diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index be32616b19e..2fbe2b4cbab 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -325,6 +325,7 @@ function(px4_add_common_flags)
 	set(warnings
 		-Wall
 		-Warray-bounds
+		-Wdisabled-optimization
 		-Werror
 		-Wextra
 		-Wfatal-errors
@@ -332,9 +333,12 @@ function(px4_add_common_flags)
 		-Wformat-security
 		-Winit-self
 		-Wmissing-declarations
+		-Wmissing-field-initializers
+		#-Wmissing-include-dirs # TODO: fix and enable
 		-Wpointer-arith
 		-Wshadow
 		-Wuninitialized
+		-Wunknown-pragmas
 		-Wunused-variable
 
 		-Wno-unused-parameter
@@ -362,17 +366,12 @@ function(px4_add_common_flags)
 		)
 	endif()
 
-	if ("${OS}" STREQUAL "qurt")
-		set(PIC_FLAG -fPIC)
-	endif()
-
 	set(_optimization_flags
 		-fno-strict-aliasing
 		-fomit-frame-pointer
 		-funsafe-math-optimizations
 		-ffunction-sections
 		-fdata-sections
-		${PIC_FLAG}
 		)
 
 	set(c_warnings
diff --git a/cmake/posix/px4_impl_posix.cmake b/cmake/posix/px4_impl_posix.cmake
index e1412adee82..6338c4186d1 100644
--- a/cmake/posix/px4_impl_posix.cmake
+++ b/cmake/posix/px4_impl_posix.cmake
@@ -225,7 +225,7 @@ function(px4_os_add_flags)
 		endif()
 
 		# Add the toolchain specific flags
-		set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
+		set(added_c_flags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT})
 
 		list(APPEND added_cxx_flags
 			${POSIX_CMAKE_CXX_FLAGS}
@@ -248,7 +248,7 @@ function(px4_os_add_flags)
 
 		# Add the toolchain specific flags
 
-		set(added_cflags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
+		set(added_c_flags ${POSIX_CMAKE_C_FLAGS} --sysroot=${HEXAGON_ARM_SYSROOT}/lib32-apq8096  -mfloat-abi=softfp -mfpu=neon -mthumb-interwork)
 
 		list(APPEND added_cxx_flags
 			${POSIX_CMAKE_CXX_FLAGS}
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index d6d2ce4082d..b0431108df6 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -163,24 +163,34 @@ function(px4_os_add_flags)
 	set(DSPAL_ROOT src/lib/DriverFramework/dspal)
 	set(added_include_dirs
 		${DSPAL_ROOT}/include
+		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/sys
 		${DSPAL_ROOT}/sys/sys
-		${DSPAL_ROOT}/mpu_spi/inc
 		${DSPAL_ROOT}/uart_esc/inc
-		src/platforms/qurt/include
 		src/platforms/posix/include
+		src/platforms/qurt/include
 		)
 
 	set(added_definitions
-		-D__PX4_QURT
 		-D__DF_QURT # For DriverFramework
 		-D__PX4_POSIX
+		-D__PX4_QURT
 		-D__QAIC_SKEL_EXPORT=__EXPORT
 		)
 
 	# Add the toolchain specific flags
-	set(added_cflags)
-	set(added_cxx_flags)
+	set(added_c_flags
+		-Wno-unknown-warning-option
+		)
+
+	set(added_cxx_flags
+		-Wno-unknown-warning-option
+		-Wno-unreachable-code
+		)
+
+	set(added_optimization_flags
+		-fPIC
+		)
 
 	# Clear -rdynamic flag which fails for hexagon
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
diff --git a/src/drivers/navio_rgbled/CMakeLists.txt b/src/drivers/navio_rgbled/CMakeLists.txt
index b41800f5d7c..971a4e45adf 100644
--- a/src/drivers/navio_rgbled/CMakeLists.txt
+++ b/src/drivers/navio_rgbled/CMakeLists.txt
@@ -30,7 +30,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-include_directories(../navio_gpio)
 
 px4_add_module(
 	MODULE drivers__navio_rgbled