diff --git a/platforms/qurt/cmake/px4_impl_os.cmake b/platforms/qurt/cmake/px4_impl_os.cmake
index b7906c495a..09b606040b 100644
--- a/platforms/qurt/cmake/px4_impl_os.cmake
+++ b/platforms/qurt/cmake/px4_impl_os.cmake
@@ -126,6 +126,7 @@ function(px4_os_add_flags)
 
 		-Wno-unknown-warning-option
 		-Wno-cast-align
+		--include=${PX4_SOURCE_DIR}/platforms/qurt/include/qurt_reqs.h
 	)
 
 	# Clear -rdynamic flag which fails for hexagon
diff --git a/platforms/qurt/include/px4_arch/micro_hal.h b/platforms/qurt/include/px4_arch/micro_hal.h
new file mode 100644
index 0000000000..c23a40dbcf
--- /dev/null
+++ b/platforms/qurt/include/px4_arch/micro_hal.h
@@ -0,0 +1,35 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+// Placeholder
+
diff --git a/platforms/qurt/include/qurt_reqs.h b/platforms/qurt/include/qurt_reqs.h
new file mode 100644
index 0000000000..a3f6989b17
--- /dev/null
+++ b/platforms/qurt/include/qurt_reqs.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+// This file is meant to tackle the dependencies found in PX4
+// that have not been implemented in the Hexagon SDK yet.
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef unsigned long useconds_t;
+int usleep(useconds_t usec);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/platforms/qurt/src/px4/CMakeLists.txt b/platforms/qurt/src/px4/CMakeLists.txt
index 9bd2ebb7eb..45c33c674d 100644
--- a/platforms/qurt/src/px4/CMakeLists.txt
+++ b/platforms/qurt/src/px4/CMakeLists.txt
@@ -39,3 +39,5 @@ set(QURT_LAYER_SRCS
 add_library(px4_layer
         ${QURT_LAYER_SRCS}
 )
+
+target_link_libraries(px4_layer PRIVATE work_queue)