diff --git a/Tools/ardupilotwaf/px4.py b/Tools/ardupilotwaf/px4.py
new file mode 100644
index 0000000000..1787b2b9fa
--- /dev/null
+++ b/Tools/ardupilotwaf/px4.py
@@ -0,0 +1,62 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+"""
+Waf tool for PX4 build
+"""
+
+import os
+
+def configure(cfg):
+    cfg.load('cmake')
+
+    env = cfg.env
+
+    def srcpath(path):
+        return cfg.srcnode.make_node(path).abspath()
+
+    env.PX4_CMAKE_VARS = dict(
+        CONFIG='nuttx_px4fmu-v%s_apm' % env.get_flat('PX4_VERSION'),
+        CMAKE_MODULE_PATH=srcpath('Tools/ardupilotwaf/px4/cmake'),
+        UAVCAN_LIBUAVCAN_PATH=srcpath('modules/uavcan'),
+        NUTTX_SRC=srcpath('modules/PX4NuttX'),
+        EXTRA_CXX_FLAGS=' '.join((
+            # NOTE: these "-Wno-error=*" flags should be removed as we update
+            # the submodule
+            '-Wno-error=double-promotion',
+            '-Wno-error=reorder',
+            # NOTE: *Temporarily* using this definition so that both
+            # PX4Firmware build systems (cmake and legacy make-based) can live
+            # together
+            '-DCMAKE_BUILD',
+            '-I%s' % bldpath('libraries/GCS_MAVLink'),
+            '-Wl,--gc-sections',
+        )),
+        EXTRA_C_FLAGS=' '.join((
+            # NOTE: *Temporarily* using this definition so that both
+            # PX4Firmware build systems (cmake and legacy make-based) can live
+            # together
+            '-DCMAKE_BUILD',
+        )),
+    )
+
+def build(bld):
+    version = bld.env.get_flat('PX4_VERSION')
+    px4 = bld(
+        features='cmake_configure',
+        name='px4',
+        cmake_src=bld.srcnode.find_dir('modules/PX4Firmware'),
+        cmake_vars=bld.env.PX4_CMAKE_VARS,
+        group='dynamic_sources',
+    )
+
+    px4.cmake_build(
+        'msg_gen',
+        group='dynamic_sources',
+        cmake_output_patterns='src/modules/uORB/topics/*.h',
+    )
+    px4.cmake_build(
+        'prebuild_targets',
+        group='dynamic_sources',
+        cmake_output_patterns='px4fmu-v%s/NuttX/nuttx-export/**/*.h' % version,
+    )
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-common_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-common_apm.cmake
new file mode 100644
index 0000000000..12b935154c
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-common_apm.cmake
@@ -0,0 +1,88 @@
+include(nuttx/px4_impl_nuttx)
+
+set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-none-eabi.cmake)
+
+set(config_module_list
+    platforms/common
+    platforms/nuttx
+    platforms/nuttx/px4_layer
+    modules/param
+#
+# Board support modules
+#
+    drivers/device
+    drivers/stm32
+    drivers/stm32/adc
+    drivers/stm32/tone_alarm
+    drivers/led
+    drivers/px4fmu
+    drivers/rgbled
+    drivers/mpu6000
+    drivers/hmc5883
+    drivers/ms5611
+    drivers/mb12xx
+    drivers/ll40ls
+    drivers/trone
+    drivers/airspeed
+    drivers/ets_airspeed
+    drivers/meas_airspeed
+    drivers/mkblctrl
+    drivers/batt_smbus
+    drivers/irlock
+
+#
+# System commands
+#
+    systemcmds/bl_update
+    systemcmds/mixer
+    systemcmds/perf
+    systemcmds/pwm
+    systemcmds/reboot
+    systemcmds/top
+    systemcmds/nshterm
+    systemcmds/mtd
+    systemcmds/ver
+    systemcmds/reflect
+    systemcmds/motor_test
+    systemcmds/usb_connected
+
+#
+# Library modules
+#
+    modules/systemlib
+    modules/systemlib/mixer
+    modules/uORB
+    lib/mathlib/math/filter
+    lib/conversion
+)
+
+set(config_extra_builtin_cmds
+    serdis
+    sercon
+    ArduPilot
+)
+
+set(config_extra_libs
+    ${CMAKE_SOURCE_DIR}/src/lib/mathlib/CMSIS/libarm_cortexM4lf_math.a
+    ${APM_PROGRAM_LIB}
+)
+
+set(config_uavcan_num_ifaces 2)
+
+add_custom_target(sercon)
+set_target_properties(sercon PROPERTIES
+    MAIN "sercon"
+    STACK "2048"
+)
+
+add_custom_target(serdis)
+set_target_properties(serdis PROPERTIES
+    MAIN "serdis"
+    STACK "2048"
+)
+
+add_custom_target(ArduPilot)
+set_target_properties(ArduPilot PROPERTIES
+    MAIN "ArduPilot"
+    STACK "4096"
+)
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v1_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v1_apm.cmake
new file mode 100644
index 0000000000..56c05d9458
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v1_apm.cmake
@@ -0,0 +1,12 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/boards/px4fmu-v1
+    drivers/px4io
+    drivers/px4flow
+)
+
+set(config_io_board
+    px4io-v1
+)
+
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake
new file mode 100644
index 0000000000..4277a151c1
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v2_apm.cmake
@@ -0,0 +1,23 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/lsm303d
+    drivers/l3gd20
+    drivers/mpu9250
+    drivers/boards/px4fmu-v2
+    drivers/pwm_input
+    modules/uavcan
+    lib/mathlib
+    drivers/px4io
+    drivers/px4flow
+    drivers/oreoled
+)
+
+list(APPEND config_extra_libs
+    uavcan
+    uavcan_stm32_driver
+)
+
+set(config_io_board
+    px4io-v2
+)
diff --git a/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake
new file mode 100644
index 0000000000..627bcafe80
--- /dev/null
+++ b/Tools/ardupilotwaf/px4/cmake/configs/nuttx_px4fmu-v4_apm.cmake
@@ -0,0 +1,14 @@
+include(configs/nuttx_px4fmu-common_apm)
+
+list(APPEND config_module_list
+    drivers/mpu9250
+    drivers/boards/px4fmu-v4
+    drivers/pwm_input
+    modules/uavcan
+    lib/mathlib
+)
+
+list(APPEND config_extra_libs
+    uavcan
+    uavcan_stm32_driver
+)