platforms/common/work_queue/sq_addafter.c
similarity index 100%
rename from src/platforms/common/work_queue/sq_addafter.c
rename to platforms/common/work_queue/sq_addafter.c
diff --git a/src/platforms/common/work_queue/sq_addlast.c b/platforms/common/work_queue/sq_addlast.c
similarity index 100%
rename from src/platforms/common/work_queue/sq_addlast.c
rename to platforms/common/work_queue/sq_addlast.c
diff --git a/src/platforms/common/work_queue/sq_remfirst.c b/platforms/common/work_queue/sq_remfirst.c
similarity index 100%
rename from src/platforms/common/work_queue/sq_remfirst.c
rename to platforms/common/work_queue/sq_remfirst.c
diff --git a/src/platforms/common/work_queue/work_cancel.c b/platforms/common/work_queue/work_cancel.c
similarity index 100%
rename from src/platforms/common/work_queue/work_cancel.c
rename to platforms/common/work_queue/work_cancel.c
diff --git a/src/platforms/common/work_queue/work_lock.c b/platforms/common/work_queue/work_lock.c
similarity index 100%
rename from src/platforms/common/work_queue/work_lock.c
rename to platforms/common/work_queue/work_lock.c
diff --git a/src/platforms/common/work_queue/work_lock.h b/platforms/common/work_queue/work_lock.h
similarity index 100%
rename from src/platforms/common/work_queue/work_lock.h
rename to platforms/common/work_queue/work_lock.h
diff --git a/src/platforms/common/work_queue/work_queue.c b/platforms/common/work_queue/work_queue.c
similarity index 100%
rename from src/platforms/common/work_queue/work_queue.c
rename to platforms/common/work_queue/work_queue.c
diff --git a/src/platforms/common/work_queue/work_thread.c b/platforms/common/work_queue/work_thread.c
similarity index 100%
rename from src/platforms/common/work_queue/work_thread.c
rename to platforms/common/work_queue/work_thread.c
diff --git a/src/platforms/common/work_queue/wqueue_test/CMakeLists.txt b/platforms/common/work_queue/wqueue_test/CMakeLists.txt
similarity index 100%
rename from src/platforms/common/work_queue/wqueue_test/CMakeLists.txt
rename to platforms/common/work_queue/wqueue_test/CMakeLists.txt
diff --git a/src/platforms/common/work_queue/wqueue_test/wqueue_main.cpp b/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
similarity index 100%
rename from src/platforms/common/work_queue/wqueue_test/wqueue_main.cpp
rename to platforms/common/work_queue/wqueue_test/wqueue_main.cpp
diff --git a/src/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp b/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
similarity index 100%
rename from src/platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
rename to platforms/common/work_queue/wqueue_test/wqueue_start_posix.cpp
diff --git a/src/platforms/common/work_queue/wqueue_test/wqueue_test.cpp b/platforms/common/work_queue/wqueue_test/wqueue_test.cpp
similarity index 100%
rename from src/platforms/common/work_queue/wqueue_test/wqueue_test.cpp
rename to platforms/common/work_queue/wqueue_test/wqueue_test.cpp
diff --git a/src/platforms/common/work_queue/wqueue_test/wqueue_test.h b/platforms/common/work_queue/wqueue_test/wqueue_test.h
similarity index 100%
rename from src/platforms/common/work_queue/wqueue_test/wqueue_test.h
rename to platforms/common/work_queue/wqueue_test/wqueue_test.h
diff --git a/platforms/nuttx/src/px4/common/px4_init.cpp b/platforms/nuttx/src/px4/common/px4_init.cpp
index 466fcc4afd..7748f7b94c 100644
--- a/platforms/nuttx/src/px4/common/px4_init.cpp
+++ b/platforms/nuttx/src/px4/common/px4_init.cpp
@@ -38,7 +38,7 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
-#include <px4_work_queue/WorkQueueManager.hpp>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 #include <systemlib/cpuload.h>
 
 #include <fcntl.h>
diff --git a/platforms/posix/src/px4/common/px4_init.cpp b/platforms/posix/src/px4/common/px4_init.cpp
index e162ed15cd..73387de35f 100644
--- a/platforms/posix/src/px4/common/px4_init.cpp
+++ b/platforms/posix/src/px4/common/px4_init.cpp
@@ -37,7 +37,7 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
-#include <px4_work_queue/WorkQueueManager.hpp>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
 int px4_platform_init(void)
 {
diff --git a/platforms/qurt/src/px4/common/px4_init.cpp b/platforms/qurt/src/px4/common/px4_init.cpp
index e162ed15cd..73387de35f 100644
--- a/platforms/qurt/src/px4/common/px4_init.cpp
+++ b/platforms/qurt/src/px4/common/px4_init.cpp
@@ -37,7 +37,7 @@
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <lib/parameters/param.h>
-#include <px4_work_queue/WorkQueueManager.hpp>
+#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
 
 int px4_platform_init(void)
 {
diff --git a/src/drivers/adc/adc.cpp b/src/drivers/adc/adc.cpp
index b50929394d..768d1034bd 100644
--- a/src/drivers/adc/adc.cpp
+++ b/src/drivers/adc/adc.cpp
@@ -45,7 +45,7 @@
 #include <px4_arch/adc.h>
 #include <px4_config.h>
 #include <px4_log.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/adc_report.h>
 #include <uORB/topics/system_power.h>
diff --git a/src/drivers/barometer/bmp280/bmp280.h b/src/drivers/barometer/bmp280/bmp280.h
index 5f81383eb1..4b50887a73 100644
--- a/src/drivers/barometer/bmp280/bmp280.h
+++ b/src/drivers/barometer/bmp280/bmp280.h
@@ -50,7 +50,7 @@
 #include <perf/perf_counter.h>
 #include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include "board_config.h"
 
diff --git a/src/drivers/barometer/lps22hb/LPS22HB.hpp b/src/drivers/barometer/lps22hb/LPS22HB.hpp
index 0eacf0877a..f30dbeded9 100644
--- a/src/drivers/barometer/lps22hb/LPS22HB.hpp
+++ b/src/drivers/barometer/lps22hb/LPS22HB.hpp
@@ -42,7 +42,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/drivers/barometer/lps25h/lps25h.h b/src/drivers/barometer/lps25h/lps25h.h
index fadf2b3418..bff2db2df2 100644
--- a/src/drivers/barometer/lps25h/lps25h.h
+++ b/src/drivers/barometer/lps25h/lps25h.h
@@ -49,7 +49,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/drivers/barometer/mpl3115a2/mpl3115a2.h b/src/drivers/barometer/mpl3115a2/mpl3115a2.h
index 0a6be7c006..17de2e4612 100644
--- a/src/drivers/barometer/mpl3115a2/mpl3115a2.h
+++ b/src/drivers/barometer/mpl3115a2/mpl3115a2.h
@@ -68,7 +68,7 @@
 #include <px4_defines.h>
 #include <px4_getopt.h>
 #include <px4_log.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #include "board_config.h"
diff --git a/src/drivers/barometer/ms5611/ms5611.h b/src/drivers/barometer/ms5611/ms5611.h
index cc197dc666..6079872353 100644
--- a/src/drivers/barometer/ms5611/ms5611.h
+++ b/src/drivers/barometer/ms5611/ms5611.h
@@ -49,7 +49,7 @@
 #include <lib/cdev/CDev.hpp>
 #include <lib/perf/perf_counter.h>
 #include <platforms/px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 
diff --git a/src/drivers/batt_smbus/batt_smbus.h b/src/drivers/batt_smbus/batt_smbus.h
index ed5d864ec2..452fe59bb4 100644
--- a/src/drivers/batt_smbus/batt_smbus.h
+++ b/src/drivers/batt_smbus/batt_smbus.h
@@ -49,7 +49,7 @@
 #include <perf/perf_counter.h>
 #include <platforms/px4_module.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/battery_status.h>
 
 #include "board_config.h"
diff --git a/src/drivers/camera_capture/camera_capture.hpp b/src/drivers/camera_capture/camera_capture.hpp
index c865407116..977ae47f6a 100644
--- a/src/drivers/camera_capture/camera_capture.hpp
+++ b/src/drivers/camera_capture/camera_capture.hpp
@@ -48,7 +48,7 @@
 #include <px4_module.h>
 #include <px4_tasks.h>
 #include <px4_workqueue.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index 2174e986ef..7c2d93dd86 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -50,7 +50,7 @@
 #include <poll.h>
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <parameters/param.h>
 #include <systemlib/mavlink_log.h>
diff --git a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
index 07aa1c2866..d99d29b390 100644
--- a/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
@@ -45,7 +45,7 @@
 #include <px4_cli.h>
 #include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <stdbool.h>
 #include <stdint.h>
 #include <stdio.h>
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 5cfdf1a681..0e35de6f52 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 #include <px4_config.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_getopt.h>
 #include <px4_defines.h>
 #include <px4_module.h>
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
index 38fcd7afe9..8dde2c897a 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLiteI2C.h
@@ -42,7 +42,7 @@
 
 #include "LidarLite.h"
 
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <drivers/device/i2c.h>
 
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
index de37f581d3..d50c5b54a4 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
+++ b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.h
@@ -45,7 +45,7 @@
 
 #include "LidarLite.h"
 
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/pwm_input.h>
 
 class LidarLitePWM : public LidarLite, public px4::ScheduledWorkItem
diff --git a/src/drivers/distance_sensor/mappydot/MappyDot.cpp b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
index c5e858b4ba..3500908ab0 100644
--- a/src/drivers/distance_sensor/mappydot/MappyDot.cpp
+++ b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
@@ -47,7 +47,7 @@
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 
 /* MappyDot Registers */
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index cc180c703e..3541062eae 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -63,7 +63,7 @@
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/uORB.h>
 #include <uORB/topics/distance_sensor.h>
 
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index f454ea7cd3..817461560b 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -41,7 +41,7 @@
 
 #include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <sys/types.h>
 #include <stdint.h>
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index 9ab43c8645..f2d38846a2 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -44,7 +44,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_module.h>
 
 #include <drivers/device/i2c.h>
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index b2e6539622..ac0c679825 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -40,7 +40,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <containers/Array.hpp>
 
 #include <drivers/device/i2c.h>
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 6808ab3f7f..1485130895 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -41,7 +41,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_module.h>
 
 #include <drivers/device/i2c.h>
diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp
index f2272efd61..c1f48d86a2 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp
@@ -66,7 +66,7 @@
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_module.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/distance_sensor.h>
diff --git a/src/drivers/distance_sensor/ulanding/ulanding.cpp b/src/drivers/distance_sensor/ulanding/ulanding.cpp
index 58abd3e2e3..5ba7549613 100644
--- a/src/drivers/distance_sensor/ulanding/ulanding.cpp
+++ b/src/drivers/distance_sensor/ulanding/ulanding.cpp
@@ -63,7 +63,7 @@
 #include <px4_defines.h>
 #include <px4_getopt.h>
 #include <px4_workqueue.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
index 215b9c9c29..f641315833 100644
--- a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
+++ b/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp
@@ -48,7 +48,7 @@
 #include <drivers/drv_range_finder.h>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 
 /* Configuration Constants */
diff --git a/src/drivers/heater/heater.h b/src/drivers/heater/heater.h
index bcc1916f01..e492d570f6 100644
--- a/src/drivers/heater/heater.h
+++ b/src/drivers/heater/heater.h
@@ -45,7 +45,7 @@
 #include <px4_getopt.h>
 #include <px4_module.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_accel.h>
diff --git a/src/drivers/imu/adis16448/ADIS16448.h b/src/drivers/imu/adis16448/ADIS16448.h
index e1c01842ba..e5fd10d8e2 100644
--- a/src/drivers/imu/adis16448/ADIS16448.h
+++ b/src/drivers/imu/adis16448/ADIS16448.h
@@ -50,7 +50,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <perf/perf_counter.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 using namespace time_literals;
 
diff --git a/src/drivers/imu/adis16477/ADIS16477.hpp b/src/drivers/imu/adis16477/ADIS16477.hpp
index a5ed6c562b..cc7cec9dd6 100644
--- a/src/drivers/imu/adis16477/ADIS16477.hpp
+++ b/src/drivers/imu/adis16477/ADIS16477.hpp
@@ -45,7 +45,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 class ADIS16477 : public device::SPI, public px4::ScheduledWorkItem
 {
diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp
index 8894d9d778..7cb0e7fdf5 100644
--- a/src/drivers/imu/adis16497/ADIS16497.hpp
+++ b/src/drivers/imu/adis16497/ADIS16497.hpp
@@ -45,7 +45,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 // TODO : This is a copy of the NuttX CRC32 table
 static constexpr uint32_t crc32_tab[] = {
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 47dfba0294..ea63dd20d4 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -57,7 +57,7 @@
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
 #include <nuttx/arch.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
 
 #include <drivers/drv_hrt.h>
@@ -66,7 +66,7 @@
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
 #include <drivers/device/ringbuffer.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define ACCEL_DEVICE_PATH	"/dev/bma180"
 
diff --git a/src/drivers/imu/bmi055/BMI055.hpp b/src/drivers/imu/bmi055/BMI055.hpp
index eb11619b64..75e28f6831 100644
--- a/src/drivers/imu/bmi055/BMI055.hpp
+++ b/src/drivers/imu/bmi055/BMI055.hpp
@@ -37,7 +37,7 @@
 #include <ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
 #define DIR_WRITE               0x00
diff --git a/src/drivers/imu/bmi088/BMI088.hpp b/src/drivers/imu/bmi088/BMI088.hpp
index d21ea014cf..8e3e6a904e 100644
--- a/src/drivers/imu/bmi088/BMI088.hpp
+++ b/src/drivers/imu/bmi088/BMI088.hpp
@@ -38,7 +38,7 @@
 #include <lib/conversion/rotation.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define DIR_READ                0x80
 #define DIR_WRITE               0x00
diff --git a/src/drivers/imu/bmi160/bmi160.hpp b/src/drivers/imu/bmi160/bmi160.hpp
index cad0827a2c..473ecc9923 100644
--- a/src/drivers/imu/bmi160/bmi160.hpp
+++ b/src/drivers/imu/bmi160/bmi160.hpp
@@ -40,7 +40,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 
 #define DIR_READ                0x80
diff --git a/src/drivers/imu/fxas21002c/FXAS21002C.hpp b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
index 1cb10fc3fb..da7496596d 100644
--- a/src/drivers/imu/fxas21002c/FXAS21002C.hpp
+++ b/src/drivers/imu/fxas21002c/FXAS21002C.hpp
@@ -43,7 +43,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 
 class FXAS21002C : public device::SPI, public px4::ScheduledWorkItem
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index 0d693db3ee..e626f861f5 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -46,7 +46,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
diff --git a/src/drivers/imu/icm20948/icm20948.h b/src/drivers/imu/icm20948/icm20948.h
index 5814083b79..abeead1d58 100644
--- a/src/drivers/imu/icm20948/icm20948.h
+++ b/src/drivers/imu/icm20948/icm20948.h
@@ -44,7 +44,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/conversion/rotation.h>
 #include <systemlib/err.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <uORB/uORB.h>
 
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 85aeb561d7..6cadddb996 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -44,7 +44,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #define L3GD20_DEVICE_PATH "/dev/l3gd20"
 
diff --git a/src/drivers/imu/lsm303d/LSM303D.hpp b/src/drivers/imu/lsm303d/LSM303D.hpp
index ab9abf39d3..819b162787 100644
--- a/src/drivers/imu/lsm303d/LSM303D.hpp
+++ b/src/drivers/imu/lsm303d/LSM303D.hpp
@@ -41,7 +41,7 @@
 #include <drivers/device/spi.h>
 #include <ecl/geo/geo.h>
 #include <perf/perf_counter.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 
diff --git a/src/drivers/imu/mpu6000/MPU6000.hpp b/src/drivers/imu/mpu6000/MPU6000.hpp
index 33817589ec..a75a1716d1 100644
--- a/src/drivers/imu/mpu6000/MPU6000.hpp
+++ b/src/drivers/imu/mpu6000/MPU6000.hpp
@@ -63,7 +63,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
 
diff --git a/src/drivers/imu/mpu9250/mpu9250.h b/src/drivers/imu/mpu9250/mpu9250.h
index 84e45cbf71..65fe2bde28 100644
--- a/src/drivers/imu/mpu9250/mpu9250.h
+++ b/src/drivers/imu/mpu9250/mpu9250.h
@@ -35,7 +35,7 @@
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/ecl/geo/geo.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
 
diff --git a/src/drivers/irlock/irlock.cpp b/src/drivers/irlock/irlock.cpp
index 223b0e010e..5aa9f2c35b 100644
--- a/src/drivers/irlock/irlock.cpp
+++ b/src/drivers/irlock/irlock.cpp
@@ -46,7 +46,7 @@
 #include <drivers/device/ringbuffer.h>
 
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #include <uORB/uORB.h>
diff --git a/src/drivers/lights/blinkm/blinkm.cpp b/src/drivers/lights/blinkm/blinkm.cpp
index 94329bb525..27f28f344d 100644
--- a/src/drivers/lights/blinkm/blinkm.cpp
+++ b/src/drivers/lights/blinkm/blinkm.cpp
@@ -99,7 +99,7 @@
 
 #include <drivers/device/i2c.h>
 #include <drivers/drv_blinkm.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/battery_status.h>
diff --git a/src/drivers/lights/oreoled/oreoled.cpp b/src/drivers/lights/oreoled/oreoled.cpp
index 0b546cc88c..a41b4826c2 100644
--- a/src/drivers/lights/oreoled/oreoled.cpp
+++ b/src/drivers/lights/oreoled/oreoled.cpp
@@ -47,7 +47,7 @@
 #include <drivers/drv_oreoled.h>
 #include <perf/perf_counter.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 #define OREOLED_NUM_LEDS		4			///< maximum number of LEDs the oreo led driver can support
diff --git a/src/drivers/lights/pca8574/pca8574.cpp b/src/drivers/lights/pca8574/pca8574.cpp
index 944cb6de45..bf5f8db344 100644
--- a/src/drivers/lights/pca8574/pca8574.cpp
+++ b/src/drivers/lights/pca8574/pca8574.cpp
@@ -46,7 +46,7 @@
 #include <drivers/device/i2c.h>
 #include <drivers/drv_io_expander.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 
diff --git a/src/drivers/lights/rgbled/rgbled.cpp b/src/drivers/lights/rgbled/rgbled.cpp
index 073eed08d7..a15a584326 100644
--- a/src/drivers/lights/rgbled/rgbled.cpp
+++ b/src/drivers/lights/rgbled/rgbled.cpp
@@ -45,7 +45,7 @@
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
diff --git a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
index 3dd2726ce6..a794902ed5 100755
--- a/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
+++ b/src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
@@ -44,7 +44,7 @@
 #include <drivers/device/i2c.h>
 #include <lib/led/led.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/parameter_update.h>
 
diff --git a/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp b/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
index f50490bd35..f49e569d58 100644
--- a/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
+++ b/src/drivers/lights/rgbled_pwm/rgbled_pwm.cpp
@@ -44,7 +44,7 @@
 #include <drivers/device/device.h>
 #include <lib/led/led.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 class RGBLED_PWM : public device::CDev, public px4::ScheduledWorkItem
 {
diff --git a/src/drivers/linux_sbus/linux_sbus.h b/src/drivers/linux_sbus/linux_sbus.h
index be51d1db08..e03a849fd4 100644
--- a/src/drivers/linux_sbus/linux_sbus.h
+++ b/src/drivers/linux_sbus/linux_sbus.h
@@ -48,7 +48,7 @@
 #include <asm-generic/termbits.h>
 #include <errno.h>
 #include <px4_config.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_defines.h>
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
diff --git a/src/drivers/magnetometer/ak09916/ak09916.hpp b/src/drivers/magnetometer/ak09916/ak09916.hpp
index 5e6f15dc65..d42ff99098 100644
--- a/src/drivers/magnetometer/ak09916/ak09916.hpp
+++ b/src/drivers/magnetometer/ak09916/ak09916.hpp
@@ -39,7 +39,7 @@
 #include <systemlib/conversions.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/device/i2c.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 
 #define AK09916_DEVICE_PATH_MAG              "/dev/ak09916_i2c_int"
diff --git a/src/drivers/magnetometer/bmm150/bmm150.hpp b/src/drivers/magnetometer/bmm150/bmm150.hpp
index 78411ae804..f9e1fe3d58 100644
--- a/src/drivers/magnetometer/bmm150/bmm150.hpp
+++ b/src/drivers/magnetometer/bmm150/bmm150.hpp
@@ -20,7 +20,7 @@
 
 #include <perf/perf_counter.h>
 #include <systemlib/err.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 
 #include <nuttx/arch.h>
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index f4ef237427..1a6e51211e 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -57,7 +57,7 @@
 #include <unistd.h>
 
 #include <nuttx/arch.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
 
 #include <board_config.h>
diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp
index ddad228ea3..852a59437f 100644
--- a/src/drivers/magnetometer/ist8310/ist8310.cpp
+++ b/src/drivers/magnetometer/ist8310/ist8310.cpp
@@ -76,7 +76,7 @@
 #include <float.h>
 #include <lib/conversion/rotation.h>
 
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 /*
  * IST8310 internal constants and data structures.
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.h b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
index c00ebb9943..a77e3e85ad 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.h
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.h
@@ -48,7 +48,7 @@
 
 #include <lib/conversion/rotation.h>
 #include <systemlib/err.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <perf/perf_counter.h>
 #include <px4_defines.h>
diff --git a/src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp b/src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
index fcf96ce2aa..6342c098ad 100644
--- a/src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
+++ b/src/drivers/magnetometer/lsm303agr/LSM303AGR.hpp
@@ -42,7 +42,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/err.h>
 
 // Register mapping
diff --git a/src/drivers/magnetometer/qmc5883/qmc5883.cpp b/src/drivers/magnetometer/qmc5883/qmc5883.cpp
index 42864a3d2a..6e3665e87e 100644
--- a/src/drivers/magnetometer/qmc5883/qmc5883.cpp
+++ b/src/drivers/magnetometer/qmc5883/qmc5883.cpp
@@ -56,7 +56,7 @@
 #include <unistd.h>
 
 #include <nuttx/arch.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
 
 #include <board_config.h>
diff --git a/src/drivers/magnetometer/rm3100/rm3100.h b/src/drivers/magnetometer/rm3100/rm3100.h
index 1d7ffc24ad..83492e1433 100644
--- a/src/drivers/magnetometer/rm3100/rm3100.h
+++ b/src/drivers/magnetometer/rm3100/rm3100.h
@@ -52,7 +52,7 @@
 #include <px4_defines.h>
 #include <systemlib/err.h>
 
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 /**
  * RM3100 internal constants and data structures.
diff --git a/src/drivers/optical_flow/paw3902/PAW3902.hpp b/src/drivers/optical_flow/paw3902/PAW3902.hpp
index 59d692d2a1..8dd56eb11b 100644
--- a/src/drivers/optical_flow/paw3902/PAW3902.hpp
+++ b/src/drivers/optical_flow/paw3902/PAW3902.hpp
@@ -44,7 +44,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/device/spi.h>
 #include <conversion/rotation.h>
 #include <lib/perf/perf_counter.h>
diff --git a/src/drivers/optical_flow/pmw3901/pmw3901.cpp b/src/drivers/optical_flow/pmw3901/pmw3901.cpp
index ed2e8caff7..ca5aa31a92 100644
--- a/src/drivers/optical_flow/pmw3901/pmw3901.cpp
+++ b/src/drivers/optical_flow/pmw3901/pmw3901.cpp
@@ -41,7 +41,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 #include <drivers/device/spi.h>
 
diff --git a/src/drivers/optical_flow/px4flow/px4flow.cpp b/src/drivers/optical_flow/px4flow/px4flow.cpp
index 789b2b5c04..e65f69465f 100644
--- a/src/drivers/optical_flow/px4flow/px4flow.cpp
+++ b/src/drivers/optical_flow/px4flow/px4flow.cpp
@@ -49,7 +49,7 @@
 #include <px4_config.h>
 #include <px4_defines.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/optical_flow.h>
 
diff --git a/src/drivers/osd/atxxxx/atxxxx.h b/src/drivers/osd/atxxxx/atxxxx.h
index 4b6edb950c..9af6e441b9 100644
--- a/src/drivers/osd/atxxxx/atxxxx.h
+++ b/src/drivers/osd/atxxxx/atxxxx.h
@@ -46,7 +46,7 @@
 #include <px4_getopt.h>
 #include <px4_module.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/vehicle_local_position.h>
diff --git a/src/drivers/pca9685/pca9685.cpp b/src/drivers/pca9685/pca9685.cpp
index adaa6733c0..6b3ef7307e 100644
--- a/src/drivers/pca9685/pca9685.cpp
+++ b/src/drivers/pca9685/pca9685.cpp
@@ -63,7 +63,7 @@
 #include <math.h>
 #include <px4_getopt.h>
 
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <nuttx/clock.h>
 
 #include <perf/perf_counter.h>
diff --git a/src/drivers/power_monitor/ina226/ina226.cpp b/src/drivers/power_monitor/ina226/ina226.cpp
index 034b7ed8a2..b1e740abee 100644
--- a/src/drivers/power_monitor/ina226/ina226.cpp
+++ b/src/drivers/power_monitor/ina226/ina226.cpp
@@ -48,7 +48,7 @@
 #include <drivers/drv_hrt.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/power_monitor.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 /* Configuration Constants */
 #define INA226_BUS_DEFAULT		                PX4_I2C_BUS_EXPANSION
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index 07af2605af..9e2b1cd82e 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -58,7 +58,7 @@
 #include <px4_getopt.h>
 #include <px4_log.h>
 #include <px4_module.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/drivers/rpi_rc_in/rpi_rc_in.h b/src/drivers/rpi_rc_in/rpi_rc_in.h
index 27031823ad..2398cde842 100644
--- a/src/drivers/rpi_rc_in/rpi_rc_in.h
+++ b/src/drivers/rpi_rc_in/rpi_rc_in.h
@@ -49,7 +49,7 @@
 #include <unistd.h>
 
 #include <px4_config.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <px4_defines.h>
 
 #include <drivers/drv_hrt.h>
diff --git a/src/drivers/safety_button/SafetyButton.hpp b/src/drivers/safety_button/SafetyButton.hpp
index da59bca09b..0cab2b385f 100644
--- a/src/drivers/safety_button/SafetyButton.hpp
+++ b/src/drivers/safety_button/SafetyButton.hpp
@@ -41,7 +41,7 @@
 #include <px4_getopt.h>
 #include <px4_log.h>
 #include <px4_module.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
diff --git a/src/drivers/telemetry/bst/bst.cpp b/src/drivers/telemetry/bst/bst.cpp
index 1745975adb..9f327ddbbf 100644
--- a/src/drivers/telemetry/bst/bst.cpp
+++ b/src/drivers/telemetry/bst/bst.cpp
@@ -41,7 +41,7 @@
 
 #include <px4_config.h>
 #include <px4_getopt.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <drivers/device/i2c.h>
 #include <systemlib/err.h>
 #include <string.h>
diff --git a/src/drivers/tone_alarm/ToneAlarm.h b/src/drivers/tone_alarm/ToneAlarm.h
index a9e6da94cf..b01d7b58c9 100644
--- a/src/drivers/tone_alarm/ToneAlarm.h
+++ b/src/drivers/tone_alarm/ToneAlarm.h
@@ -45,7 +45,7 @@
 #include <drivers/drv_tone_alarm.h>
 #include <lib/tunes/tunes.h>
 #include <px4_defines.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/tune_control.h>
 
diff --git a/src/lib/drivers/airspeed/airspeed.h b/src/lib/drivers/airspeed/airspeed.h
index f374267548..aff712c051 100644
--- a/src/lib/drivers/airspeed/airspeed.h
+++ b/src/lib/drivers/airspeed/airspeed.h
@@ -42,7 +42,7 @@
 #include <perf/perf_counter.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/uORB.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 /* Default I2C bus */
 static constexpr uint8_t PX4_I2C_BUS_DEFAULT = PX4_I2C_BUS_EXPANSION;
diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp
index f483d7e30e..274372ef6e 100644
--- a/src/modules/airspeed_selector/airspeed_selector_main.cpp
+++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp
@@ -38,7 +38,7 @@
 #include <perf/perf_counter.h>
 #include <px4_module.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/airspeed/airspeed.h>
 #include <AirspeedValidator.hpp>
 #include <systemlib/mavlink_log.h>
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index adc2febd44..b9c41d0856 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -46,7 +46,7 @@
 #include <px4_tasks.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/actuator_controls.h>
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 726e795b9f..4f13b7e1e3 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -65,7 +65,7 @@
 #include <px4_module.h>
 #include <px4_module_params.h>
 #include <px4_posix.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/airspeed.h>
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index 36d90def5d..f28e082cc5 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -51,7 +51,7 @@
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_land_detected.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 
 using namespace time_literals;
 
diff --git a/src/modules/load_mon/load_mon.cpp b/src/modules/load_mon/load_mon.cpp
index 7781ffc71f..a2b82ae15a 100644
--- a/src/modules/load_mon/load_mon.cpp
+++ b/src/modules/load_mon/load_mon.cpp
@@ -45,7 +45,7 @@
 #include <px4_defines.h>
 #include <px4_module.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/cpuload.h>
 #include <uORB/topics/cpuload.h>
 #include <uORB/topics/task_stack_info.h>
diff --git a/src/modules/mc_att_control/mc_att_control.hpp b/src/modules/mc_att_control/mc_att_control.hpp
index e871c16c15..153002b2cd 100644
--- a/src/modules/mc_att_control/mc_att_control.hpp
+++ b/src/modules/mc_att_control/mc_att_control.hpp
@@ -40,7 +40,7 @@
 #include <px4_module.h>
 #include <px4_module_params.h>
 #include <px4_posix.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
index 3274cc325f..f84cef18ad 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
@@ -40,7 +40,7 @@
 #include <px4_config.h>
 #include <px4_log.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index f9eaaf5cd7..81ee9fff84 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -40,7 +40,7 @@
 #include <px4_config.h>
 #include <px4_log.h>
 #include <px4_module_params.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
diff --git a/src/modules/uORB/SubscriptionCallback.hpp b/src/modules/uORB/SubscriptionCallback.hpp
index cfee84e7bf..1324f6ba24 100644
--- a/src/modules/uORB/SubscriptionCallback.hpp
+++ b/src/modules/uORB/SubscriptionCallback.hpp
@@ -40,7 +40,7 @@
 
 #include <uORB/SubscriptionInterval.hpp>
 #include <containers/List.hpp>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 
 namespace uORB
 {
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.h b/src/modules/vtol_att_control/vtol_att_control_main.h
index 1f8ef9d3ce..e3c714083f 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.h
+++ b/src/modules/vtol_att_control/vtol_att_control_main.h
@@ -60,7 +60,7 @@
 #include <px4_defines.h>
 #include <px4_module.h>
 #include <px4_posix.h>
-#include <px4_work_queue/WorkItem.hpp>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>