diff --git a/Makefile b/Makefile
index 63bb6cec92..4a0f13cd19 100644
--- a/Makefile
+++ b/Makefile
@@ -97,8 +97,132 @@ upload:
 endif
 endif
 
+ifeq ($(PX4_TARGET_OS),nuttx) 
+#
+# Built products
+#
+DESIRED_FIRMWARES 	 = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
+STAGED_FIRMWARES	 = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
+FIRMWARES		 = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
+
+all:	$(DESIRED_FIRMWARES)
+
+#
+# Copy FIRMWARES into the image directory.
+#
+# XXX copying the .bin files is a hack to work around the PX4IO uploader
+#     not supporting .px4 files, and it should be deprecated onced that
+#     is taken care of.
+#
+$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
+	@$(ECHO) %% Copying $@
+	$(Q) $(COPY) $< $@
+	$(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@)
+
+#
+# Generate FIRMWARES.
+#
+.PHONY: $(FIRMWARES)
+$(BUILD_DIR)%.build/firmware.px4: config   = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
+$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
+$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:	generateuorbtopicheaders checksubmodules
+	@$(ECHO) %%%%
+	@$(ECHO) %%%% Building $(config) in $(work_dir)
+	@$(ECHO) %%%%
+	$(Q) $(MKDIR) -p $(work_dir)
+	$(Q) $(MAKE) -r -C $(work_dir) \
+		-f $(PX4_MK_DIR)firmware.mk \
+		CONFIG=$(config) \
+		WORK_DIR=$(work_dir) \
+		$(FIRMWARE_GOAL)
+
+#
+# Make FMU firmwares depend on the corresponding IO firmware.
+#
+# This is a pretty vile hack, since it hard-codes knowledge of the FMU->IO dependency
+# and forces the _default config in all cases. There has to be a better way to do this...
+#
+FMU_VERSION		 = $(patsubst px4fmu-%,%,$(word 1, $(subst _, ,$(1))))
+define FMU_DEP
+$(BUILD_DIR)$(1).build/firmware.px4: $(IMAGE_DIR)px4io-$(call FMU_VERSION,$(1))_default.px4
+endef
+FMU_CONFIGS		:= $(filter px4fmu%,$(CONFIGS))
+$(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
+
+#
+# Build the NuttX export archives.
+#
+# Note that there are no explicit dependencies extended from these
+# archives. If NuttX is updated, the user is expected to rebuild the
+# archives/build area manually. Likewise, when the 'archives' target is
+# invoked, all archives are always rebuilt.
+#
+# XXX Should support fetching/unpacking from a separate directory to permit
+#     downloads of the prebuilt archives as well...
+#
+NUTTX_ARCHIVES		 = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
+.PHONY:			archives
+archives:		checksubmodules $(NUTTX_ARCHIVES)
+
+# We cannot build these parallel; note that we also force -j1 for the
+# sub-make invocations.
+ifneq ($(filter archives,$(MAKECMDGOALS)),)
+.NOTPARALLEL:
+endif
+
+J?=1
+
+$(ARCHIVE_DIR)%.export:	board = $(notdir $(basename $@))
+$(ARCHIVE_DIR)%.export:	configuration = nsh
+$(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(board)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(board) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(board)/$(configuration))
+	@$(ECHO) %% Exporting NuttX for $(board)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) CONFIG_ARCH_BOARD=$(board) export
+	$(Q) $(MKDIR) -p $(dir $@)
+	$(Q) $(COPY) $(NUTTX_SRC)nuttx-export.zip $@
+	$(Q) (cd $(NUTTX_SRC)/configs && $(RMDIR) $(board))
+
+#
+# The user can run the NuttX 'menuconfig' tool for a single board configuration with
+# make BOARDS=<boardname> menuconfig
+#
+ifeq ($(MAKECMDGOALS),menuconfig)
+ifneq ($(words $(BOARDS)),1)
+$(error BOARDS must specify exactly one board for the menuconfig goal)
+endif
+BOARD			 = $(BOARDS)
+menuconfig: $(NUTTX_SRC)
+	@$(ECHO) %% Configuring NuttX for $(BOARD)
+	$(Q) (cd $(NUTTX_SRC) && $(RMDIR) nuttx-export)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) distclean
+	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
+	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
+	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
+	@$(ECHO) %% Saving configuration file
+	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
+else
+menuconfig:
+	@$(ECHO) ""
+	@$(ECHO) "The menuconfig goal must be invoked without any other goal being specified"
+	@$(ECHO) ""
+
+endif
+
+$(NUTTX_SRC): checksubmodules
+
+$(UAVCAN_DIR):
+	$(Q) (./Tools/check_submodules.sh)
+
+endif
+
 ifeq ($(PX4_TARGET_OS),nuttx)
-include $(PX4_BASE)makefiles/firmware_nuttx.mk
+# TODO
+# Move the above nuttx specific rules into $(PX4_BASE)makefiles/firmware_nuttx.mk
 endif
 ifeq ($(PX4_TARGET_OS),posix)
 include $(PX4_BASE)makefiles/firmware_posix.mk
@@ -107,6 +231,16 @@ ifeq ($(PX4_TARGET_OS),qurt)
 include $(PX4_BASE)makefiles/firmware_qurt.mk
 endif
 
+
+.PHONY: checksubmodules
+checksubmodules:
+	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
+
+.PHONY: updatesubmodules
+updatesubmodules:
+	$(Q) (git submodule init)
+	$(Q) (git submodule update)
+
 MSG_DIR = $(PX4_BASE)msg
 UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
 MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
@@ -117,15 +251,6 @@ TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
 GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
 GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
 
-.PHONY: checksubmodules
-checksubmodules:
-	$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
-
-.PHONY: updatesubmodules
-updatesubmodules:
-	$(Q) (git submodule init)
-	$(Q) (git submodule update)
-
 .PHONY: generateuorbtopicheaders
 generateuorbtopicheaders: checksubmodules
 	@$(ECHO) "Generating uORB topic headers"
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index b58f23cbc2..f5f5d8188d 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -213,7 +213,7 @@ endef
 MODULE_MKFILES		:= $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
 MISSING_MODULES		:= $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
 ifneq ($(MISSING_MODULES),)
-$(error Can't find module(s): $(MISSING_MODULES))
+$(error Cant find module(s): $(MISSING_MODULES))
 endif
 
 # Make a list of the object files we expect to build from modules
@@ -273,7 +273,7 @@ endef
 LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
 MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
 ifneq ($(MISSING_LIBRARIES),)
-$(error Can't find library(s): $(MISSING_LIBRARIES))
+$(error Cant find library(s): $(MISSING_LIBRARIES))
 endif
 
 # Make a list of the archive files we expect to build from libraries
@@ -311,6 +311,132 @@ $(LIBRARY_CLEANS):
 	LIBRARY_MK=$(mkfile) \
 	clean
 
+ifeq ($(PX4_TARGET_OS),nuttx)
+################################################################################
+# ROMFS generation
+################################################################################
+
+ifneq ($(ROMFS_ROOT),)
+ifeq ($(wildcard $(ROMFS_ROOT)),)
+$(error ROMFS_ROOT specifies a directory that does not exist)
+endif
+
+#
+# Note that there is no support for more than one root directory or constructing
+# a root from several templates. That would be a nice feature.
+#
+
+# Add dependencies on anything in the ROMFS root directory
+ROMFS_FILES		+= $(wildcard \
+			     $(ROMFS_ROOT)/* \
+			     $(ROMFS_ROOT)/*/* \
+			     $(ROMFS_ROOT)/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/* \
+			     $(ROMFS_ROOT)/*/*/*/*/*/*)
+ifeq ($(ROMFS_FILES),)
+$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files)
+endif
+ROMFS_DEPS		+= $(ROMFS_FILES)
+
+# Extra files that may be copied into the ROMFS /extras directory
+# ROMFS_EXTRA_FILES are required, ROMFS_OPTIONAL_FILES are optional
+ROMFS_EXTRA_FILES	+= $(wildcard $(ROMFS_OPTIONAL_FILES))
+ROMFS_DEPS		+= $(ROMFS_EXTRA_FILES)
+
+ROMFS_IMG		 = romfs.img
+ROMFS_SCRATCH		 = romfs_scratch
+ROMFS_CSRC		 = $(ROMFS_IMG:.img=.c)
+ROMFS_OBJ		 = $(ROMFS_CSRC:.c=.o)
+LIBS			+= $(ROMFS_OBJ)
+LINK_DEPS		+= $(ROMFS_OBJ)
+
+# Remove all comments from startup and mixer files
+ROMFS_PRUNER	 = $(PX4_BASE)/Tools/px_romfs_pruner.py
+
+# Turn the ROMFS image into an object file
+$(ROMFS_OBJ): $(ROMFS_IMG) $(GLOBAL_DEPS)
+	$(call BIN_TO_OBJ,$<,$@,romfs_img)
+
+# Generate the ROMFS image from the root
+$(ROMFS_IMG): $(ROMFS_SCRATCH) $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	@$(ECHO) "ROMFS:   $@"
+	$(Q) $(GENROMFS) -f $@ -d $(ROMFS_SCRATCH) -V "NSHInitVol"
+
+# Construct the ROMFS scratch root from the canonical root
+$(ROMFS_SCRATCH): $(ROMFS_DEPS) $(GLOBAL_DEPS)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)
+	$(Q) $(COPYDIR) $(ROMFS_ROOT)/* $(ROMFS_SCRATCH)
+# delete all files in ROMFS_SCRATCH which start with a . or end with a ~
+	$(Q) $(RM) $(ROMFS_SCRATCH)/*/.[!.]* $(ROMFS_SCRATCH)/*/*~
+ifneq ($(ROMFS_EXTRA_FILES),)
+	$(Q) $(MKDIR) -p $(ROMFS_SCRATCH)/extras
+	$(Q) $(COPY) $(ROMFS_EXTRA_FILES) $(ROMFS_SCRATCH)/extras
+endif
+	$(Q) $(PYTHON) -u $(ROMFS_PRUNER) --folder $(ROMFS_SCRATCH)
+
+EXTRA_CLEANS		+= $(ROMGS_OBJ) $(ROMFS_IMG)
+
+endif
+
+################################################################################
+# Builtin command list generation
+################################################################################
+
+#
+# Builtin commands can be generated by the configuration, in which case they
+# must refer to commands that already exist, or indirectly generated by modules
+# when they are built.
+#
+# The configuration supplies builtin command information in the BUILTIN_COMMANDS
+# variable. Applications make empty files in $(WORK_DIR)/builtin_commands whose
+# filename contains the same information.
+#
+# In each case, the command information consists of four fields separated with a
+# period. These fields are the command's name, its thread priority, its stack size
+# and the name of the function to call when starting the thread.
+#
+BUILTIN_CSRC		 = $(WORK_DIR)builtin_commands.c
+
+# command definitions from modules (may be empty at Makefile parsing time...)
+MODULE_COMMANDS		 = $(subst COMMAND.,,$(notdir $(wildcard $(WORK_DIR)builtin_commands/COMMAND.*)))
+
+# We must have at least one pre-defined builtin command in order to generate
+# any of this.
+#
+ifneq ($(BUILTIN_COMMANDS),)
+
+# (BUILTIN_PROTO,<cmdspec>,<outputfile>)
+define BUILTIN_PROTO
+	$(ECHO) 'extern int $(word 4,$1)(int argc, char *argv[]);' >> $2;
+endef
+
+# (BUILTIN_DEF,<cmdspec>,<outputfile>)
+define BUILTIN_DEF
+	$(ECHO) '    {"$(word 1,$1)", $(word 2,$1), $(word 3,$1), $(word 4,$1)},' >> $2;
+endef
+
+# Don't generate until modules have updated their command files
+$(BUILTIN_CSRC):	$(GLOBAL_DEPS) $(MODULE_OBJS) $(MODULE_MKFILES) $(BUILTIN_COMMAND_FILES)
+	@$(ECHO) "CMDS:    $@"
+	$(Q) $(ECHO) '/* builtin command list - automatically generated, do not edit */' > $@
+	$(Q) $(ECHO) '#include <nuttx/config.h>' >> $@
+	$(Q) $(ECHO) '#include <nuttx/binfmt/builtin.h>' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_PROTO,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) 'const struct builtin_s g_builtins[] = {' >> $@
+	$(Q) $(foreach spec,$(BUILTIN_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(foreach spec,$(MODULE_COMMANDS),$(call BUILTIN_DEF,$(subst ., ,$(spec)),$@))
+	$(Q) $(ECHO) '    {NULL, 0, 0, NULL}' >> $@
+	$(Q) $(ECHO) '};' >> $@
+	$(Q) $(ECHO) 'const int g_builtin_count = $(words $(BUILTIN_COMMANDS) $(MODULE_COMMANDS));' >> $@
+
+SRCS			+= $(BUILTIN_CSRC)
+
+EXTRA_CLEANS		+= $(BUILTIN_CSRC)
+
+endif
+endif
 
 ################################################################################
 # Default SRCS generation
@@ -329,9 +455,22 @@ SRCS			+= $(EMPTY_SRC)
 endif
 
 ################################################################################
-# Generic Build rules
+# Build rules
 ################################################################################
 
+ifeq ($(PX4_TARGET_OS),nuttx)
+#
+# What we're going to build.
+#
+PRODUCT_BUNDLE		 = $(WORK_DIR)firmware.px4
+PRODUCT_BIN		 = $(WORK_DIR)firmware.bin
+PRODUCT_ELF		 = $(WORK_DIR)firmware.elf
+PRODUCT_PARAMXML = $(WORK_DIR)/parameters.xml
+
+.PHONY:			firmware
+firmware:		$(PRODUCT_BUNDLE)
+endif
+
 #
 # Object files we will generate from sources
 #
@@ -352,13 +491,59 @@ $(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
 $(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
 	$(call ASSEMBLE,$<,$@)
 
+ifeq ($(PX4_TARGET_OS),nuttx)
 #
+# Built product rules
+#
+
+$(PRODUCT_BUNDLE):	$(PRODUCT_BIN)
+	@$(ECHO) %% Generating $@
+ifdef GEN_PARAM_XML
+	$(Q) $(PYTHON) $(PX4_BASE)/Tools/px_process_params.py --src-path $(PX4_BASE)/src --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--parameter_xml $(PRODUCT_PARAMXML) \
+		--image $< > $@
+else
+	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
+		--git_identity $(PX4_BASE) \
+		--image $< > $@
+endif
+
+$(PRODUCT_BIN):		$(PRODUCT_ELF)
+	$(call SYM_TO_BIN,$<,$@)
+
+$(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
+	$(call LINK,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
+
+#
+# Utility rules
+#
+
+.PHONY: upload
+upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
+	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
+		METHOD=serial \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
+		BUNDLE=$(PRODUCT_BUNDLE) \
+		BIN=$(PRODUCT_BIN)
+
+.PHONY: clean
+clean:			$(MODULE_CLEANS)
+	@$(ECHO) %% cleaning
+	$(Q) $(REMOVE) $(PRODUCT_BUNDLE) $(PRODUCT_BIN) $(PRODUCT_ELF)
+	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
+	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
+endif
+
 # Include the OS specific build rules
 # The rules must define the "firmware" make target
 #
 
 ifeq ($(PX4_TARGET_OS),nuttx)
-include $(MK_DIR)/nuttx_romfs.mk
+# TODO
+# Move above nuttx specific rules to $(MK_DIR)/nuttx_romfs.mk
 endif
 ifeq ($(PX4_TARGET_OS),posix)
 include $(MK_DIR)/posix_elf.mk
diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index a151e7d917..4ca1dc2ac6 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -34,7 +34,7 @@
 # building firmware.
 #
 
-#MODULES += platforms/nuttx/px4_layer
+MODULES += platforms/nuttx/px4_layer platforms/common
 
 #
 # Check that the NuttX archive for the selected board is available.
diff --git a/src/drivers/device/module.mk b/src/drivers/device/module.mk
index c206a5037c..a9e964ef94 100644
--- a/src/drivers/device/module.mk
+++ b/src/drivers/device/module.mk
@@ -41,8 +41,7 @@ SRCS =		  \
 		  cdev.cpp \
 		  i2c_nuttx.cpp \
 		  pio.cpp \
-		  spi.cpp \
-		  ringbuffer.cpp
+		  spi.cpp 
 else
 SRCS =		  \
 		  device_posix.cpp \
@@ -51,5 +50,5 @@ SRCS =		  \
 		  vdev_posix.cpp \
 		  i2c_posix.cpp  \
 		  sim.cpp \
-		  ringbuffer.cpp
+		  ringbuffer.cpp 
 endif
diff --git a/src/drivers/device/ringbuffer.cpp b/src/drivers/device/ringbuffer.cpp
index 0da2467fd6..1790289338 100644
--- a/src/drivers/device/ringbuffer.cpp
+++ b/src/drivers/device/ringbuffer.cpp
@@ -237,7 +237,7 @@ RingBuffer::force(double val)
 // FIXME - clang crashes on this get() call
 #ifdef __PX4_QURT
 #define __PX4_SBCAP my_sync_bool_compare_and_swap
-static bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
+static inline bool my_sync_bool_compare_and_swap(volatile unsigned *a, unsigned b, unsigned c)
 {
 	if (*a == b) {
 		*a = c;
diff --git a/src/drivers/device/ringbuffer.h b/src/drivers/device/ringbuffer.h
index 876bb3a8f2..1c65c02135 100644
--- a/src/drivers/device/ringbuffer.h
+++ b/src/drivers/device/ringbuffer.h
@@ -172,3 +172,9 @@ private:
 	RingBuffer operator=(const RingBuffer&);
 };
 
+#ifdef __PX4_NUTTX
+// Not sure why NuttX requires these to be defined in the header file
+// but on other targets it causes a problem with multiple definitions
+// at link time
+#include "ringbuffer.cpp"
+#endif
diff --git a/src/examples/publisher/publisher_example.cpp b/src/examples/publisher/publisher_example.cpp
index 7ce1533125..d034d33d6e 100644
--- a/src/examples/publisher/publisher_example.cpp
+++ b/src/examples/publisher/publisher_example.cpp
@@ -51,6 +51,8 @@ PublisherExample::PublisherExample() :
 {
 }
 
+px4::AppState PublisherExample::appState;
+
 int PublisherExample::main()
 {
 	px4::Rate loop_rate(10);
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index a2829be829..7d973abdcb 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -361,7 +361,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta
 	return ret;
 }
 
-#ifdef PX4_NUTTX
+#ifdef __PX4_NUTTX
 static transition_result_t disable_publication(const int mavlink_fd)
 {
 	transition_result_t ret;
diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk
index 88f1d6807a..31a2b24e4a 100644
--- a/src/modules/uORB/module.mk
+++ b/src/modules/uORB/module.mk
@@ -41,6 +41,7 @@ MODULE_STACKSIZE	= 2048
 
 ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS			= uORBDevices_nuttx.cpp \
+			  uORBTest_UnitTest.cpp \
 			  uORBManager_nuttx.cpp
  
 else
diff --git a/src/modules/uORB/uORBTest_UnitTest.cpp b/src/modules/uORB/uORBTest_UnitTest.cpp
index c1ea73959f..722f538976 100644
--- a/src/modules/uORB/uORBTest_UnitTest.cpp
+++ b/src/modules/uORB/uORBTest_UnitTest.cpp
@@ -35,6 +35,7 @@
 #include "uORBCommon.hpp"
 #include <px4_config.h>
 #include <px4_time.h>
+#include <stdio.h>
 
 uORBTest::UnitTest &uORBTest::UnitTest::instance()
 {
diff --git a/src/platforms/common/px4_getopt.c b/src/platforms/common/px4_getopt.c
index 3078351727..5f76065bb0 100644
--- a/src/platforms/common/px4_getopt.c
+++ b/src/platforms/common/px4_getopt.c
@@ -121,7 +121,7 @@ static int reorder(int argc, char **argv, const char *options)
 // Argv is changed to put all options and option args at the beginning,
 // followed by non-options.
 //
-int px4_getopt(int argc, char *argv[], const char *options, int *myoptind, const char **myoptarg)
+__EXPORT int px4_getopt(int argc, char *argv[], const char *options, int *myoptind, const char **myoptarg)
 {
 	char *p;
 	char c;
@@ -149,4 +149,3 @@ int px4_getopt(int argc, char *argv[], const char *options, int *myoptind, const
 	}
 	return -1;
 }
-
diff --git a/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
index 7aa96bb5c0..e9b722de4c 100644
--- a/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
+++ b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
@@ -72,21 +72,6 @@ px4_systemreset(bool to_bootloader)
 	while(true);
 }
 
-static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
-
-void px4_killall()
-{
-//	printf("Sending SIGUSR1 to all processes now\n");
-
-	/* iterate through all tasks and send kill signal */
-	sched_foreach(kill_task, NULL);
-}
-
-static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
-{
-	kill(tcb->pid, SIGUSR1);
-}
-
 int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
 {
 	int pid;