diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index b9b3f37101..9a49794627 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -1,11 +1,34 @@
+set(V_ARCH v5)
+set(HEXAGON_TOOLS_ROOT /opt/6.4.03)
+set(TOOLSLIB 
+	${HEXAGON_TOOLS_ROOT}/dinkumware/lib/${V_ARCH}/G0)
+set(module_dir_list)
 set(module_list)
-px4_qurt_add_modules(module_list ${BOARD})
-message(STATUS "module list: ${module_list}")
+px4_qurt_add_modules(module_dir_list ${BOARD})
+message(STATUS "module list: ${module_dir_list}")
 
+foreach(directory ${module_dir_list})
+	message(STATUS "directory: ${directory}")
+	px4_mangle_name(${directory} mangled_name)
+	list(APPEND module_list
+		${mangled_name})
+endforeach()
 px4_qurt_generate_builtin_commands(
-	OUT builtin_commands.c
+	OUT builtin_commands.cpp
 	MODULE_LIST ${module_list})
 
-add_executable(firmware_qurt builtin_commands.c)
+# FIXME @jgoppert - how to work around issues like this?
+# Without changing global variables?
+# Clear -rdynamic flag which fails for hexagon
+set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
+set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
+
+add_executable(mainapp builtin_commands.cpp)
+target_link_libraries(mainapp
+	-Wl,--whole-archive
+	${module_list}
+	m
+	-Wl,--no-whole-archive
+	-Wl,${TOOLSLIB}/pic/libstdc++.a)
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :