diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 019dcc16cf1..22cc19c0fe0 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -506,7 +506,7 @@ function(px4_add_common_flags)
 		#               but generates too many false positives
 		)
 
-	if (NOT ${OS} STREQUAL "qurt")
+	if (${OS} STREQUAL "nuttx")
 		list(APPEND warnings -Wframe-larger-than=1024)
 	endif()
 
diff --git a/src/modules/attitude_estimator_ekf/CMakeLists.txt b/src/modules/attitude_estimator_ekf/CMakeLists.txt
index 30fb6f0091d..8c689046610 100644
--- a/src/modules/attitude_estimator_ekf/CMakeLists.txt
+++ b/src/modules/attitude_estimator_ekf/CMakeLists.txt
@@ -35,9 +35,7 @@ px4_add_module(
 	MAIN attitude_estimator_ekf
 	STACK 1200
 	COMPILE_FLAGS
-		-Wframe-larger-than=3100
 		-Wno-float-equal
-		
 	SRCS
 		attitude_estimator_ekf_main.cpp
 		codegen/AttitudeEKF.c
diff --git a/src/modules/attitude_estimator_q/CMakeLists.txt b/src/modules/attitude_estimator_q/CMakeLists.txt
index b4726b5c89d..c74993ad674 100644
--- a/src/modules/attitude_estimator_q/CMakeLists.txt
+++ b/src/modules/attitude_estimator_q/CMakeLists.txt
@@ -31,15 +31,13 @@
 #
 #############################################################################
 set(MODULE_CFLAGS)
-if (NOT ${OS} STREQUAL "qurt")
-	list(APPEND MODULE_CFLAGS
-		-Wframe-larger-than=1400)
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1400)
 endif()
 px4_add_module(
 	MODULE modules__attitude_estimator_q
 	MAIN attitude_estimator_q
-	COMPILE_FLAGS
-		${MODULE_CFLAGS}
+	COMPILE_FLAGS ${MODULE_CFLAGS}
 	STACK 1200
 	SRCS
 		attitude_estimator_q_main.cpp
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index 698177edb67..d5c4aa0f122 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -31,10 +31,8 @@
 #
 ############################################################################
 set(MODULE_CFLAGS -Os)
-
-if(NOT ${OS} STREQUAL "qurt")
-	list(APPEND MODULE_CFLAGS
-		-Wframe-larger-than=2600)
+if(${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=2300)
 endif()
 px4_add_module(
 	MODULE modules__commander
diff --git a/src/modules/land_detector/CMakeLists.txt b/src/modules/land_detector/CMakeLists.txt
index 3e89ff1a6ba..f18b3ed187c 100644
--- a/src/modules/land_detector/CMakeLists.txt
+++ b/src/modules/land_detector/CMakeLists.txt
@@ -36,7 +36,6 @@ px4_add_module(
 	STACK 1200
 	COMPILE_FLAGS
 		-Os
-		
 	SRCS
 		land_detector_main.cpp
 		land_detector_params.c
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index f7f2127c4bf..c8a0e7d870c 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -30,16 +30,20 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1500)
+endif()
 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink
 	STACK 1200
 	COMPILE_FLAGS
+		${MODULE_CFLAGS}
 		-Wno-attributes
 		-Wno-packed
 		-DMAVLINK_COMM_NUM_BUFFERS=3
 		-Wno-packed
-		-Wframe-larger-than=2000
+		-Wno-tautological-constant-out-of-range-compare
 		-Os
 	SRCS
 		mavlink.c
diff --git a/src/modules/mc_att_control/CMakeLists.txt b/src/modules/mc_att_control/CMakeLists.txt
index 3f4aeed93f1..3c087727667 100644
--- a/src/modules/mc_att_control/CMakeLists.txt
+++ b/src/modules/mc_att_control/CMakeLists.txt
@@ -30,10 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3500)
+endif()
 px4_add_module(
 	MODULE modules__mc_att_control
 	MAIN mc_att_control
 	STACK 1200
+	COMPILE_FLAGS ${MODULE_CFLAGS}
 	SRCS
 		mc_att_control_main.cpp
 		mc_att_control_params.c
diff --git a/src/modules/mc_att_control_multiplatform/CMakeLists.txt b/src/modules/mc_att_control_multiplatform/CMakeLists.txt
index 0edd51ce57f..22f9d16ee86 100644
--- a/src/modules/mc_att_control_multiplatform/CMakeLists.txt
+++ b/src/modules/mc_att_control_multiplatform/CMakeLists.txt
@@ -33,8 +33,6 @@
 px4_add_module(
 	MODULE modules__mc_att_control_multiplatform
 	MAIN mc_att_control_m
-	COMPILE_FLAGS
-		-Wframe-larger-than=1300
 	SRCS
 		mc_att_control_main.cpp
 		mc_att_control_start_nuttx.cpp
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
index 63515f497d4..98435a08f07 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.cpp
@@ -64,11 +64,9 @@ static const int ERROR = -1;
 
 MulticopterAttitudeControlMultiplatform::MulticopterAttitudeControlMultiplatform() :
 	MulticopterAttitudeControlBase(),
-	_task_should_exit(false),
 	_actuators_0_circuit_breaker_enabled(false),
 
 	/* publications */
-	_att_sp_pub(nullptr),
 	_v_rates_sp_pub(nullptr),
 	_actuators_0_pub(nullptr),
 	_n(_appState),
diff --git a/src/modules/mc_att_control_multiplatform/mc_att_control.h b/src/modules/mc_att_control_multiplatform/mc_att_control.h
index de059fc9f39..12d4beadfc9 100644
--- a/src/modules/mc_att_control_multiplatform/mc_att_control.h
+++ b/src/modules/mc_att_control_multiplatform/mc_att_control.h
@@ -85,10 +85,8 @@ public:
 	void spin() { _n.spin(); }
 
 private:
-	bool		_task_should_exit;			/**< if true, sensor task should exit */
 	bool		_actuators_0_circuit_breaker_enabled;	/**< circuit breaker to suppress output */
 
-	px4::Publisher<px4_vehicle_attitude_setpoint> 	*_att_sp_pub;			/**< attitude setpoint publication */
 	px4::Publisher<px4_vehicle_rates_setpoint> 	*_v_rates_sp_pub;		/**< rate setpoint publication */
 	px4::Publisher<px4_actuator_controls_0> 	*_actuators_0_pub;		/**< attitude actuator controls publication */
 
diff --git a/src/modules/mc_pos_control_multiplatform/CMakeLists.txt b/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
index 76750b90de5..f36acf4e334 100644
--- a/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
+++ b/src/modules/mc_pos_control_multiplatform/CMakeLists.txt
@@ -33,9 +33,6 @@
 px4_add_module(
 	MODULE modules__mc_pos_control_multiplatform
 	MAIN mc_pos_control_m
-	COMPILE_FLAGS
-		-Wframe-larger-than=1900
-		
 	SRCS
 		mc_pos_control_main.cpp
 		mc_pos_control_start_nuttx.cpp
diff --git a/src/modules/position_estimator_inav/CMakeLists.txt b/src/modules/position_estimator_inav/CMakeLists.txt
index 7c5393de9ca..90ab4ad74c6 100644
--- a/src/modules/position_estimator_inav/CMakeLists.txt
+++ b/src/modules/position_estimator_inav/CMakeLists.txt
@@ -30,16 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-set(MODULE_CFLAGS)
-if(NOT ${OS} STREQUAL "qurt")
-	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3900)
+if(${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=3800)
 endif()
 px4_add_module(
 	MODULE modules__position_estimator_inav
 	MAIN position_estimator_inav
 	STACK 1200
 	COMPILE_FLAGS ${MODULE_CFLAGS}
-		
 	SRCS
 		position_estimator_inav_main.c
 		position_estimator_inav_params.c
diff --git a/src/modules/sdlog2/CMakeLists.txt b/src/modules/sdlog2/CMakeLists.txt
index ddc1b301745..b438f30fd5e 100644
--- a/src/modules/sdlog2/CMakeLists.txt
+++ b/src/modules/sdlog2/CMakeLists.txt
@@ -30,13 +30,16 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+if (${OS} STREQUAL "nuttx")
+	list(APPEND MODULE_CFLAGS -Wframe-larger-than=1500)
+endif()
 px4_add_module(
 	MODULE modules__sdlog2
 	MAIN sdlog2
 	PRIORITY "SCHED_PRIORITY_MAX-30"
 	STACK 1200
 	COMPILE_FLAGS
-		-Wframe-larger-than=1500
+		${MODULE_CFLAGS}
 		-Os
 	SRCS
 		sdlog2.c
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index 97daf37d106..de452c5de44 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -43,8 +43,6 @@ px4_add_module(
 		-Wno-attributes
 		-Wno-packed
 		-Wno-packed
-		-Wframe-larger-than=1500
-		
 	SRCS
 		${SIMULATOR_SRCS}
 	DEPENDS
diff --git a/src/systemcmds/mixer/CMakeLists.txt b/src/systemcmds/mixer/CMakeLists.txt
index 99ce2b1bad7..703d8210fb1 100644
--- a/src/systemcmds/mixer/CMakeLists.txt
+++ b/src/systemcmds/mixer/CMakeLists.txt
@@ -34,7 +34,7 @@ set(MIXER_CFLAGS -Os)
 if(${OS} STREQUAL "qurt")
 	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2176)
 else()
-	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2064)
+	list(APPEND MIXER_CFLAGS -Wframe-larger-than=2100)
 endif()
 
 px4_add_module(