diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index ed48bd4f34f..902447c282b 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -111,6 +111,8 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 0c6458cad14..c3a3586f66e 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -118,6 +118,8 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
 	platforms/nuttx
 
 	# had to add for cmake, not sure why wasn't in original config
diff --git a/cmake/configs/posix_eagle_default.cmake b/cmake/configs/posix_eagle_default.cmake
index fc97e70918c..76d97111876 100644
--- a/cmake/configs/posix_eagle_default.cmake
+++ b/cmake/configs/posix_eagle_default.cmake
@@ -38,6 +38,8 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
 
 	platforms/common
 	platforms/posix/px4_layer
diff --git a/cmake/configs/posix_sitl_simple.cmake b/cmake/configs/posix_sitl_simple.cmake
index 581b82e8270..a7291a04f3d 100644
--- a/cmake/configs/posix_sitl_simple.cmake
+++ b/cmake/configs/posix_sitl_simple.cmake
@@ -56,6 +56,8 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/launchdetection
+	lib/terrain_estimation
+	lib/runway_takeoff
 	)
 
 set(config_extra_builtin_cmds
diff --git a/cmake/configs/qurt_eagle_hil.cmake b/cmake/configs/qurt_eagle_hil.cmake
index 4222fff2496..87dd29152e2 100644
--- a/cmake/configs/qurt_eagle_hil.cmake
+++ b/cmake/configs/qurt_eagle_hil.cmake
@@ -47,6 +47,8 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
 	modules/controllib
 
 	#
diff --git a/cmake/configs/qurt_eagle_release.cmake b/cmake/configs/qurt_eagle_release.cmake
index 945e9da1996..62a20263e52 100644
--- a/cmake/configs/qurt_eagle_release.cmake
+++ b/cmake/configs/qurt_eagle_release.cmake
@@ -70,6 +70,8 @@ set(config_module_list
 	lib/geo
 	lib/geo_lookup
 	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
 
 	#
 	# QuRT port
diff --git a/cmake/configs/qurt_eagle_travis.cmake b/cmake/configs/qurt_eagle_travis.cmake
index b9fda6ec484..75cb5f23941 100644
--- a/cmake/configs/qurt_eagle_travis.cmake
+++ b/cmake/configs/qurt_eagle_travis.cmake
@@ -52,6 +52,8 @@ set(config_module_list
 	lib/geo_lookup
 	lib/conversion
 	lib/ecl
+	lib/terrain_estimation
+	lib/runway_takeoff
 
 	#
 	# QuRT port
diff --git a/src/lib/ecl/CMakeLists.txt b/src/lib/ecl/CMakeLists.txt
index 0fd5b5f5e9c..9f8e02ba2e7 100644
--- a/src/lib/ecl/CMakeLists.txt
+++ b/src/lib/ecl/CMakeLists.txt
@@ -39,6 +39,7 @@ px4_add_module(
 		attitude_fw/ecl_pitch_controller.cpp
 		attitude_fw/ecl_roll_controller.cpp
 		attitude_fw/ecl_yaw_controller.cpp
+		attitude_fw/ecl_wheel_controller.cpp
 		l1/ecl_l1_pos_controller.cpp
 		validation/data_validator.cpp
 		validation/data_validator_group.cpp
diff --git a/src/lib/runway_takeoff/module.mk b/src/lib/runway_takeoff/CMakeLists.txt
similarity index 86%
rename from src/lib/runway_takeoff/module.mk
rename to src/lib/runway_takeoff/CMakeLists.txt
index 95b9aea53ea..7938279a0e7 100644
--- a/src/lib/runway_takeoff/module.mk
+++ b/src/lib/runway_takeoff/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -30,12 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-#
-# RunwayTakeoff Library
-#
-
-SRCS         =  RunwayTakeoff.cpp \
-            runway_takeoff_params.c
-
-MAXOPTIMIZATION  = -Os
+px4_add_module(
+	MODULE lib__runway_takeoff
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		RunwayTakeoff.cpp
+		runway_takeoff_params.c
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix : 
diff --git a/src/lib/terrain_estimation/module.mk b/src/lib/terrain_estimation/CMakeLists.txt
similarity index 90%
rename from src/lib/terrain_estimation/module.mk
rename to src/lib/terrain_estimation/CMakeLists.txt
index 3a2047012a1..0c1177b96b2 100644
--- a/src/lib/terrain_estimation/module.mk
+++ b/src/lib/terrain_estimation/CMakeLists.txt
@@ -30,7 +30,13 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-SRCS		= terrain_estimator.cpp
-
-MAXOPTIMIZATION	 = -Os
+px4_add_module(
+	MODULE lib__terrain_estimation
+	COMPILE_FLAGS
+		-Os
+	SRCS
+		terrain_estimator.cpp
+	DEPENDS
+		platforms__common
+	)
+# vim: set noet ft=cmake fenc=utf-8 ff=unix :