diff --git a/src/drivers/device/vdev.cpp b/src/drivers/device/vdev.cpp
index 8983934804..470b8388b3 100644
--- a/src/drivers/device/vdev.cpp
+++ b/src/drivers/device/vdev.cpp
@@ -550,14 +550,18 @@ void VDev::showDevices()
 	pthread_mutex_unlock(&devmutex);
 
 	PX4_INFO("DF Devices:");
-	// TODO NOT IMPLEMENTED
+	std::string dev_path, instance_path;
+	unsigned int index = 0;
+	i = 0;
 
-	// std::string devname;
-	// for (unsigned int index=0; i == 0; ++i) {
-	// 	if (DevMgr::getNextDeviceName(index, devname) == 0) {
-	// 		PX4_INFO("   %s", devname.c_str());
-	// 	}
-	// }
+	do {
+		// Each look increments index and returns -1 if end reached
+		i = DevMgr::getNextDevicePath(index, dev_path, instance_path);
+
+		if (i == 0) {
+			PX4_INFO("   %s (%s)", dev_path.c_str(), instance_path.c_str());
+		}
+	} while (i == 0);
 }
 
 void VDev::showTopics()
diff --git a/src/lib/DriverFramework b/src/lib/DriverFramework
index 44403c8eb5..45878058a7 160000
--- a/src/lib/DriverFramework
+++ b/src/lib/DriverFramework
@@ -1 +1 @@
-Subproject commit 44403c8eb5c6c26a33d086a200d017c57d658095
+Subproject commit 45878058a7b37a9bba370396526b95cd7c2a3ab9
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index b95ee30639..a135e9dfca 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -467,33 +467,55 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 
 #else
 
-				// TODO NOT IMPLEMENTED
+				// Handle VDev devices
+				const char *devname;
+				unsigned int handle = 0;
+				for(;;) {
+					devname = px4_get_device_names(&handle);
+					if (devname == NULL)
+						break;
 
-				// std::string devname;
-				// unsigned int index = 0;
-				// for(;;) {
-				// 	if (DevMgr::getNextDeviceName(index, devname) < 0) {
-				// 		break;
-				// 	}
+						/* skip mavlink */
+					if (!strcmp("/dev/mavlink", devname)) {
+							continue;
+					}
 
-				// 	/* skip mavlink */
-				// 	if (!strcmp("/dev/mavlink", devname.c_str())) {
-				// 		continue;
-				// 	}
 
-				// 	DevHandle h;
-				// 	DevMgr::getHandle(devname.c_str(), h);
+					int sensfd = px4_open(devname, 0);
 
-				// 	if (!h.isValid()) {
-				// 		warn("failed opening device %s", devname.c_str());
-				// 		continue;
-				// 	}
+					if (sensfd < 0) {
+						warn("failed opening device %s", devname);
+							continue;
+					}
 
-				// 	int block_ret = h.ioctl(DEVIOCSPUBBLOCK, (void *)1);
-				// 	DevMgr::releaseHandle(h);
+					int block_ret = px4_ioctl(sensfd, DEVIOCSPUBBLOCK, 1);
+					px4_close(sensfd);
 
-				// 	printf("Disabling %s: %s\n", devname.c_str(), (block_ret == OK) ? "OK" : "ERROR");
-				// }
+					printf("Disabling %s: %s\n", devname, (block_ret == OK) ? "OK" : "ERROR");
+				}
+
+
+				// Handle DF devices
+				std::string df_dev_path, df_dev_instance_path;
+				unsigned int index = 0;
+				for(;;) {
+					if (DevMgr::getNextDevicePath(index, df_dev_path, df_dev_instance_path) < 0) {
+						break;
+					}
+
+					DevHandle h;
+					DevMgr::getHandle(df_dev_path.c_str(), h);
+
+					if (!h.isValid()) {
+						warn("failed opening device %s", df_dev_path.c_str());
+						continue;
+					}
+
+					int block_ret = h.ioctl(DEVIOCSPUBBLOCK, 1);
+					DevMgr::releaseHandle(h);
+
+					printf("Disabling %s: %s\n", df_dev_path.c_str(), (block_ret == OK) ? "OK" : "ERROR");
+				}
 
 				ret = TRANSITION_CHANGED;
 				mavlink_log_critical(mavlink_fd, "Switched to ON hil state");
diff --git a/src/modules/simulator/simulator.cpp b/src/modules/simulator/simulator.cpp
index 1656a3451f..44b3bcf0e1 100644
--- a/src/modules/simulator/simulator.cpp
+++ b/src/modules/simulator/simulator.cpp
@@ -136,9 +136,13 @@ int Simulator::start(int argc, char *argv[])
 			_instance->pollForMAVLinkMessages(false);
 #endif
 
-		} else {
+		} else if (argv[2][1] == 'p') {
 			// Update sensor data
 			_instance->pollForMAVLinkMessages(true);
+
+		} else {
+			_instance->initializeSensorData();
+			_instance->_initialized = true;
 		}
 
 	} else {
@@ -151,9 +155,10 @@ int Simulator::start(int argc, char *argv[])
 
 static void usage()
 {
-	PX4_WARN("Usage: simulator {start -[sc] |stop}");
+	PX4_WARN("Usage: simulator {start -[spt] |stop}");
 	PX4_WARN("Simulate raw sensors:     simulator start -s");
 	PX4_WARN("Publish sensors combined: simulator start -p");
+	PX4_WARN("Dummy unit test data:     simulator start -t");
 }
 
 __BEGIN_DECLS
@@ -167,7 +172,9 @@ extern "C" {
 		int ret = 0;
 
 		if (argc == 3 && strcmp(argv[1], "start") == 0) {
-			if (strcmp(argv[2], "-s") == 0 || strcmp(argv[2], "-p") == 0) {
+			if (strcmp(argv[2], "-s") == 0 ||
+			    strcmp(argv[2], "-p") == 0 ||
+			    strcmp(argv[2], "-t") == 0) {
 				if (g_sim_task >= 0) {
 					warnx("Simulator already started");
 					return 0;
diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index e039e6b65c..1ba06148cb 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -1101,7 +1101,7 @@ start(enum Rotation rotation)
 		goto fail;
 	}
 
-	if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
 		DevMgr::releaseHandle(h);
 		goto fail;
@@ -1110,13 +1110,13 @@ start(enum Rotation rotation)
 	DevMgr::getHandle(ACCELSIM_DEVICE_PATH_MAG, h_mag);
 
 	/* don't fail if mag dev cannot be opened */
-	if (!h_mag.isValid()) {
-		if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
-			PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
+	if (h_mag.isValid()) {
+		if (h_mag.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+			PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_MAG);
 		}
 
 	} else {
-		PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_ACCEL);
+		PX4_ERR("ioctl SENSORIOCSPOLLRATE %s failed", ACCELSIM_DEVICE_PATH_MAG);
 	}
 
 	DevMgr::releaseHandle(h);
@@ -1182,6 +1182,11 @@ accelsim_main(int argc, char *argv[])
 		}
 	}
 
+	if (argc <= 1) {
+		accelsim::usage();
+		return 1;
+	}
+
 	const char *verb = argv[myoptind];
 
 	/*
diff --git a/src/platforms/posix/drivers/adcsim/adcsim.cpp b/src/platforms/posix/drivers/adcsim/adcsim.cpp
index 4326314438..5cd9fff61f 100644
--- a/src/platforms/posix/drivers/adcsim/adcsim.cpp
+++ b/src/platforms/posix/drivers/adcsim/adcsim.cpp
@@ -239,6 +239,13 @@ adcsim_main(int argc, char *argv[])
 			PX4_ERR("couldn't allocate the ADCSIM driver");
 			return 1;
 		}
+
+		ret = g_adc->init();
+
+		if (ret != 0) {
+			PX4_ERR("ADCSIM init failed (%d)", ret);
+			return 1;
+		}
 	}
 
 	if (argc > 1 && g_adc) {
diff --git a/src/platforms/posix/drivers/barosim/baro.cpp b/src/platforms/posix/drivers/barosim/baro.cpp
index de6433f8e3..578846a58e 100644
--- a/src/platforms/posix/drivers/barosim/baro.cpp
+++ b/src/platforms/posix/drivers/barosim/baro.cpp
@@ -834,7 +834,7 @@ start_bus(struct barosim_bus_option &bus)
 		return false;
 	}
 
-	if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		DevMgr::releaseHandle(h);
 		PX4_ERR("failed setting default poll rate");
 		return false;
@@ -904,14 +904,14 @@ test()
 	PX4_INFO("time:        %lld", (long long)report.timestamp);
 
 	/* set the queue depth to 10 */
-	if (OK != h.ioctl(SENSORIOCSQUEUEDEPTH, (void *)10UL)) {
+	if (OK != h.ioctl(SENSORIOCSQUEUEDEPTH, 10UL)) {
 		PX4_ERR("failed to set queue depth");
 		DevMgr::releaseHandle(h);
 		return 1;
 	}
 
 	/* start the sensor polling at 2Hz */
-	if (OK != h.ioctl(SENSORIOCSPOLLRATE, (void *)2UL)) {
+	if (OK != h.ioctl(SENSORIOCSPOLLRATE, 2UL)) {
 		PX4_ERR("failed to set 2Hz poll rate");
 		DevMgr::releaseHandle(h);
 		return 1;
@@ -971,7 +971,7 @@ reset()
 		return 1;
 	}
 
-	if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		PX4_ERR("driver poll restart failed");
 		return 1;
 	}
@@ -1017,7 +1017,7 @@ calibrate(unsigned altitude)
 	}
 
 	/* start the sensor polling at max */
-	if (OK != h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_MAX)) {
+	if (OK != h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX)) {
 		PX4_ERR("failed to set poll rate");
 		return 1;
 	}
@@ -1068,7 +1068,7 @@ calibrate(unsigned altitude)
 	/* save as integer Pa */
 	p1 *= 1000.0f;
 
-	if (h.ioctl(BAROIOCSMSLPRESSURE, (void *)((unsigned long)(p1))) != OK) {
+	if (h.ioctl(BAROIOCSMSLPRESSURE, (unsigned long)(p1)) != OK) {
 		PX4_WARN("BAROIOCSMSLPRESSURE");
 		return 1;
 	}
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 8901d2bf63..c44b10e879 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -308,7 +308,7 @@ private:
 extern "C" { __EXPORT int gyrosim_main(int argc, char *argv[]); }
 
 GYROSIM::GYROSIM(const char *path_accel, const char *path_gyro, enum Rotation rotation) :
-	VirtDevObj("GYROSIM", path_accel, nullptr, 1000),
+	VirtDevObj("GYROSIM", path_accel, ACCEL_BASE_DEVICE_PATH, 1000),
 	_gyro(new GYROSIM_gyro(this, path_gyro)),
 	_product(GYROSIMES_REV_C4),
 	_accel_reports(nullptr),
@@ -390,6 +390,14 @@ GYROSIM::init()
 
 	struct gyro_report grp = {};
 
+	ret = VirtDevObj::init();
+
+	if (ret != 0) {
+		PX4_WARN("Base class init failed");
+		ret = 1;
+		goto out;
+	}
+
 	/* allocate basic report buffers */
 	_accel_reports = new ringbuffer::RingBuffer(2, sizeof(accel_report));
 
@@ -1158,7 +1166,7 @@ GYROSIM::print_registers()
 
 GYROSIM_gyro::GYROSIM_gyro(GYROSIM *parent, const char *path) :
 	// Set sample interval to 0 since device is read by parent
-	VirtDevObj("GYROSIM_gyro", path, "", 0),
+	VirtDevObj("GYROSIM_gyro", path, GYRO_BASE_DEVICE_PATH, 0),
 	_parent(parent),
 	_gyro_topic(nullptr),
 	_gyro_orb_class_instance(-1)
@@ -1169,7 +1177,8 @@ GYROSIM_gyro::GYROSIM_gyro(GYROSIM *parent, const char *path) :
 int
 GYROSIM_gyro::init()
 {
-	return start();
+	int ret = VirtDevObj::init();
+	return ret ? ret : start();
 }
 
 void
@@ -1252,7 +1261,7 @@ start(enum Rotation rotation)
 		goto fail;
 	}
 
-	if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		DevMgr::releaseHandle(h);
 		goto fail;
 	}
@@ -1320,7 +1329,7 @@ test()
 	}
 
 	/* reset to manual polling */
-	if (h_accel.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_MANUAL) < 0) {
+	if (h_accel.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0) {
 		PX4_ERR("reset to manual polling");
 		return 1;
 	}
@@ -1393,12 +1402,12 @@ reset()
 	}
 
 
-	if (h.ioctl(SENSORIOCRESET, (void *)0) < 0) {
+	if (h.ioctl(SENSORIOCRESET, 0) < 0) {
 		PX4_ERR("driver reset failed");
 		goto reset_fail;
 	}
 
-	if (h.ioctl(SENSORIOCSPOLLRATE, (void *)SENSOR_POLLRATE_DEFAULT) < 0) {
+	if (h.ioctl(SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		PX4_ERR("driver poll restart failed");
 		goto reset_fail;
 	}