diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index c6961765e0..159a3a232b 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -5,7 +5,7 @@ set -e
 echo args: $@
 
 sitl_bin=$1
-label=$2
+rcS_dir=$2
 debugger=$3
 program=$4
 model=$5
@@ -15,7 +15,7 @@ build_path=$7
 echo SITL ARGS
 
 echo sitl_bin: $sitl_bin
-echo label: $label
+echo rcS_dir: $rcS_dir
 echo debugger: $debugger
 echo program: $program
 echo model: $model
@@ -40,9 +40,9 @@ then
 	model="iris"
 fi
 
-if [ "$#" -lt 5 ]
+if [ "$#" -lt 7 ]
 then
-	echo usage: sitl_run.sh rc_script debugger program model devel_path
+	echo usage: sitl_run.sh rc_script rcS_dir debugger program model src_path build_path
 	echo ""
 	exit 1
 fi
@@ -109,7 +109,7 @@ fi
 # Do not exit on failure now from here on because we want the complete cleanup
 set +e
 
-sitl_command="$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${label}/${model}"
+sitl_command="$sudo_enabled $sitl_bin $chroot_enabled $src_path $src_path/${rcS_dir}/${model}"
 
 echo SITL COMMAND: $sitl_command
 
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 0f3ba5d148..c30d79d6c7 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -98,9 +98,6 @@ include(CMakeParseArguments)
 function(px4_parse_function_args)
 	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
 	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
-	if (OUT_UNPARSED_ARGUMENTS)
-		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
-	endif()
 	foreach(arg ${IN_REQUIRED})
 		if (NOT OUT_${arg})
 			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
@@ -239,7 +236,7 @@ endfunction()
 #		STACK			: deprecated use stack main instead
 #		STACK_MAIN		: size of stack for main function
 #		STACK_MAX		: maximum stack size of any frame
-#		COMPILE_FLAGS	: compile flags
+#		COMPILE_FLAGS		: compile flags
 #		LINK_FLAGS		: link flags
 #		SRCS			: source files
 #		INCLUDES		: include directories
@@ -573,7 +570,7 @@ endfunction()
 #
 #	px4_add_common_flags
 #
-#	Set ths default build flags.
+#	Set the default build flags.
 #
 #	Usage:
 #		px4_add_common_flags(
@@ -591,8 +588,8 @@ endfunction()
 #	Input/Output: (appends to existing variable)
 #		C_FLAGS					: c compile flags variable
 #		CXX_FLAGS				: c++ compile flags variable
-#		EXE_LINKER_FLAGS		: executable linker flags variable
-#		INCLUDE_DIRS			: include directories
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
 #		LINK_DIRS				: link directories
 #		DEFINITIONS				: definitions
 #
diff --git a/cmake/configs/posix_sitl_replay.cmake b/cmake/configs/posix_sitl_replay.cmake
index a20a2d8cfe..28576424bf 100644
--- a/cmake/configs/posix_sitl_replay.cmake
+++ b/cmake/configs/posix_sitl_replay.cmake
@@ -34,9 +34,8 @@ set(config_extra_builtin_cmds
 	sercon
 	)
 
-set(config_sitl_rcS
-	posix-configs/SITL/init/rcS
-	CACHE FILEPATH "init script for sitl"
+set(config_sitl_rcS_dir
+	posix-configs/SITL/init/replay
 	)
 
 set(config_sitl_viewer
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 32983d648f..55e87ac8f3 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -209,7 +209,7 @@ function(px4_nuttx_add_export)
 		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
 		)
 	if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
-		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
+		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "")
 	endif()
 
 	# copy and export
@@ -365,7 +365,7 @@ endfunction()
 #
 #	px4_os_add_flags
 #
-#	Set ths nuttx build flags.
+#	Set the nuttx build flags.
 #
 #	Usage:
 #		px4_os_add_flags(
@@ -382,8 +382,8 @@ endfunction()
 #	Input/Output: (appends to existing variable)
 #		C_FLAGS					: c compile flags variable
 #		CXX_FLAGS				: c++ compile flags variable
-#		EXE_LINKER_FLAGS		: executable linker flags variable
-#		INCLUDE_DIRS			: include directories
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
 #		LINK_DIRS				: link directories
 #		DEFINITIONS				: definitions
 #
@@ -400,7 +400,7 @@ function(px4_os_add_flags)
 		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
 
 	px4_parse_function_args(
-		NAME px4_add_flags
+		NAME px4_os_add_flags
 		ONE_VALUE ${inout_vars} BOARD
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index 4893f884fb..d5757f7247 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -42,7 +42,7 @@
 #		* px4_posix_add_export
 #		* px4_posix_generate_romfs
 #
-# 	Required OS Inteface Functions
+# 	Required OS Interface Functions
 #
 # 		* px4_os_add_flags
 #		* px4_os_prebuild_targets
@@ -126,8 +126,8 @@ endfunction()
 #	Input/Output: (appends to existing variable)
 #		C_FLAGS					: c compile flags variable
 #		CXX_FLAGS				: c++ compile flags variable
-#		EXE_LINKER_FLAGS		: executable linker flags variable
-#		INCLUDE_DIRS			: include directories
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
 #		LINK_DIRS				: link directories
 #		DEFINITIONS				: definitions
 #
@@ -144,7 +144,7 @@ function(px4_os_add_flags)
 		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
 
 	px4_parse_function_args(
-		NAME px4_add_flags
+		NAME px4_os_add_flags
 		ONE_VALUE ${inout_vars} BOARD
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index f5387c515e..118a9a8caa 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -102,7 +102,7 @@ endfunction()
 #
 #	px4_os_add_flags
 #
-#	Set ths qurt build flags.
+#	Set the qurt build flags.
 #
 #	Usage:
 #		px4_os_add_flags(
@@ -119,8 +119,8 @@ endfunction()
 #	Input/Output: (appends to existing variable)
 #		C_FLAGS					: c compile flags variable
 #		CXX_FLAGS				: c++ compile flags variable
-#		EXE_LINKER_FLAGS		: executable linker flags variable
-#		INCLUDE_DIRS			: include directories
+#		EXE_LINKER_FLAGS			: executable linker flags variable
+#		INCLUDE_DIRS				: include directories
 #		LINK_DIRS				: link directories
 #		DEFINITIONS				: definitions
 #
@@ -137,7 +137,7 @@ function(px4_os_add_flags)
 		C_FLAGS CXX_FLAGS EXE_LINKER_FLAGS INCLUDE_DIRS LINK_DIRS DEFINITIONS)
 
 	px4_parse_function_args(
-		NAME px4_add_flags
+		NAME px4_os_add_flags
 		ONE_VALUE ${inout_vars} BOARD
 		REQUIRED ${inout_vars} BOARD
 		ARGN ${ARGN})
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index e6fe801d5e..6834d91266 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -489,7 +489,7 @@ MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
 
 	payload->session = 0;
 	payload->size = sizeof(uint32_t);
-	*((uint32_t *)payload->data) = fileSize;
+	std::memcpy(payload->data, &fileSize, payload->size);
 
 	return kErrNone;
 }
@@ -574,7 +574,7 @@ MavlinkFTP::_workWrite(PayloadHeader *payload)
 	}
 
 	payload->size = sizeof(uint32_t);
-	*((uint32_t *)payload->data) = bytes_written;
+	std::memcpy(payload->data, &bytes_written, payload->size);
 
 	return kErrNone;
 }
@@ -798,7 +798,7 @@ MavlinkFTP::_workCalcFileCRC32(PayloadHeader *payload)
 	::close(fd);
 
 	payload->size = sizeof(uint32_t);
-	*((uint32_t *)payload->data) = checksum;
+	std::memcpy(payload->data, &checksum, payload->size);
 	return kErrNone;
 }