diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index ee82fc0296..b5c10c9fbc 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	#drivers/magnetometer
+	drivers/telemetry
 
 	drivers/device
 	drivers/stm32
@@ -24,11 +25,9 @@ set(config_module_list
 	drivers/gps
 	drivers/pwm_out_sim
 	drivers/airspeed
-	#drivers/frsky_telemetry
 	modules/sensors
 	#drivers/pwm_input
 	#drivers/camera_trigger
-	drivers/bst
 
 	#
 	# System commands
diff --git a/cmake/configs/nuttx_auav-x21_default.cmake b/cmake/configs/nuttx_auav-x21_default.cmake
index 1839dca008..61ba8dc12d 100644
--- a/cmake/configs/nuttx_auav-x21_default.cmake
+++ b/cmake/configs/nuttx_auav-x21_default.cmake
@@ -11,17 +11,15 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
 	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
diff --git a/cmake/configs/nuttx_mindpx-v2_default.cmake b/cmake/configs/nuttx_mindpx-v2_default.cmake
index 1fd527ec75..638817bfb8 100644
--- a/cmake/configs/nuttx_mindpx-v2_default.cmake
+++ b/cmake/configs/nuttx_mindpx-v2_default.cmake
@@ -10,21 +10,20 @@ set(config_module_list
 	drivers/barometer
 	drivers/differential_pressure
 	drivers/distance_sensor
+	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
 	drivers/blinkm
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
 	#drivers/hott
 	drivers/imu/l3gd20
 	drivers/led
 	drivers/imu/lsm303d
-	drivers/magnetometer/hmc5883
 	#drivers/mkblctrl
 	drivers/imu/mpu6000
 	drivers/imu/mpu9250
diff --git a/cmake/configs/nuttx_nxphlite-v3_default.cmake b/cmake/configs/nuttx_nxphlite-v3_default.cmake
index 3b26e0c7ce..daa6e180a7 100644
--- a/cmake/configs/nuttx_nxphlite-v3_default.cmake
+++ b/cmake/configs/nuttx_nxphlite-v3_default.cmake
@@ -11,21 +11,18 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/barometer/mpl3115a2
 	drivers/batt_smbus
 	drivers/blinkm
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/imu/fxas21002c
 	drivers/imu/fxos8701cq
 	drivers/gps
-	drivers/hott
-	drivers/iridiumsbd
 	drivers/kinetis
 	drivers/kinetis/adc
 	drivers/kinetis/tone_alarm
diff --git a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
index 7d28aa2d13..9e3366adf6 100644
--- a/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
+++ b/cmake/configs/nuttx_px4-same70xplained-v1_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/device
 	drivers/samv7
@@ -26,10 +27,8 @@ set(config_module_list
 	drivers/imu/l3gd20
 	drivers/gps
 #WIP 	drivers/pwm_out_sim
-	drivers/hott
 	drivers/blinkm
 	drivers/airspeed
-	drivers/frsky_telemetry
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
@@ -37,7 +36,6 @@ set(config_module_list
 ##	drivers/gimbal
 #WIP  	drivers/pwm_input
 #WIP  	drivers/camera_trigger
-	drivers/bst
 
 	#
 	# System commands
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 46a1839601..3973140377 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -9,6 +9,7 @@ set(config_module_list
 	#drivers/barometer
 	drivers/differential_pressure
 	#drivers/magnetometer
+	#drivers/telemetry
 
 	#drivers/imu/adis16448
 	drivers/airspeed
diff --git a/cmake/configs/nuttx_px4fmu-v2_test.cmake b/cmake/configs/nuttx_px4fmu-v2_test.cmake
index 4329a78476..7691814ed9 100644
--- a/cmake/configs/nuttx_px4fmu-v2_test.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_test.cmake
@@ -31,7 +31,6 @@ set(config_module_list
 	drivers/airspeed
 	drivers/barometer
 	drivers/differential_pressure
-	drivers/frsky_telemetry
 	modules/sensors
 	#drivers/mkblctrl
 	drivers/px4flow
diff --git a/cmake/configs/nuttx_px4fmu-v3_default.cmake b/cmake/configs/nuttx_px4fmu-v3_default.cmake
index 155bb614eb..950d4ea30e 100644
--- a/cmake/configs/nuttx_px4fmu-v3_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v3_default.cmake
@@ -17,6 +17,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/imu/adis16448
 	drivers/airspeed
@@ -24,13 +25,9 @@ set(config_module_list
 	drivers/blinkm
 	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
-	drivers/iridiumsbd
 	drivers/irlock
 	drivers/imu/l3gd20
 	drivers/led
diff --git a/cmake/configs/nuttx_px4fmu-v4_default.cmake b/cmake/configs/nuttx_px4fmu-v4_default.cmake
index b8609d6552..858fb276f9 100644
--- a/cmake/configs/nuttx_px4fmu-v4_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
@@ -19,13 +20,9 @@ set(config_module_list
 	drivers/imu/bmi055
 	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
-	drivers/iridiumsbd
 	drivers/irlock
 	drivers/led
 	drivers/mkblctrl
diff --git a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
index acbbb0c6f7..3121cba1bd 100644
--- a/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v4pro_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/barometer
 	drivers/differential_pressure
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
@@ -18,13 +19,9 @@ set(config_module_list
 	drivers/imu/bma180
 	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
-	drivers/iridiumsbd
 	drivers/irlock
 	drivers/imu/l3gd20
 	drivers/led
diff --git a/cmake/configs/nuttx_px4fmu-v5_default.cmake b/cmake/configs/nuttx_px4fmu-v5_default.cmake
index 3c9c29cc9b..90a79237ea 100644
--- a/cmake/configs/nuttx_px4fmu-v5_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v5_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
@@ -19,13 +20,9 @@ set(config_module_list
 	drivers/imu/bmi055
 	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
-	drivers/iridiumsbd
 	drivers/irlock
 	drivers/led
 	drivers/mkblctrl
diff --git a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
index 311698a75a..3f2bc88bf0 100644
--- a/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
+++ b/cmake/configs/nuttx_px4nucleoF767ZI-v1_default.cmake
@@ -11,6 +11,7 @@ set(config_module_list
 	drivers/differential_pressure
 	drivers/distance_sensor
 	drivers/magnetometer
+	drivers/telemetry
 
 	drivers/imu/adis16448
 	drivers/airspeed
@@ -18,12 +19,9 @@ set(config_module_list
 	drivers/imu/bma180
 	drivers/imu/bmi160
 	drivers/boards
-	drivers/bst
 	drivers/camera_trigger
 	drivers/device
-	drivers/frsky_telemetry
 	drivers/gps
-	drivers/hott
 	drivers/led
 	drivers/mkblctrl
 	drivers/imu/mpu6000
diff --git a/cmake/configs/posix_rpi_common.cmake b/cmake/configs/posix_rpi_common.cmake
index d88b61d058..4c95d015b0 100644
--- a/cmake/configs/posix_rpi_common.cmake
+++ b/cmake/configs/posix_rpi_common.cmake
@@ -21,6 +21,7 @@ set(config_module_list
 	drivers/device
 	drivers/differential_pressure
 	drivers/distance_sensor
+	#drivers/telemetry
 
 	modules/sensors
 
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 09b57b01fb..1fed6c109a 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -5,6 +5,7 @@ set(config_module_list
 	#drivers/barometer
 	drivers/differential_pressure
 	drivers/distance_sensor
+	#drivers/telemetry
 
 	drivers/airspeed
 	drivers/batt_smbus
diff --git a/src/drivers/telemetry/CMakeLists.txt b/src/drivers/telemetry/CMakeLists.txt
new file mode 100644
index 0000000000..97e0ed7806
--- /dev/null
+++ b/src/drivers/telemetry/CMakeLists.txt
@@ -0,0 +1,37 @@
+############################################################################
+#
+#   Copyright (c) 2017 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
+# 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.
+#
+############################################################################
+
+add_subdirectory(bst)
+add_subdirectory(frsky_telemetry)
+add_subdirectory(hott)
+add_subdirectory(iridiumsbd)
diff --git a/src/drivers/bst/CMakeLists.txt b/src/drivers/telemetry/bst/CMakeLists.txt
similarity index 100%
rename from src/drivers/bst/CMakeLists.txt
rename to src/drivers/telemetry/bst/CMakeLists.txt
diff --git a/src/drivers/bst/bst.cpp b/src/drivers/telemetry/bst/bst.cpp
similarity index 99%
rename from src/drivers/bst/bst.cpp
rename to src/drivers/telemetry/bst/bst.cpp
index aeca4574df..940c9eeb5f 100644
--- a/src/drivers/bst/bst.cpp
+++ b/src/drivers/telemetry/bst/bst.cpp
@@ -411,5 +411,6 @@ int bst_main(int argc, char *argv[])
 		exit(0);
 	}
 
-	errx(1, "unrecognized command\n%s", commandline_usage);
+	PX4_WARN("unrecognized command\n%s", commandline_usage);
+	return 1;
 }
diff --git a/src/drivers/frsky_telemetry/CMakeLists.txt b/src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
similarity index 100%
rename from src/drivers/frsky_telemetry/CMakeLists.txt
rename to src/drivers/telemetry/frsky_telemetry/CMakeLists.txt
diff --git a/src/drivers/frsky_telemetry/common.h b/src/drivers/telemetry/frsky_telemetry/common.h
similarity index 100%
rename from src/drivers/frsky_telemetry/common.h
rename to src/drivers/telemetry/frsky_telemetry/common.h
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/telemetry/frsky_telemetry/frsky_data.c
similarity index 100%
rename from src/drivers/frsky_telemetry/frsky_data.c
rename to src/drivers/telemetry/frsky_telemetry/frsky_data.c
diff --git a/src/drivers/frsky_telemetry/frsky_data.h b/src/drivers/telemetry/frsky_telemetry/frsky_data.h
similarity index 100%
rename from src/drivers/frsky_telemetry/frsky_data.h
rename to src/drivers/telemetry/frsky_telemetry/frsky_data.h
diff --git a/src/drivers/frsky_telemetry/frsky_telemetry.c b/src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c
similarity index 100%
rename from src/drivers/frsky_telemetry/frsky_telemetry.c
rename to src/drivers/telemetry/frsky_telemetry/frsky_telemetry.c
diff --git a/src/drivers/frsky_telemetry/sPort_data.c b/src/drivers/telemetry/frsky_telemetry/sPort_data.c
similarity index 100%
rename from src/drivers/frsky_telemetry/sPort_data.c
rename to src/drivers/telemetry/frsky_telemetry/sPort_data.c
diff --git a/src/drivers/frsky_telemetry/sPort_data.h b/src/drivers/telemetry/frsky_telemetry/sPort_data.h
similarity index 100%
rename from src/drivers/frsky_telemetry/sPort_data.h
rename to src/drivers/telemetry/frsky_telemetry/sPort_data.h
diff --git a/src/drivers/hott/CMakeLists.txt b/src/drivers/telemetry/hott/CMakeLists.txt
similarity index 100%
rename from src/drivers/hott/CMakeLists.txt
rename to src/drivers/telemetry/hott/CMakeLists.txt
diff --git a/src/drivers/hott/comms.cpp b/src/drivers/telemetry/hott/comms.cpp
similarity index 92%
rename from src/drivers/hott/comms.cpp
rename to src/drivers/telemetry/hott/comms.cpp
index 378b5b75d6..b9eb2e7758 100644
--- a/src/drivers/hott/comms.cpp
+++ b/src/drivers/telemetry/hott/comms.cpp
@@ -55,7 +55,8 @@ open_uart(const char *device)
 	const int uart = open(device, O_RDWR | O_NOCTTY);
 
 	if (uart < 0) {
-		err(1, "ERR: opening %s", device);
+		PX4_ERR("opening %s", device);
+		return 1;
 	}
 
 	/* Back up the original uart configuration to restore it after exit */
@@ -64,7 +65,8 @@ open_uart(const char *device)
 
 	if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
 		close(uart);
-		err(1, "ERR: %s: %d", device, termios_state);
+		PX4_ERR("%s: %d", device, termios_state);
+		return 1;
 	}
 
 	/* Fill the struct for the new configuration */
@@ -77,13 +79,14 @@ open_uart(const char *device)
 	/* Set baud rate */
 	if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
 		close(uart);
-		err(1, "ERR: %s: %d (cfsetispeed, cfsetospeed)",
-		    device, termios_state);
+		PX4_ERR("%s: %d (cfsetispeed, cfsetospeed)", device, termios_state);
+		return 1;
 	}
 
 	if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
 		close(uart);
-		err(1, "ERR: %s (tcsetattr)", device);
+		PX4_ERR("%s (tcsetattr)", device);
+		return 1;
 	}
 
 	/* Activate single wire mode */
diff --git a/src/drivers/hott/comms.h b/src/drivers/telemetry/hott/comms.h
similarity index 100%
rename from src/drivers/hott/comms.h
rename to src/drivers/telemetry/hott/comms.h
diff --git a/src/drivers/hott/hott_sensors/CMakeLists.txt b/src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt
similarity index 100%
rename from src/drivers/hott/hott_sensors/CMakeLists.txt
rename to src/drivers/telemetry/hott/hott_sensors/CMakeLists.txt
diff --git a/src/drivers/hott/hott_sensors/hott_sensors.cpp b/src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp
similarity index 100%
rename from src/drivers/hott/hott_sensors/hott_sensors.cpp
rename to src/drivers/telemetry/hott/hott_sensors/hott_sensors.cpp
diff --git a/src/drivers/hott/hott_telemetry/CMakeLists.txt b/src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
similarity index 100%
rename from src/drivers/hott/hott_telemetry/CMakeLists.txt
rename to src/drivers/telemetry/hott/hott_telemetry/CMakeLists.txt
diff --git a/src/drivers/hott/hott_telemetry/hott_telemetry.cpp b/src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp
similarity index 100%
rename from src/drivers/hott/hott_telemetry/hott_telemetry.cpp
rename to src/drivers/telemetry/hott/hott_telemetry/hott_telemetry.cpp
diff --git a/src/drivers/hott/messages.cpp b/src/drivers/telemetry/hott/messages.cpp
similarity index 100%
rename from src/drivers/hott/messages.cpp
rename to src/drivers/telemetry/hott/messages.cpp
diff --git a/src/drivers/hott/messages.h b/src/drivers/telemetry/hott/messages.h
similarity index 99%
rename from src/drivers/hott/messages.h
rename to src/drivers/telemetry/hott/messages.h
index e8d0477c61..977392518b 100644
--- a/src/drivers/hott/messages.h
+++ b/src/drivers/telemetry/hott/messages.h
@@ -43,6 +43,7 @@
 #define MESSAGES_H
 
 #include <stdlib.h>
+#include <stdint.h>
 
 #define POLL_TIMEOUT_IN_MSECS		3500
 
diff --git a/src/drivers/iridiumsbd/CMakeLists.txt b/src/drivers/telemetry/iridiumsbd/CMakeLists.txt
similarity index 100%
rename from src/drivers/iridiumsbd/CMakeLists.txt
rename to src/drivers/telemetry/iridiumsbd/CMakeLists.txt
diff --git a/src/drivers/iridiumsbd/IridiumSBD.cpp b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
similarity index 99%
rename from src/drivers/iridiumsbd/IridiumSBD.cpp
rename to src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
index dfd4e1306b..110db0fc18 100644
--- a/src/drivers/iridiumsbd/IridiumSBD.cpp
+++ b/src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp
@@ -44,7 +44,6 @@
 #include <termios.h>
 #include <pthread.h>
 
-#include <nuttx/config.h>
 #include <systemlib/err.h>
 #include <systemlib/systemlib.h>
 #include <systemlib/param/param.h>
diff --git a/src/drivers/iridiumsbd/IridiumSBD.h b/src/drivers/telemetry/iridiumsbd/IridiumSBD.h
similarity index 100%
rename from src/drivers/iridiumsbd/IridiumSBD.h
rename to src/drivers/telemetry/iridiumsbd/IridiumSBD.h
diff --git a/src/drivers/iridiumsbd/iridiumsbd_params.c b/src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c
similarity index 100%
rename from src/drivers/iridiumsbd/iridiumsbd_params.c
rename to src/drivers/telemetry/iridiumsbd/iridiumsbd_params.c