diff --git a/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini b/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini
new file mode 100644
index 0000000000..09df3e4a29
--- /dev/null
+++ b/cmake/configs/posix_rpi_cross_without_navio_or_pxfmini
@@ -0,0 +1,114 @@
+# 使用这个文件可在上位机交叉编译px4firmware
+# use this file to cross compile px4 without navio or pxfmini for raspberry pi
+include(posix/px4_impl_posix)
+
+# This definition allows to differentiate if this just the usual POSIX build
+# or if it is for the RPi.
+add_definitions(
+	-D__PX4_POSIX_RPI
+	-D__DF_LINUX # For DriverFramework
+	-D__DF_RPI # For raspberry pi
+	-D__DF_RPI_SINGLE # For raspberry pi alone(without pxfmini or navio)
+)
+
+# 硬件驱动模块
+# Setup module and driver
+set(config_module_list
+	#
+	# Board support modules
+	#
+	drivers/device
+	modules/sensors
+	platforms/posix/drivers/df_mpu9250_wrapper
+	platforms/posix/drivers/df_ms5611_wrapper
+	platforms/posix/drivers/df_trone_wrapper
+
+	#
+	# System commands
+	#
+	systemcmds/param
+	systemcmds/mixer
+	systemcmds/ver
+	systemcmds/esc_calib
+	systemcmds/reboot
+	systemcmds/topic_listener
+	systemcmds/perf
+
+	#
+	# Estimation modules
+	#
+	modules/attitude_estimator_q
+	modules/position_estimator_inav
+	modules/local_position_estimator
+	modules/ekf2
+
+	#
+	# Vehicle Control
+	#
+	modules/mc_att_control
+	modules/mc_pos_control
+	modules/fw_att_control
+	modules/fw_pos_control_l1
+	modules/vtol_att_control
+
+	#
+	# Library modules
+	#
+	modules/sdlog2
+	modules/logger
+	modules/commander
+	modules/param
+	modules/systemlib
+	modules/systemlib/mixer
+	modules/uORB
+	modules/dataman
+	modules/land_detector
+	modules/navigator
+	modules/mavlink
+
+	#
+	# PX4 drivers
+	#
+	drivers/gps
+	drivers/rpi_rc_in
+	drivers/rpi_pca9685_pwm_out
+
+	#
+	# Libraries
+	#
+	lib/controllib
+	lib/mathlib
+	lib/mathlib/math/filter
+	lib/geo
+	lib/ecl
+	lib/geo_lookup
+	lib/launchdetection
+	lib/external_lgpl
+	lib/conversion
+	lib/terrain_estimation
+	lib/runway_takeoff
+	lib/tailsitter_recovery
+	lib/DriverFramework/framework
+
+	#
+	# POSIX
+	#
+	platforms/common
+	platforms/posix/px4_layer
+	platforms/posix/work_queue
+)
+
+#
+# DriverFramework driver
+#
+set(config_df_driver_list
+	mpu9250
+	ms5611
+	trone
+)
+
+# 设定交叉工具链
+# Setup toolchain 
+set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf-raspbian.cmake)
+
+