diff --git a/cmake/configs/posix_eagle_legacy_driver_default.cmake b/cmake/configs/posix_eagle_legacy_driver_default.cmake
index d6955f9ce4..4c638e8af5 100644
--- a/cmake/configs/posix_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_default.cmake
@@ -1,7 +1,8 @@
 include(posix/px4_impl_posix)
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linux-gnueabihf.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 
 set(CONFIG_SHMEM "1")
 
@@ -44,8 +45,8 @@ set(config_module_list
 	modules/sdlog2
 	modules/simulator
 	modules/commander
-	modules/controllib
 
+	lib/controllib
 	lib/mathlib
 	lib/mathlib/math/filter
 	lib/conversion
diff --git a/cmake/configs/posix_eagle_legacy_driver_release.cmake b/cmake/configs/posix_eagle_legacy_driver_release.cmake
index 21ea07afe7..a9659b9146 100644
--- a/cmake/configs/posix_eagle_legacy_driver_release.cmake
+++ b/cmake/configs/posix_eagle_legacy_driver_release.cmake
@@ -4,7 +4,7 @@ set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/toolchains/Toolchain-arm-linu
 
 set(CONFIG_SHMEM "1")
 
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
 
 add_definitions(
    -D__USING_SNAPDRAGON_LEGACY_DRIVER
diff --git a/cmake/configs/qurt_eagle_legacy_driver_default.cmake b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
index d1da17919b..d6953bde54 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_default.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_default.cmake
@@ -1,23 +1,20 @@
 include(qurt/px4_impl_qurt)
 
-#if ("${HEXAGON_DRIVERS_ROOT}" #STREQUAL "")
-#	message(FATAL_ERROR "HEXAGON_DRIVERS_ROOT is not set")
-#endif()
-
-#if ("${EAGLE_DRIVERS_SRC}" STREQUAL "")
-#	message(FATAL_ERROR "EAGLE_DRIVERS_SRC is not set")
-#endif()
-
-#include_directories(${HEXAGON_DRIVERS_ROOT}/inc)
-
-add_definitions(
-   -D__USING_SNAPDRAGON_LEGACY_DRIVER
-   )
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
 
 set(CONFIG_SHMEM "1")
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   )
 
 set(config_module_list
 	#
diff --git a/cmake/configs/qurt_eagle_legacy_driver_release.cmake b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
index 5b137311d8..80397d40ea 100644
--- a/cmake/configs/qurt_eagle_legacy_driver_release.cmake
+++ b/cmake/configs/qurt_eagle_legacy_driver_release.cmake
@@ -6,10 +6,6 @@ else()
 	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
 endif()
 
-add_definitions(
-   -D__USING_SNAPDRAGON_LEGACY_DRIVER
-   )
-
 if ("$ENV{EAGLE_DRIVERS_SRC}" STREQUAL "")
 	message(FATAL_ERROR "Environment variable EAGLE_DRIVERS_SRC must be set")
 else()
@@ -33,7 +29,11 @@ set(QURT_ENABLE_STUBS "0")
 set(CONFIG_SHMEM "1")
 
 set(CMAKE_TOOLCHAIN_FILE ${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/toolchain/Toolchain-qurt.cmake)
-include(${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon/qurt_app.cmake)
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/cmake_hexagon")
+
+add_definitions(
+   -D__USING_SNAPDRAGON_LEGACY_DRIVER
+   )
 
 set(config_module_list
 	#