diff --git a/makefiles/README.txt b/makefiles/README.txt
deleted file mode 100644
index 9578793957..0000000000
--- a/makefiles/README.txt
+++ /dev/null
@@ -1,86 +0,0 @@
-PX4 Build System
-================
-
-The files in this directory implement the PX4 runtime firmware build system
-and configuration for the standard PX4 boards and software, in conjunction
-with Makefile in the parent directory.
-
-../Makefile
-
-	Top-level makefile for the PX4 build system. 
-	This makefile supports building NuttX archives for the NuttX based
-	configurations, as well as supervising the building of all
-	of the defined PX4 firmware configurations.
-
-	Try 'make help' in the parent directory for documentation.
-
-firmware.mk
-
-	Manages the build for one specific firmware configuration. 
-	See the comments at the top of this file for detailed documentation.
-
-	Builds modules, builtin command lists and the ROMFS (if configured).
-
-	This is the makefile directly used by external build systems; it can
-	be configured to compile modules both inside and outside the PX4
-	source tree. When used in this mode, at least BOARD, MODULES and 
-	CONFIG_FILE must be set.
-
-firmware_nuttx.mk
-
-	Called by firmware.mk to build NuttX based firmware.
-
-firmware_posix.mk
-
-	Called by firmware.mk to build POSIX (non-ROS) based firmware.
-
-module.mk
-
-	Called by firmware.mk to build individual modules.
-	See the comments at the top of this file for detailed documentation.
-
-	Not normally used other than by firmware.mk.
-
-nuttx.mk
-
-	Called by ../Makefile to build or download the NuttX archives if 
-	PX4_TARGET_OS is set to "nuttx".
-
-posix.mk
-
-	Called by ../Makefile to set POSIX specific parameters if 
-	PX4_TARGET_OS is set to "posix".
-
-upload.mk
-
-	Called by ../Makefile to upload files to a target board. Can be used
-	by external build systems as well. (NuttX targets only)
-
-setup.mk
-
-	Provides common path and tool definitions. Implements host 
-	system-specific compatibility hacks. Sets PX4_TARGET_OS.
-
-board_<boardname>.mk
-
-	Board-specific configuration for <boardname>. Typically sets 
-	CONFIG_ARCH and then includes the toolchain definition for the board.
-
-config_<boardname>_<configname>.mk
-
-	Parameters for a specific configuration on a specific board.
-	The board name is derived from the filename.  Sets MODULES to select
-	source modules to be included in the configuration, may also set
-	ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module
-	commands (e.g. from NuttX)
-
-toolchain_<toolchainname>.mk
-
-	Provides macros used to compile and link source files.
-	Accepts EXTRADEFINES to add additional pre-processor symbol definitions,
-	EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass
-	additional flags to the C compiler, C++ compiler, assembler and linker
-	respectively.
-
-	Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK
-	macros that are used elsewhere in the build system.
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
deleted file mode 100644
index b8c8d4a85b..0000000000
--- a/makefiles/firmware.mk
+++ /dev/null
@@ -1,381 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Generic Makefile for PX4 firmware images.
-#
-# Requires:
-#
-# BOARD
-#	Must be set to a board name known to the PX4 distribution (as
-#	we need a corresponding NuttX export archive to link with).
-#
-# Optional:
-#
-# MODULES
-#	Contains a list of module paths or path fragments used
-#	to find modules. The names listed here are searched in
-#	the following directories:
-#		<absolute path>
-#		$(MODULE_SEARCH_DIRS)
-#		WORK_DIR
-#		MODULE_SRC
-#		PX4_MODULE_SRC
-#
-#	Application directories are expected to contain a module.mk
-#	file which provides build configuration for the module. See
-#	makefiles/module.mk for more details.
-#
-# BUILTIN_COMMANDS
-#	Contains a list of built-in commands not explicitly provided
-#	by modules / libraries. Each entry in this list is formatted
-#	as <command>.<priority>.<stacksize>.<entrypoint>
-#
-# PX4_BASE:
-#	Points to a PX4 distribution. Normally determined based on the
-#	path to this file.
-#
-# CONFIG:
-#	Used when searching for the configuration file, and available
-#	to module Makefiles to select optional features.
-#	If not set, CONFIG_FILE must be set and CONFIG will be derived
-#	automatically from it.
-#
-# CONFIG_FILE:
-#	If set, overrides the configuration file search logic. Sets
-#	CONFIG to the name of the configuration file, strips any
-#	leading config_ prefix and any suffix. e.g. config_board_foo.mk
-#	results in CONFIG being set to 'board_foo'.
-#
-# WORK_DIR:
-#	Sets the directory in which the firmware will be built. Defaults
-#	to the directory 'build' under the directory containing the
-#	parent Makefile.
-#
-#
-# MODULE_SEARCH_DIRS:
-#	Extra directories to search first for MODULES before looking in the
-#	usual places.
-#
-
-################################################################################
-# Paths and configuration
-################################################################################
-
-#
-# Work out where this file is, so we can find other makefiles in the
-# same directory.
-#
-# If PX4_BASE wasn't set previously, work out what it should be
-# and set it here now.
-#
-MK_DIR			?= $(dir $(firstword $(MAKEFILE_LIST)))
-ifeq ($(PX4_BASE),)
-export PX4_BASE		:= $(abspath $(MK_DIR)/..)
-endif
-$(info %  PX4_BASE            = $(PX4_BASE))
-ifneq ($(words $(PX4_BASE)),1)
-$(error Cannot build when the PX4_BASE path contains one or more space characters.)
-endif
-
-#
-# Set a default target so that included makefiles or errors here don't
-# cause confusion.
-#
-# XXX We could do something cute here with $(DEFAULT_GOAL) if it's not one
-#     of the maintenance targets and set CONFIG based on it.
-#
-all:		firmware
-
-#
-# Get path and tool config
-#
-include $(MK_DIR)/setup.mk
-
-#
-# Locate the configuration file
-#
-ifneq ($(CONFIG_FILE),)
-CONFIG			:= $(subst config_,,$(basename $(notdir $(CONFIG_FILE))))
-else
-CONFIG_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/config_$(CONFIG).mk)
-endif
-ifeq ($(CONFIG),)
-$(error Missing configuration name or file (specify with CONFIG=<config>))
-endif
-export CONFIG
-include $(CONFIG_FILE)
-$(info %  CONFIG              = $(CONFIG))
-
-#
-# Sanity-check the BOARD variable and then get the board config.
-# If BOARD was not set by the configuration, extract it automatically.
-#
-# The board config in turn will fetch the toolchain configuration.
-#
-ifeq ($(BOARD),)
-BOARD			:= $(firstword $(subst _, ,$(CONFIG)))
-endif
-BOARD_FILE		:= $(wildcard $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk)
-ifeq ($(BOARD_FILE),)
-$(error Config $(CONFIG) references board $(BOARD), but no board definition file found)
-endif
-export BOARD
-export BOARD_FILE
-include $(BOARD_FILE)
-$(info %  BOARD               = $(BOARD))
-
-#
-# If WORK_DIR is not set, create a 'build' directory next to the
-# parent Makefile.
-#
-PARENT_MAKEFILE		:= $(lastword $(filter-out $(lastword $(MAKEFILE_LIST)),$(MAKEFILE_LIST)))
-ifeq ($(WORK_DIR),)
-export WORK_DIR		:= $(dir $(PARENT_MAKEFILE))build/
-endif
-$(info %  WORK_DIR            = $(WORK_DIR))
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-#
-# Extra things we should clean
-#
-EXTRA_CLEANS		 =
-
-
-#
-# Append the per-board driver directory to the header search path.
-#
-INCLUDE_DIRS		+= $(PX4_MODULE_SRC)drivers/boards/$(BOARD)
-
-################################################################################
-# External library includes
-################################################################################
-
-INCLUDE_DIRS		+= $(PX4_BASE)src/lib/eigen/
-
-################################################################################
-# OS specific libraries and paths
-################################################################################
-
-include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/$(PX4_TARGET_OS).mk
-
-################################################################################
-# Modules
-################################################################################
-
-# where to look for modules
-MODULE_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
-
-# sort and unique the modules list
-MODULES			:= $(sort $(MODULES))
-
-# locate the first instance of a module by full path or by looking on the
-# module search path
-define MODULE_SEARCH
-	$(firstword $(abspath $(wildcard $(1)/module.mk)) \
-		$(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \
-		MISSING_$1)
-endef
-
-# make a list of module makefiles and check that we found them all
-MODULE_MKFILES		:= $(foreach module,$(MODULES),$(call MODULE_SEARCH,$(module)))
-MISSING_MODULES		:= $(subst MISSING_,,$(filter MISSING_%,$(MODULE_MKFILES)))
-ifneq ($(MISSING_MODULES),)
-$(error Cant find module(s): $(MISSING_MODULES))
-endif
-
-# Make a list of the object files we expect to build from modules
-# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
-# preserved as it is used below to get the absolute path for the module.mk file correct.
-#
-MODULE_OBJS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module.pre.o)
-
-# rules to build module objects
-.PHONY: $(MODULE_OBJS)
-$(MODULE_OBJS):		relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(MODULE_OBJS):		mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath))
-$(MODULE_OBJS):		workdir = $(@D)
-$(MODULE_OBJS):		$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-		--no-print-directory -C $(workdir) \
-		MODULE_WORK_DIR=$(workdir) \
-		MODULE_OBJ=$@ \
-		MODULE_MK=$(mkfile) \
-		MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \
-		module
-
-# make a list of phony clean targets for modules
-MODULE_CLEANS		:= $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)/clean)
-
-# rules to clean modules
-.PHONY: $(MODULE_CLEANS)
-$(MODULE_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(MODULE_CLEANS):	mkfile = $(patsubst %clean,%module.mk,$(relpath))
-$(MODULE_CLEANS):
-	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \
-	MODULE_WORK_DIR=$(dir $@) \
-	MODULE_MK=$(mkfile) \
-	clean
-
-################################################################################
-# Libraries
-################################################################################
-
-# where to look for libraries
-LIBRARY_SEARCH_DIRS	+= $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC)
-
-# sort and unique the library list
-LIBRARIES		:= $(sort $(LIBRARIES))
-
-# locate the first instance of a library by full path or by looking on the
-# library search path
-define LIBRARY_SEARCH
-	$(firstword $(abspath $(wildcard $(1)/library.mk)) \
-		$(abspath $(foreach search_dir,$(LIBRARY_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/library.mk))) \
-		MISSING_$1)
-endef
-
-# make a list of library makefiles and check that we found them all
-LIBRARY_MKFILES		:= $(foreach library,$(LIBRARIES),$(call LIBRARY_SEARCH,$(library)))
-MISSING_LIBRARIES	:= $(subst MISSING_,,$(filter MISSING_%,$(LIBRARY_MKFILES)))
-ifneq ($(MISSING_LIBRARIES),)
-$(error Cant find library(s): $(MISSING_LIBRARIES))
-endif
-
-# Make a list of the archive files we expect to build from libraries
-# Note that this path will typically contain a double-slash at the WORK_DIR boundary; this must be
-# preserved as it is used below to get the absolute path for the library.mk file correct.
-#
-LIBRARY_LIBS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)library.a)
-
-# rules to build module objects
-.PHONY: $(LIBRARY_LIBS)
-$(LIBRARY_LIBS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(LIBRARY_LIBS):	mkfile = $(patsubst %library.a,%library.mk,$(relpath))
-$(LIBRARY_LIBS):	workdir = $(@D)
-$(LIBRARY_LIBS):	$(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER)
-	$(Q) $(MKDIR) -p $(workdir)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
-		--no-print-directory -C $(workdir) \
-		LIBRARY_WORK_DIR=$(workdir) \
-		LIBRARY_LIB=$@ \
-		LIBRARY_MK=$(mkfile) \
-		LIBRARY_NAME=$(lastword $(subst /, ,$(workdir))) \
-		library
-
-# make a list of phony clean targets for modules
-LIBRARY_CLEANS		:= $(foreach path,$(dir $(LIBRARY_MKFILES)),$(WORK_DIR)$(path)/clean)
-
-# rules to clean modules
-.PHONY: $(LIBRARY_CLEANS)
-$(LIBRARY_CLEANS):	relpath = $(patsubst $(WORK_DIR)%,%,$@)
-$(LIBRARY_CLEANS):	mkfile = $(patsubst %clean,%library.mk,$(relpath))
-$(LIBRARY_CLEANS):
-	@$(ECHO) %% cleaning using $(mkfile)
-	$(Q) $(MAKE) -r -f $(PX4_MK_DIR)library.mk \
-	LIBRARY_WORK_DIR=$(dir $@) \
-	LIBRARY_MK=$(mkfile) \
-	clean
-
-################################################################################
-# ROMFS generation
-################################################################################
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(MK_DIR)/nuttx/nuttx_romfs.mk
-endif
-
-################################################################################
-# Default SRCS generation
-################################################################################
-
-#
-# If there are no SRCS, the build will fail; in that case, generate an empty
-# source file.
-#
-ifeq ($(SRCS),)
-EMPTY_SRC		 = $(WORK_DIR)empty.c
-$(EMPTY_SRC):
-	$(Q) $(ECHO) '/* this is an empty file */' > $@
-
-SRCS			+= $(EMPTY_SRC)
-endif
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# Object files we will generate from sources
-#
-OBJS			:= $(foreach src,$(SRCS),$(WORK_DIR)$(src).o)
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-$(filter %.c.o,$(OBJS)): $(WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-$(filter %.cpp.o,$(OBJS)): $(WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-$(filter %.S.o,$(OBJS)): $(WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-# Include the OS specific build rules
-# The rules must define the "firmware" make target
-#
-
-ifeq ($(PX4_TARGET_OS),nuttx)
-include $(MK_DIR)/nuttx/nuttx_px4.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix)
-include $(MK_DIR)/posix/posix_elf.mk
-endif
-ifeq ($(PX4_TARGET_OS),posix-arm)
-include $(MK_DIR)/posix/posix_elf.mk
-endif
-ifeq ($(PX4_TARGET_OS),qurt)
-include $(MK_DIR)/qurt/qurt_elf.mk
-endif
-
-#
-# DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
-#
--include $(DEP_INCLUDES)
diff --git a/makefiles/library.mk b/makefiles/library.mk
deleted file mode 100644
index e20fcce941..0000000000
--- a/makefiles/library.mk
+++ /dev/null
@@ -1,169 +0,0 @@
-#
-#   Copyright (c) 2013 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.
-#
-
-#
-# Framework makefile for PX4 libraries
-#
-# This makefile is invoked by firmware.mk to build each of the linraries
-# that will subsequently be linked into the firmware image.
-#
-# Applications are built as standard ar archives. Unlike modules,
-# all public symbols in library objects are visible across the entire
-# firmware stack.
-#
-# In general, modules should be preferred to libraries when possible.
-# Libraries may also be pre-built.
-#
-# IMPORTANT NOTE:
-#
-# This makefile assumes it is being invoked in the library's output directory.
-#
-
-#
-# Variables that can be set by the library's library.mk:
-#
-#
-# SRCS			(optional)
-#
-#	Lists the .c, cpp and .S files that should be compiled/assembled to
-#	produce the library.
-#
-# PREBUILT_LIB		(optional)
-#
-#	Names the prebuilt library in the source directory that should be
-#	linked into the firmware.
-#
-# INCLUDE_DIRS		(optional, must be appended, ignored if SRCS not set)
-#
-#	The list of directories searched for include files. If non-standard
-#	includes (e.g. those from another module) are required, paths to search
-#	can be added here.
-#
-#
-
-#
-# Variables visible to the library's library.mk:
-#
-# CONFIG
-# BOARD
-# LIBRARY_WORK_DIR
-# LIBRARY_LIB
-# LIBRARY_MK
-# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
-# Anything exported from config_$(CONFIG).mk
-#
-
-################################################################################
-# No user-serviceable parts below.
-################################################################################
-
-ifeq ($(LIBRARY_MK),)
-$(error No library makefile specified)
-endif
-$(info %% LIBRARY_MK          = $(LIBRARY_MK))
-
-#
-# Get the board/toolchain config
-#
-include $(PX4_MK_DIR)/$(PX4_TARGET_OS)/board_$(BOARD).mk
-
-#
-# Get the library's config
-#
-include $(LIBRARY_MK)
-LIBRARY_SRC		:= $(dir $(LIBRARY_MK))
-$(info %  LIBRARY_NAME        = $(LIBRARY_NAME))
-$(info %  LIBRARY_SRC         = $(LIBRARY_SRC))
-$(info %  LIBRARY_LIB         = $(LIBRARY_LIB))
-$(info %  LIBRARY_WORK_DIR    = $(LIBRARY_WORK_DIR))
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build
-#
-library:			$(LIBRARY_LIB)
-
-ifneq ($(PREBUILT_LIB),)
-
-VPATH			 = $(LIBRARY_SRC)
-$(LIBRARY_LIB):		$(PREBUILT_LIB) $(GLOBAL_DEPS)
-	@$(ECHO) "PREBUILT: $(PREBUILT_LIB)"
-	$(Q) $(COPY) $< $@
-
-else
-
-##
-## Object files we will generate from sources
-##
-
-OBJS			 = $(addsuffix .o,$(SRCS))
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-vpath %.c $(LIBRARY_SRC)
-$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-vpath %.cpp $(LIBRARY_SRC)
-$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-vpath %.S $(LIBRARY_SRC)
-$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-#
-# Built product rules
-#
-
-$(LIBRARY_LIB):		$(OBJS) $(GLOBAL_DEPS)
-	$(call ARCHIVE,$@,$(OBJS))
-
-endif
-
-#
-# Utility rules
-#
-
-clean:
-	$(Q) $(REMOVE) $(LIBRARY_LIB) $(OBJS)
diff --git a/makefiles/module.mk b/makefiles/module.mk
deleted file mode 100644
index c92abaec3f..0000000000
--- a/makefiles/module.mk
+++ /dev/null
@@ -1,234 +0,0 @@
-#
-#   Copyright (c) 2012, 2013 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.
-#
-
-#
-# Framework makefile for PX4 modules
-#
-# This makefile is invoked by firmware.mk to build each of the modules
-# that will subsequently be linked into the firmware image.
-#
-# Modules are built as prelinked objects with a limited set of exported
-# symbols, as the global namespace is shared between all modules. Normally an 
-# module will just export one or more <command>_main functions.
-#
-# IMPORTANT NOTE:
-#
-# This makefile assumes it is being invoked in the module's output directory.
-#
-
-#
-# Variables that can be set by the module's module.mk:
-#
-#
-# SRCS			(required)
-#
-#	Lists the .c, cpp and .S files that should be compiled/assembled to
-#	produce the module.
-#
-# MODULE_COMMAND	(optional)
-# MODULE_ENTRYPOINT	(optional if MODULE_COMMAND is set)
-# MODULE_STACKSIZE	(optional if MODULE_COMMAND is set)
-# MODULE_PRIORITY	(optional if MODULE_COMMAND is set)
-#
-#	Defines a single builtin command exported by the module.
-#	MODULE_COMMAND must be unique for any configuration, but need not be the 
-#	same as the module directory name.
-#	
-#	If MODULE_ENTRYPOINT is set, it names the function (which must be exported)
-#	that will be the entrypoint for the builtin command. It defaults to
-#	$(MODULE_COMMAND)_main.
-#
-#	If MODULE_STACKSIZE is set, it is the size in bytes of the stack to be
-#	allocated for the builtin command. If it is not set, it defaults
-#	to CONFIG_PTHREAD_STACK_DEFAULT.
-#
-#	If MODULE_PRIORITY is set, it is the thread priority for the builtin
-#	command. If it is not set, it defaults to SCHED_PRIORITY_DEFAULT.
-#
-# MODULE_COMMANDS	(optional if MODULE_COMMAND is not set)
-#
-#	Defines builtin commands exported by the module. Each word in
-#	the list should be formatted as: 
-#		<command>.<priority>.<stacksize>.<entrypoint>
-#
-# INCLUDE_DIRS		(optional, must be appended)
-#
-#	The list of directories searched for include files. If non-standard
-#	includes (e.g. those from another module) are required, paths to search
-#	can be added here.
-#
-# DEFAULT_VISIBILITY	(optional)
-#
-#	If not set, global symbols defined in a module will not be visible 
-#	outside the module. Symbols that should be globally visible must be
-#	marked __EXPORT.
-#	If set, global symbols defined in a module will be globally visible.
-#
-
-#
-# Variables visible to the module's module.mk:
-#
-# CONFIG
-# BOARD
-# BOARD_FILE
-# MODULE_WORK_DIR
-# MODULE_OBJ
-# MODULE_MK
-# Anything set in setup.mk, board_$(BOARD).mk and the toolchain file.
-# Anything exported from config_$(CONFIG).mk
-#
-
-################################################################################
-# No user-serviceable parts below.
-################################################################################
-
-ifeq ($(MODULE_MK),)
-$(error No module makefile specified)
-endif
-ifeq ($(V),1)
-$(info %% MODULE_MK           = $(MODULE_MK))
-endif
-
-#
-# Get the board/toolchain config
-#
-include $(BOARD_FILE)
-
-#
-# Get the module's config
-#
-include $(MODULE_MK)
-MODULE_SRC		:= $(dir $(MODULE_MK))
-ifeq ($(V),1)
-$(info %  MODULE_NAME         = $(MODULE_NAME))
-$(info %  MODULE_SRC          = $(MODULE_SRC))
-$(info %  MODULE_OBJ          = $(MODULE_OBJ))
-$(info %  MODULE_WORK_DIR     = $(MODULE_WORK_DIR))
-endif
-
-#
-# Things that, if they change, might affect everything
-#
-GLOBAL_DEPS		+= $(MAKEFILE_LIST)
-
-################################################################################
-# Builtin command definitions
-################################################################################
-
-ifneq ($(MODULE_COMMAND),)
-MODULE_ENTRYPOINT	?= $(MODULE_COMMAND)_main
-MODULE_STACKSIZE	?= CONFIG_PTHREAD_STACK_DEFAULT
-MODULE_PRIORITY		?= SCHED_PRIORITY_DEFAULT
-MODULE_COMMANDS		+= $(MODULE_COMMAND).$(MODULE_PRIORITY).$(MODULE_STACKSIZE).$(MODULE_ENTRYPOINT)
-CXXFLAGS		+= -DPX4_MAIN=$(MODULE_COMMAND)_app_main
-endif
-
-ifneq ($(MODULE_COMMANDS),)
-MODULE_COMMAND_FILES	:= $(addprefix $(WORK_DIR)/builtin_commands/COMMAND.,$(MODULE_COMMANDS))
-
-# Create the command files
-# Ensure that there is only one entry for each command
-#
-.PHONY: $(MODULE_COMMAND_FILES)
-$(MODULE_COMMAND_FILES): command = $(word 2,$(subst ., ,$(notdir $(@))))
-$(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
-$(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
-	@$(REMOVE) -f $(exclude)
-	@$(MKDIR) -p $(dir $@)
-	@$(ECHO) "CMD:     $(command)"
-	$(Q) $(TOUCH) $@
-endif
-
-################################################################################
-# Adjust compilation flags to implement EXPORT
-################################################################################
-
-ifeq ($(DEFAULT_VISIBILITY),)
-DEFAULT_VISIBILITY = hidden
-else
-DEFAULT_VISIBILITY = default
-endif
-
-CFLAGS		+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
-CXXFLAGS	+= -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibility.h
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build
-#
-module:			$(MODULE_OBJ) $(MODULE_COMMAND_FILES)
-
-#
-# Object files we will generate from sources
-#
-OBJS			 = $(addsuffix .o,$(SRCS))
-
-#
-# Dependency files that will be auto-generated
-#
-DEPS			 = $(addsuffix .d,$(SRCS))
-
-#
-# SRCS -> OBJS rules
-#
-
-$(OBJS):		$(GLOBAL_DEPS)
-
-vpath %.c $(MODULE_SRC)
-$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS)
-	$(call COMPILE,$<,$@)
-
-vpath %.cpp $(MODULE_SRC)
-$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS)
-	$(call COMPILEXX,$<,$@)
-
-vpath %.S $(MODULE_SRC)
-$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS)
-	$(call ASSEMBLE,$<,$@)
-
-#
-# Built product rules
-#
-
-$(MODULE_OBJ):		$(OBJS) $(GLOBAL_DEPS)
-	$(call PRELINK,$@,$(OBJS))
-
-#
-# Utility rules
-#
-
-clean:
-	$(Q) $(REMOVE) $(MODULE_PRELINK) $(OBJS)
-
--include $(DEPS)
diff --git a/makefiles/nuttx/board_aerocore.mk b/makefiles/nuttx/board_aerocore.mk
deleted file mode 100644
index 71a0f264d0..0000000000
--- a/makefiles/nuttx/board_aerocore.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the Gumstix AeroCore
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = AEROCORE
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4-stm32f4discovery.mk b/makefiles/nuttx/board_px4-stm32f4discovery.mk
deleted file mode 100644
index 2477f55858..0000000000
--- a/makefiles/nuttx/board_px4-stm32f4discovery.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4_STM32F4DISCOVERY
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4_STM32F4DISCOVERY
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4fmu-v1.mk b/makefiles/nuttx/board_px4fmu-v1.mk
deleted file mode 100644
index 45156efcdc..0000000000
--- a/makefiles/nuttx/board_px4fmu-v1.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4FMU
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4FMU_V1
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4fmu-v2.mk b/makefiles/nuttx/board_px4fmu-v2.mk
deleted file mode 100644
index 7c3e00c5d0..0000000000
--- a/makefiles/nuttx/board_px4fmu-v2.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4FMUv2
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM4F
-CONFIG_BOARD			 = PX4FMU_V2
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4io-v1.mk b/makefiles/nuttx/board_px4io-v1.mk
deleted file mode 100644
index 66731a5694..0000000000
--- a/makefiles/nuttx/board_px4io-v1.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4IO
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM3
-CONFIG_BOARD			 = PX4IO_V1
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/board_px4io-v2.mk b/makefiles/nuttx/board_px4io-v2.mk
deleted file mode 100644
index 94c3318199..0000000000
--- a/makefiles/nuttx/board_px4io-v2.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the PX4IOv2
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXM3
-CONFIG_BOARD			 = PX4IO_V2
-
-include $(PX4_MK_DIR)/nuttx/toolchain_gnu-arm-eabi.mk
diff --git a/makefiles/nuttx/config_aerocore_default.mk b/makefiles/nuttx/config_aerocore_default.mk
deleted file mode 100644
index ba6bcdccde..0000000000
--- a/makefiles/nuttx/config_aerocore_default.mk
+++ /dev/null
@@ -1,126 +0,0 @@
-#
-# Makefile for the AeroCore *default* configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/aerocore
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= modules/sensors
-
-#
-# System commands
-#
-MODULES		+= systemcmds/ver
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF / other filters)
-#
-# Too high RAM usage due to static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-BUILTIN_COMMANDS := \
-    $(call _B, hello, , 2048, hello_main) \
-    $(call _B, i2c, , 2048, i2c_main)
diff --git a/makefiles/nuttx/config_px4-stm32f4discovery_default.mk b/makefiles/nuttx/config_px4-stm32f4discovery_default.mk
deleted file mode 100644
index 8f73a7f047..0000000000
--- a/makefiles/nuttx/config_px4-stm32f4discovery_default.mk
+++ /dev/null
@@ -1,92 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the PX4_STM32F4DISCOVERY firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = 
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/led
-MODULES		+= drivers/boards/px4-stm32f4discovery
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/tests
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/ver
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/conversion
-MODULES		+= platforms/nuttx
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/nuttx/config_px4fmu-v1_default.mk b/makefiles/nuttx/config_px4fmu-v1_default.mk
deleted file mode 100644
index d7915ee8d0..0000000000
--- a/makefiles/nuttx/config_px4fmu-v1_default.mk
+++ /dev/null
@@ -1,159 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v1_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4io
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/boards/px4fmu-v1
-MODULES		+= drivers/ardrone_interface
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/ll40ls
-MODULES		+= drivers/trone
-MODULES		+= drivers/mb12xx
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/px4flow
-
-#
-# System commands
-#
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-MODULES 	+= modules/land_detector
-
-#
-# Estimation modules (EKF / other filters)
-#
-# Too high RAM usage due to static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Unit tests
-#
-#MODULES 	+= modules/unit_test
-#MODULES 	+= modules/commander/commander_tests
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/nuttx/config_px4fmu-v2_default.mk b/makefiles/nuttx/config_px4fmu-v2_default.mk
deleted file mode 100644
index 8d16e538a0..0000000000
--- a/makefiles/nuttx/config_px4fmu-v2_default.mk
+++ /dev/null
@@ -1,182 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the px4iov2 firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/px4io
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/mpu9250
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
-MODULES		+= drivers/sf0x
-MODULES		+= drivers/ll40ls
-MODULES		+= drivers/trone
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/hott
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/px4flow
-MODULES		+= drivers/oreoled
-MODULES		+= drivers/gimbal
-MODULES		+= drivers/pwm_input
-MODULES		+= drivers/camera_trigger
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-MODULES		+= modules/uavcan
-MODULES 	+= modules/land_detector
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-# Removed from build due to large static allocations
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-MODULES		+= modules/fw_pos_control_l1
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-MODULES 	+= modules/vtol_att_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# OBC challenge
-#
-MODULES		+= modules/bottle_drop
-
-#
-# PX4 flow estimator, good for indoors
-#
-MODULES		+= examples/flow_position_estimator
-
-#
-# Rover apps
-#
-MODULES		+= examples/rover_steering_control
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://px4.io/dev/px4_simple_app
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://px4.io/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://px4.io/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://px4.io/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk b/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
deleted file mode 100644
index 41fc34023f..0000000000
--- a/makefiles/nuttx/config_px4fmu-v2_multiplatform.mk
+++ /dev/null
@@ -1,168 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS, copy the px4iov2 firmware into
-# the ROMFS if it's available
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/px4fmu
-MODULES		+= drivers/px4io
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/mb12xx
-# MODULES		+= drivers/sf0x
-MODULES		+= drivers/ll40ls
-# MODULES		+= drivers/trone
-MODULES		+= drivers/gps
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/hott
-MODULES		+= drivers/hott/hott_telemetry
-MODULES		+= drivers/hott/hott_sensors
-# MODULES		+= drivers/blinkm
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= drivers/frsky_telemetry
-MODULES		+= modules/sensors
-MODULES		+= drivers/mkblctrl
-MODULES		+= drivers/px4flow
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/commander
-MODULES		+= modules/navigator
-MODULES		+= modules/mavlink
-MODULES		+= modules/gpio_led
-# MODULES		+= modules/uavcan
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
-#MODULES		+= modules/fw_pos_control_l1
-#MODULES		+= modules/fw_att_control
-# MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_att_control_multiplatform
-MODULES		+= examples/subscriber
-MODULES		+= examples/publisher
-# MODULES		+= modules/mc_pos_control
-MODULES		+= modules/mc_pos_control_multiplatform
-MODULES 	+= modules/vtol_att_control
-
-#
-# Logging
-#
-MODULES		+= modules/sdlog2
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/controllib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-MODULES		+= platforms/nuttx
-
-#
-# OBC challenge
-#
-MODULES		+= modules/bottle_drop
-
-#
-# Demo apps
-#
-#MODULES		+= examples/math_demo
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/hello_sky
-#MODULES		+= examples/px4_simple_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/daemon
-#MODULES		+= examples/px4_daemon_app
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/debug_values
-#MODULES		+= examples/px4_mavlink_debug
-
-# Tutorial code from
-# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
-#MODULES			+= examples/fixedwing_control
-
-# Hardware test
-#MODULES			+= examples/hwtest
-
-# Generate parameter XML file
-GEN_PARAM_XML = 1
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/nuttx/config_px4fmu-v2_test.mk b/makefiles/nuttx/config_px4fmu-v2_test.mk
deleted file mode 100644
index 9c8510e06d..0000000000
--- a/makefiles/nuttx/config_px4fmu-v2_test.mk
+++ /dev/null
@@ -1,116 +0,0 @@
-#
-# Makefile for the px4fmu_default configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
-ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/stm32
-MODULES		+= drivers/stm32/adc
-MODULES		+= drivers/stm32/tone_alarm
-MODULES		+= drivers/led
-MODULES		+= drivers/boards/px4fmu-v2
-MODULES		+= drivers/px4io
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/mpu6000
-MODULES		+= drivers/lsm303d
-MODULES		+= drivers/l3gd20
-MODULES		+= drivers/hmc5883
-MODULES		+= drivers/ms5611
-MODULES		+= drivers/pca8574
-MODULES		+= drivers/roboclaw
-MODULES		+= drivers/airspeed
-MODULES		+= drivers/ets_airspeed
-MODULES		+= drivers/meas_airspeed
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/tests
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/ver
-MODULES		+= systemcmds/top
-MODULES		+= modules/sensors
-
-#
-# System commands
-#
-MODULES		+= systemcmds/bl_update
-MODULES		+= systemcmds/mixer
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/perf
-MODULES		+= systemcmds/pwm
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-MODULES		+= systemcmds/top
-MODULES		+= systemcmds/config
-MODULES		+= systemcmds/nshterm
-MODULES		+= systemcmds/mtd
-MODULES		+= systemcmds/dumpfile
-MODULES		+= systemcmds/ver
-
-#
-# Example modules
-#
-MODULES		+= examples/matlab_csv_serial
-MODULES		+= examples/subscriber
-MODULES		+= examples/publisher
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-LIBRARIES	+= lib/mathlib/CMSIS
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/conversion
-MODULES		+= platforms/nuttx
-
-#
-# Example modules to test-build
-#
-MODULES		+= examples/flow_position_estimator
-MODULES		+= examples/fixedwing_control
-MODULES		+= examples/hwtest
-MODULES		+= examples/matlab_csv_serial
-MODULES		+= examples/px4_daemon_app
-MODULES		+= examples/px4_mavlink_debug
-MODULES		+= examples/px4_simple_app
-
-#
-# Drivers / modules to test build, but not useful for test environment
-#
-MODULES		+= drivers/pca8574
-
-#
-# Tests
-#
-
-MODULES 	+= modules/unit_test
-MODULES		+= modules/mavlink/mavlink_tests
-MODULES 	+= modules/commander/commander_tests
-
-#
-# Transitional support - add commands from the NuttX export archive.
-#
-# In general, these should move to modules over time.
-#
-# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
-# to make the table a bit more readable.
-#
-define _B
-	$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
-endef
-
-#                  command                 priority                   stack  entrypoint
-BUILTIN_COMMANDS := \
-	$(call _B, sercon,                 ,                          2048,  sercon_main                ) \
-	$(call _B, serdis,                 ,                          2048,  serdis_main                )
diff --git a/makefiles/nuttx/config_px4io-v1_default.mk b/makefiles/nuttx/config_px4io-v1_default.mk
deleted file mode 100644
index 73f8adf202..0000000000
--- a/makefiles/nuttx/config_px4io-v1_default.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Makefile for the px4io_default configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/stm32
-MODULES		+= drivers/boards/px4io-v1
-MODULES		+= modules/px4iofirmware
\ No newline at end of file
diff --git a/makefiles/nuttx/config_px4io-v2_default.mk b/makefiles/nuttx/config_px4io-v2_default.mk
deleted file mode 100644
index dbeaba3d37..0000000000
--- a/makefiles/nuttx/config_px4io-v2_default.mk
+++ /dev/null
@@ -1,10 +0,0 @@
-#
-# Makefile for the px4iov2_default configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/stm32
-MODULES		+= drivers/boards/px4io-v2
-MODULES		+= modules/px4iofirmware
\ No newline at end of file
diff --git a/makefiles/nuttx/firmware_nuttx.mk b/makefiles/nuttx/firmware_nuttx.mk
deleted file mode 100644
index ca4831b8bd..0000000000
--- a/makefiles/nuttx/firmware_nuttx.mk
+++ /dev/null
@@ -1,121 +0,0 @@
-#
-# 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): $(BUILD_DIR)%.build/firmware.px4:	checkgitversion generateuorbtopicheaders checksubmodules
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r --no-print-directory -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) --no-print-directory -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) --no-print-directory -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) --no-print-directory -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) --no-print-directory -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
-	$(Q) $(MAKE) -r -j$(J) --no-print-directory -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): checkgitversion checksubmodules
-
-$(UAVCAN_DIR):
-	$(Q) (./Tools/check_submodules.sh)
-
diff --git a/makefiles/nuttx/gumstix-aerocore.cfg b/makefiles/nuttx/gumstix-aerocore.cfg
deleted file mode 100644
index ba217c0431..0000000000
--- a/makefiles/nuttx/gumstix-aerocore.cfg
+++ /dev/null
@@ -1,10 +0,0 @@
-# JTAG for the STM32F4x chip used on the Gumstix AeroCore is available on
-# the first interface of a Quad FTDI chip.  nTRST is bit 4.
-interface ftdi
-ftdi_vid_pid 0x0403 0x6011
-
-ftdi_layout_init 0x0000 0x001b
-ftdi_layout_signal nTRST -data 0x0010
-
-source [find target/stm32f4x.cfg]
-reset_config trst_only
diff --git a/makefiles/nuttx/nuttx.mk b/makefiles/nuttx/nuttx.mk
deleted file mode 100644
index 4ca1dc2ac6..0000000000
--- a/makefiles/nuttx/nuttx.mk
+++ /dev/null
@@ -1,85 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Rules and definitions related to handling the NuttX export archives when
-# building firmware.
-#
-
-MODULES += platforms/nuttx/px4_layer platforms/common
-
-#
-# Check that the NuttX archive for the selected board is available.
-#
-NUTTX_ARCHIVE		:= $(wildcard $(ARCHIVE_DIR)$(BOARD).export)
-ifeq ($(NUTTX_ARCHIVE),)
-$(error The NuttX export archive for $(BOARD) is missing from $(ARCHIVE_DIR) - try 'make archives' in $(PX4_BASE))
-endif
-
-#
-# The NuttX config header should always be present in the NuttX archive, and
-# if it changes, everything should be rebuilt. So, use it as the trigger to
-# unpack the NuttX archive.
-#
-NUTTX_EXPORT_DIR	 = $(WORK_DIR)nuttx-export/
-NUTTX_CONFIG_HEADER	 = $(NUTTX_EXPORT_DIR)include/nuttx/config.h
-$(info %  NUTTX_EXPORT_DIR    = $(NUTTX_EXPORT_DIR))
-$(info %  NUTTX_CONFIG_HEADER = $(NUTTX_CONFIG_HEADER))
-
-
-GLOBAL_DEPS		+= $(NUTTX_CONFIG_HEADER)
-
-#
-# Use the linker script from the NuttX export
-#
-LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
-
-#
-# Add directories from the NuttX export to the relevant search paths
-#
-INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
-			   $(NUTTX_EXPORT_DIR)include/cxx \
-			   $(NUTTX_EXPORT_DIR)arch/chip \
-			   $(NUTTX_EXPORT_DIR)arch/common
-
-LIB_DIRS		+= $(NUTTX_EXPORT_DIR)libs
-LIBS			+= -lapps -lnuttx
-NUTTX_LIBS		 = $(NUTTX_EXPORT_DIR)libs/libapps.a \
-			   $(NUTTX_EXPORT_DIR)libs/libnuttx.a
-LINK_DEPS		+= $(NUTTX_LIBS)
-
-$(NUTTX_CONFIG_HEADER):	$(NUTTX_ARCHIVE)
-	@$(ECHO) %% Unpacking $(NUTTX_ARCHIVE)
-	$(Q) $(UNZIP_CMD) -q -o -d $(WORK_DIR) $(NUTTX_ARCHIVE)
-	$(Q) $(TOUCH) $@
-
- $(LDSCRIPT): $(NUTTX_CONFIG_HEADER)
- $(NUTTX_LIBS): $(NUTTX_CONFIG_HEADER)
diff --git a/makefiles/nuttx/nuttx_px4.mk b/makefiles/nuttx/nuttx_px4.mk
deleted file mode 100644
index 11e50e03ae..0000000000
--- a/makefiles/nuttx/nuttx_px4.mk
+++ /dev/null
@@ -1,89 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# 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
-PRODUCT_AIRFRAMEXML	 = $(WORK_DIR)/airframes.xml
-
-.PHONY:			firmware
-firmware:		$(PRODUCT_BUNDLE)
-
-#
-# Built product rules
-#
-
-$(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) $(PYTHON) $(PX4_BASE)/Tools/px_process_airframes.py -a $(PX4_BASE)/ROMFS/px4fmu_common/init.d/ --board CONFIG_ARCH_BOARD_$(CONFIG_BOARD) --xml
-	$(Q) $(MKFW) --prototype $(IMAGE_DIR)/$(BOARD).prototype \
-		--git_identity $(PX4_BASE) \
-		--parameter_xml $(PRODUCT_PARAMXML) \
-		--airframe_xml $(PRODUCT_AIRFRAMEXML) \
-		--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 $(PX4_MK_DIR)/nuttx/upload.mk \
-		METHOD=serial \
-		CONFIG=$(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) $(NUTTX_EXPORT_DIR)
-
diff --git a/makefiles/nuttx/nuttx_romfs.mk b/makefiles/nuttx/nuttx_romfs.mk
deleted file mode 100644
index 9554151360..0000000000
--- a/makefiles/nuttx/nuttx_romfs.mk
+++ /dev/null
@@ -1,163 +0,0 @@
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-################################################################################
-# ROMFS generation
-################################################################################
-
-ifneq ($(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)
-
-# Add autostart script
-ROMFS_AUTOSTART = $(PX4_BASE)/Tools/px_process_airframes.py
-
-# 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_AUTOSTART)  -a $(ROMFS_ROOT)/init.d/ -s $(ROMFS_SCRATCH)/init.d/rc.autostart
-	# Execute in standard dir as well
-	# so developers notice the generated file
-	$(Q) $(PYTHON) -u $(ROMFS_AUTOSTART)  -a $(ROMFS_ROOT)/init.d/ -s $(ROMFS_ROOT)/init.d/rc.autostart
-	$(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		+= $(BUILTIN_CSRC)
-
-endif
-
diff --git a/makefiles/nuttx/toolchain_gnu-arm-eabi.mk b/makefiles/nuttx/toolchain_gnu-arm-eabi.mk
deleted file mode 100644
index 868c3d161e..0000000000
--- a/makefiles/nuttx/toolchain_gnu-arm-eabi.mk
+++ /dev/null
@@ -1,342 +0,0 @@
-#
-#   Copyright (C) 2012-2014 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Definitions for a generic GNU ARM-EABI toolchain
-#
-
-#$(info TOOLCHAIN  gnu-arm-eabi)
-
-# Toolchain commands. Normally only used inside this file.
-#
-CROSSDEV		 = arm-none-eabi-
-
-CC			 = $(CROSSDEV)gcc
-CXX			 = $(CROSSDEV)g++
-CPP			 = $(CROSSDEV)gcc -E
-LD			 = $(CROSSDEV)ld
-AR			 = $(CROSSDEV)ar rcs
-NM			 = $(CROSSDEV)nm
-OBJCOPY			 = $(CROSSDEV)objcopy
-OBJDUMP			 = $(CROSSDEV)objdump
-
-# Check if the right version of the toolchain is available
-#
-CROSSDEV_VER_SUPPORTED	 = 4.7.4 4.7.5 4.7.6 4.8.4 4.9.3
-CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
-
-ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
-$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
-endif
-
-
-# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
-
-MAXOPTIMIZATION		 ?= -O3
-
-# Base CPU flags for each of the supported architectures.
-#
-ARCHCPUFLAGS_CORTEXM4F	 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfpu=fpv4-sp-d16 \
-			   -mfloat-abi=hard
-
-ARCHCPUFLAGS_CORTEXM4	 = -mcpu=cortex-m4 \
-			   -mthumb \
-			   -march=armv7e-m \
-			   -mfloat-abi=soft
-
-ARCHCPUFLAGS_CORTEXM3	 = -mcpu=cortex-m3 \
-			   -mthumb \
-			   -march=armv7-m \
-			   -mfloat-abi=soft
-
-# Enabling stack checks if OS was build with them
-#
-TEST_FILE_STACKCHECK=$(WORK_DIR)nuttx-export/include/nuttx/config.h
-TEST_VALUE_STACKCHECK=CONFIG_ARMV7M_STACKCHECK\ 1
-ENABLE_STACK_CHECKS=$(shell $(GREP) -q "$(TEST_VALUE_STACKCHECK)" $(TEST_FILE_STACKCHECK); echo $$?;)
-ifeq ("$(ENABLE_STACK_CHECKS)","0")
-ARCHINSTRUMENTATIONDEFINES_CORTEXM4F = -finstrument-functions -ffixed-r10
-ARCHINSTRUMENTATIONDEFINES_CORTEXM4  = -finstrument-functions -ffixed-r10
-ARCHINSTRUMENTATIONDEFINES_CORTEXM3  =
-else
-ARCHINSTRUMENTATIONDEFINES_CORTEXM4F =
-ARCHINSTRUMENTATIONDEFINES_CORTEXM4  =
-ARCHINSTRUMENTATIONDEFINES_CORTEXM3  =
-endif
-
-# Pick the right set of flags for the architecture.
-#
-ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
-ifeq ($(ARCHCPUFLAGS),)
-$(error Must set CONFIG_ARCH to one of CORTEXM4F, CORTEXM4 or CORTEXM3)
-endif
-
-# Set the board flags
-#
-ifeq ($(CONFIG_BOARD),)
-$(error Board config does not define CONFIG_BOARD)
-endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) -D__PX4_NUTTX
-
-# optimisation flags
-#
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g3 \
-			   -fno-strict-aliasing \
-			   -fno-strength-reduce \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-# enable precise stack overflow tracking
-# note - requires corresponding support in NuttX
-INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
-
-LIBC	 := $(shell ${CC} ${ARCHCPUFLAGS} -print-file-name=libc.a)
-
-# Language-specific flags
-#
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
-
-#
-# Provide defaults, but allow for module override
-WFRAME_LARGER_THAN ?= 1024
-
-
-
-# Generic warnings
-#
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Werror \
-			   -Wdouble-promotion \
-			   -Wshadow \
-			   -Wfloat-equal \
-			   -Wpointer-arith \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter \
-			   -Werror=format-security \
-			   -Werror=array-bounds \
-			   -Wfatal-errors \
-			   -Wformat=1 \
-			   -Werror=unused-but-set-variable \
-			   -Werror=unused-variable \
-			   -Werror=double-promotion \
-			   -Werror=reorder \
-			   -Werror=uninitialized \
-			   -Werror=init-self
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-# C-specific warnings
-#
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wmissing-prototypes \
-			   -Wnested-externs
-
-# C++-specific warnings
-#
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-missing-field-initializers
-
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
-EXTRA_LIBS		+= $(LIBM)
-
-# Flags we pass to the C compiler
-#
-CFLAGS			 = $(ARCHCFLAGS) \
-			   $(ARCHCWARNINGS) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   $(EXTRADEFINES) \
-			   $(EXTRACFLAGS) \
-			   -fno-common \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the C++ compiler
-#
-CXXFLAGS		 = $(ARCHCXXFLAGS) \
-			   $(ARCHWARNINGSXX) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHXXINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   -DCONFIG_WCHAR_BUILTIN \
-			   $(EXTRADEFINES) \
-			   $(EXTRACXXFLAGS) \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the assembler
-#
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
-			   $(EXTRADEFINES) \
-			   $(EXTRAAFLAGS)
-
-# Flags we pass to the linker
-#
-LDFLAGS			+= --warn-common \
-			   --gc-sections \
-			   $(EXTRALDFLAGS) \
-			   $(addprefix -T,$(LDSCRIPT)) \
-			   $(addprefix -L,$(LIB_DIRS))
-
-# Compiler support library
-#
-LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
-
-# Files that the final link depends on
-#
-LINK_DEPS		+= $(LDSCRIPT)
-
-# Files to include to get automated dependencies
-#
-DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
-
-# Compile C source $1 to object $2
-# as a side-effect, generate a dependency file
-#
-define COMPILE
-	@$(ECHO) "CC:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-# Compile C++ source $1 to $2
-# as a side-effect, generate a dependency file
-#
-define COMPILEXX
-	@$(ECHO) "CXX:     $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-# Assemble $1 into $2
-#
-define ASSEMBLE
-	@$(ECHO) "AS:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
-# Produce partially-linked $1 from files in $2
-#
-define PRELINK
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -Map $1.map  -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-endef
-
-# Update the archive $1 with the files in $2
-#
-define ARCHIVE
-	@$(ECHO) "AR:      $2"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the binary $1
-#
-define LINK
-	@$(ECHO) "LINK:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) $(LDFLAGS) -Map $1.map -o $1 --start-group $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC) --end-group
-endef
-
-# Convert $1 from a linked object to a raw binary in $2
-#
-define SYM_TO_BIN
-	@$(ECHO) "BIN:     $2"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(OBJCOPY) -O binary $1 $2
-endef
-
-# Take the raw binary $1 and make it into an object file $2.
-# The symbol $3 points to the beginning of the file, and $3_len
-# gives its length.
-#
-# - compile an empty file to generate a suitable object file
-# - relink the object and insert the binary file
-# - extract the length
-# - create const unsigned $3_len with the extracted length as its value and compile it to an object file
-# - link the two generated object files together
-# - edit symbol names to suit
-#
-# NOTE: exercise caution using this with absolute pathnames; it looks
-#       like the MinGW tools insert an extra _ in the binary symbol name; e.g.
-#	the path:
-#
-#	/d/px4/firmware/Build/px4fmu_default.build/romfs.img
-#
-#	is assigned symbols like:
-#
-#	_binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size
-#
-#	when we would expect
-#
-#	_binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size
-#
-define BIN_SYM_PREFIX
-	_binary_$(subst /,_,$(subst .,_,$1))
-endef
-define BIN_TO_OBJ
-	@$(ECHO) "OBJ:     $2"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(ECHO) > $2.c
-	$(call COMPILE,$2.c,$2.c.o)
-	$(Q) $(LD) -r -o $2.bin.o $2.c.o -b binary $1
-	$(Q) $(ECHO) "const unsigned int $3_len = 0x`$(NM) -p --radix=x $2.bin.o | $(GREP) $(call BIN_SYM_PREFIX,$1)_size$$ | $(GREP) -o ^[0-9a-fA-F]*`;" > $2.c
-	$(call COMPILE,$2.c,$2.c.o)
-	$(Q) $(LD) -r -o $2 $2.c.o $2.bin.o
-	$(Q) $(OBJCOPY) $2 \
-		--redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \
-		--strip-symbol $(call BIN_SYM_PREFIX,$1)_size \
-		--strip-symbol $(call BIN_SYM_PREFIX,$1)_end \
-		--rename-section .data=.rodata
-	$(Q) $(REMOVE) $2.c $2.c.o $2.bin.o
-endef
diff --git a/makefiles/nuttx/upload.mk b/makefiles/nuttx/upload.mk
deleted file mode 100644
index e73c31dc31..0000000000
--- a/makefiles/nuttx/upload.mk
+++ /dev/null
@@ -1,50 +0,0 @@
-#
-# Rules and tools for uploading firmware to various PX4 boards.
-#
-
-UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
-
-SYSTYPE			:= $(shell uname -s)
-
-#
-# Serial port defaults.
-#
-# XXX The uploader should be smarter than this.
-#
-ifeq ($(SYSTYPE),Darwin)
-SERIAL_PORTS		?= "/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
-endif
-ifeq ($(SYSTYPE),Linux)
-SERIAL_PORTS		?= "/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/pci-3D_Robotics*"
-endif
-ifeq ($(SERIAL_PORTS),)
-SERIAL_PORTS		 = "COM32,COM31,COM30,COM29,COM28,COM27,COM26,COM25,COM24,COM23,COM22,COM21,COM20,COM19,COM18,COM17,COM16,COM15,COM14,COM13,COM12,COM11,COM10,COM9,COM8,COM7,COM6,COM5,COM4,COM3,COM2,COM1,COM0"
-endif
-
-.PHONY:	all upload-$(METHOD)-$(BOARD)
-all:	upload-$(METHOD)-$(BOARD)
-
-upload-serial-px4fmu-v1:	$(BUNDLE) $(UPLOADER)
-	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
-
-upload-serial-px4fmu-v2:	$(BUNDLE) $(UPLOADER)
-	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
-
-upload-serial-aerocore:
-	openocd -f $(PX4_BASE)/makefiles/nuttx/gumstix-aerocore.cfg -c 'init; reset halt; flash write_image erase $(PX4_BASE)/../Bootloader/px4aerocore_bl.bin 0x08000000; flash write_image erase $(PX4_BASE)/Build/aerocore_default.build/firmware.bin 0x08004000; reset run; exit'
-
-upload-serial-px4-stm32f4discovery:	$(BUNDLE) $(UPLOADER)
-	$(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
-
-#
-# JTAG firmware uploading with OpenOCD
-#
-JTAGCONFIG		?= interface/olimex-jtag-tiny.cfg
-
-upload-jtag-px4fmu: all
-	@$(ECHO) Attempting to flash PX4FMU board via JTAG
-	$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4fmu_bl.elf" -c "reset run" -c shutdown
-
-upload-jtag-px4io: all
-	@$(ECHO) Attempting to flash PX4IO board via JTAG
-	$(Q) $(OPENOCD) -f $(JTAGCONFIG) -f ../Bootloader/stm32f1x.cfg -c init -c "reset halt" -c "flash write_image erase nuttx/nuttx" -c "flash write_image erase ../Bootloader/px4io_bl.elf" -c "reset run" -c shutdown
diff --git a/makefiles/posix-arm/board_eagle.mk b/makefiles/posix-arm/board_eagle.mk
deleted file mode 100644
index 94dd049367..0000000000
--- a/makefiles/posix-arm/board_eagle.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the POSIX port of PX4
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = CORTEXA8
-CONFIG_BOARD			 = EAGLE
-
-include $(PX4_MK_DIR)/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
diff --git a/makefiles/posix-arm/config_eagle_adsp.mk b/makefiles/posix-arm/config_eagle_adsp.mk
deleted file mode 100644
index e7e0d8cf6f..0000000000
--- a/makefiles/posix-arm/config_eagle_adsp.mk
+++ /dev/null
@@ -1,57 +0,0 @@
-#
-# Makefile for the EAGLE *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-MODULES	+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-
-#
-# Vehicle Control
-#
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-#
-# Linux port
-#
-MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/work_queue
-
-#
-# Unit tests
-#
-
-#
-# muorb fastrpc changes.
-#
-MODULES		+= modules/muorb/krait
diff --git a/makefiles/posix-arm/config_eagle_default.mk b/makefiles/posix-arm/config_eagle_default.mk
deleted file mode 100644
index 1f335522cd..0000000000
--- a/makefiles/posix-arm/config_eagle_default.mk
+++ /dev/null
@@ -1,79 +0,0 @@
-#
-# Makefile for the EAGLE *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/led
-MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-MODULES += systemcmds/mixer
-MODULES += systemcmds/ver
-#MODULES += systemcmds/topic_listener
-
-#
-# General system control
-#
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES 	+= modules/navigator
-MODULES 	+= modules/mc_pos_control
-MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
-MODULES		+= modules/commander
-MODULES 	+= modules/controllib
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-#
-# Linux port
-#
-MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/work_queue
-
-#
-# Unit tests
-#
-#MODULES		+= platforms/posix/tests/hello
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
-#
-# muorb fastrpc changes.
-#
-#MODULES		+= $(PX4_BASE)../muorb_krait
diff --git a/makefiles/posix-arm/config_eagle_hil.mk b/makefiles/posix-arm/config_eagle_hil.mk
deleted file mode 100644
index 522549d05b..0000000000
--- a/makefiles/posix-arm/config_eagle_hil.mk
+++ /dev/null
@@ -1,88 +0,0 @@
-#
-# Makefile for the POSIXTEST *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/boards/sitl
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/rgbled
-MODULES		+= drivers/led
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-#MODULES += systemcmds/mixer
-#MODULES += systemcmds/topic_listener
-MODULES	+= systemcmds/ver
-
-#
-# General system control
-#
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES 	+= modules/navigator
-#MODULES 	+= modules/mc_pos_control
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
-MODULES		+= modules/commander
-#MODULES 	+= modules/controllib
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-
-#
-# Linux port
-#
-MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/work_queue
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-#MODULES		+= platforms/posix/drivers/tonealrmsim
-#MODULES		+= platforms/posix/drivers/airspeedsim
-#MODULES 	+= platforms/posix/drivers/gpssim
-
-#
-# Unit tests
-#
-#MODULES		+= platforms/posix/tests/hello
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
-#
-# muorb fastrpc changes.
-#
-MODULES		+= modules/muorb/krait
diff --git a/makefiles/posix-arm/config_eagle_muorb_test.mk b/makefiles/posix-arm/config_eagle_muorb_test.mk
deleted file mode 100644
index bb87cd35fb..0000000000
--- a/makefiles/posix-arm/config_eagle_muorb_test.mk
+++ /dev/null
@@ -1,90 +0,0 @@
-#
-# Makefile for the POSIXTEST *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/rgbled
-#MODULES		+= drivers/led
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-#MODULES	+= systemcmds/param
-#MODULES += systemcmds/mixer
-#MODULES += systemcmds/topic_listener
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES 	+= modules/navigator
-#MODULES 	+= modules/mc_pos_control
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-#MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-#MODULES 	+= modules/controllib
-
-#
-# Libraries
-#
-#MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
-
-#
-# Linux port
-#
-MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/work_queue
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-#MODULES		+= platforms/posix/drivers/tonealrmsim
-#MODULES		+= platforms/posix/drivers/airspeedsim
-#MODULES 	+= platforms/posix/drivers/gpssim
-
-#
-# muorb fastrpc changes.
-#
-MODULES		+= modules/muorb/krait
-
-
-#
-#
-# Unit tests
-#
-#MODULES		+= platforms/posix/tests/hello
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-MODULES		+= platforms/posix/tests/muorb
-
diff --git a/makefiles/posix-arm/ld.script b/makefiles/posix-arm/ld.script
deleted file mode 100644
index 32478e1e14..0000000000
--- a/makefiles/posix-arm/ld.script
+++ /dev/null
@@ -1,46 +0,0 @@
-/****************************************************************************
- * ld.script
- *
- * Copyright (C) 2015 Mark Charlebois. All rights reserved.
- * Author: Mark Charlebois <charlebm@gmail.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-SECTIONS
-{
-	/*
-	 * Construction data for parameters.
-	 */
-	__param : ALIGN(8) {
-		__param_start = .;
-		KEEP(*(__param*))
-		__param_end = .;
-	}
-}
diff --git a/makefiles/posix-arm/posix-arm.mk b/makefiles/posix-arm/posix-arm.mk
deleted file mode 100644
index 13cb97f0db..0000000000
--- a/makefiles/posix-arm/posix-arm.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Rules and definitions related to handling the Linux specific impl when
-# building firmware.
-#
-
-MODULES += \
-		platforms/common \
-		platforms/posix/px4_layer 
-
diff --git a/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk b/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
deleted file mode 100644
index 4eb3b0fd19..0000000000
--- a/makefiles/posix-arm/toolchain_gnu-arm-linux-gnueabihf.mk
+++ /dev/null
@@ -1,305 +0,0 @@
-#
-#   Copyright (C) 2012-2014 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.
-#
-
-#
-# Definitions for a generic GNU ARM-EABI toolchain
-#
-
-#$(info TOOLCHAIN  arm-linux-gnueabihf)
-
-# Toolchain commands. Normally only used inside this file.
-#
-CROSSDEV		 = arm-linux-gnueabihf-
-
-CC			 ?= $(CROSSDEV)gcc
-CXX			 ?= $(CROSSDEV)g++
-CPP			 ?= $(CROSSDEV)gcc -E
-LD			 ?= $(CROSSDEV)ld
-AR			 ?= $(CROSSDEV)ar rcs
-NM			 ?= $(CROSSDEV)nm
-OBJCOPY			 ?= $(CROSSDEV)objcopy
-OBJDUMP			 ?= $(CROSSDEV)objdump
-ifdef OECORE_NATIVE_SYSROOT
-AR := $(AR) rcs
-endif
-
-# Check if the right version of the toolchain is available
-#
-CROSSDEV_VER_SUPPORTED	 = 4.7.4 4.7.5 4.7.6 4.8.2 4.8.4 4.9.3
-CROSSDEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
-
-ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
-$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
-endif
-
-ifndef POSIX_EXT_LIB_ROOT
-$(error POSIX_EXT_LIB_ROOT is not set)
-endif
-
-# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
-
-MAXOPTIMIZATION		 ?= -O3
-
-# Base CPU flags for each of the supported architectures.
-#
-ARCHCPUFLAGS_CORTEXA8    = -mtune=cortex-a8 \
-                           -mthumb-interwork \
-                           -march=armv7-a \
-                           -mfloat-abi=hard \
-                           -mfpu=neon
- 
-# Pick the right set of flags for the architecture.
-#
-ARCHCPUFLAGS		 = $(ARCHCPUFLAGS_$(CONFIG_ARCH))
-ifeq ($(ARCHCPUFLAGS),)
-$(error Must set CONFIG_ARCH to one of CORTEXA8 CORTEXM4F, CORTEXM4 or CORTEXM3)
-endif
-
-# Set the board flags
-#
-ifeq ($(CONFIG_BOARD),)
-$(error Board config does not define CONFIG_BOARD)
-endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-	                   -D__PX4_LINUX -D__PX4_POSIX \
-			   -Dnoreturn_function= \
-			   -I$(PX4_BASE)/src/modules/systemlib \
-			   -I$(PX4_BASE)/src/lib/eigen \
-			   -I$(PX4_BASE)/src/platforms/posix/include \
-			   -I$(PX4_BASE)/mavlink/include/mavlink \
-			   -Wno-error=shadow
-
-# optimisation flags
-#
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g3 \
-			   -fno-strict-aliasing \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-# Language-specific flags
-#
-ARCHCFLAGS		 = -std=gnu99
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
-
-# Generic warnings
-#
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Werror \
-			   -Wfloat-equal \
-			   -Wpointer-arith \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter \
-			   -Wno-packed \
-			   -Werror=format-security \
-			   -Werror=array-bounds \
-			   -Wfatal-errors \
-			   -Werror=unused-variable \
-			   -Werror=reorder \
-			   -Werror=uninitialized \
-			   -Werror=init-self \
-			   -Wformat=1 \
-			   -Werror=unused-but-set-variable \
-			   -Wno-error=double-promotion \
-			   -fno-strength-reduce \
-                           -Wno-error=unused-value
-
-ARCHOPTIMIZATION	+= -fno-strength-reduce
-
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-# C-specific warnings
-#
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wmissing-prototypes \
-			   -Wnested-externs
-
-# C++-specific warnings
-#
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-missing-field-initializers
-
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
-#EXTRA_LIBS		+= $(LIBM)
-EXTRA_LIBS		+= -lpx4muorb -ladsprpc
-EXTRA_LIBS		+= -pthread -lm -lrt
-
-LIB_DIRS                += $(POSIX_EXT_LIB_ROOT)/libs
-INCLUDE_DIRS        += $(POSIX_EXT_LIB_ROOT)/inc
-
-# Flags we pass to the C compiler
-#
-CFLAGS			 = $(ARCHCFLAGS) \
-			   $(ARCHCWARNINGS) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   $(EXTRADEFINES) \
-			   $(EXTRACFLAGS) \
-			   -fno-common \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the C++ compiler
-#
-CXXFLAGS		 = $(ARCHCXXFLAGS) \
-			   $(ARCHWARNINGSXX) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHXXINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   -DCONFIG_WCHAR_BUILTIN \
-			   $(EXTRADEFINES) \
-			   $(EXTRACXXFLAGS) \
-			   -Wno-effc++ \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the assembler
-#
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
-			   $(EXTRADEFINES) \
-			   $(EXTRAAFLAGS)
-
-LDSCRIPT		 = $(PX4_BASE)/makefiles/posix-arm/ld.script
-# Flags we pass to the linker
-#
-LDFLAGS			+= $(EXTRALDFLAGS) \
-			   $(addprefix -L,$(LIB_DIRS))
-
-# Compiler support library
-#
-LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
-
-# Files that the final link depends on
-#
-#LINK_DEPS		+= $(LDSCRIPT)
-LINK_DEPS		+=
-
-# Files to include to get automated dependencies
-#
-DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
-
-# Compile C source $1 to object $2
-# as a side-effect, generate a dependency file
-#
-define COMPILE
-	@$(ECHO) "CC:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-# Compile C++ source $1 to $2
-# as a side-effect, generate a dependency file
-#
-define COMPILEXX
-	@$(ECHO) "CXX:     $1"
-	@$(MKDIR) -p $(dir $2)
-	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-# Assemble $1 into $2
-#
-define ASSEMBLE
-	@$(ECHO) "AS:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINK
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -o $1 $2
-
-endef
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINKF
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
-
-endef
-#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-
-# Update the archive $1 with the files in $2
-#
-define ARCHIVE
-	@$(ECHO) "AR:      $2"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_A
-	@$(ECHO) "LINK_A:    $1"
-	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(AR) $1 $2"
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_SO
-	@$(ECHO) "LINK_SO:    $1"
-	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) $(EXTRA_LIBS)"
-	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
-endef
-
-# Link the objects in $2 into the application $1
-#
-define LINK
-	@$(ECHO) "LINK:    $1"
-	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)"
-	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
-
-endef
-
diff --git a/makefiles/posix/DISABLE_config_posix_muorb_test.mk b/makefiles/posix/DISABLE_config_posix_muorb_test.mk
deleted file mode 100644
index 5f0074e2ba..0000000000
--- a/makefiles/posix/DISABLE_config_posix_muorb_test.mk
+++ /dev/null
@@ -1,78 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/led
-#MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-
-#
-# Libraries
-#
-#MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
-
-#
-# posix port
-#
-MODULES		+= platforms/posix/px4_layer
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-
-#
-# muorb fastrpc changes.
-#
-#MODULES		+= $(PX4_BASE)../muorb_krait
-
-#
-# Unit tests
-#
-MODULES		+= platforms/posix/tests/muorb
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
diff --git a/makefiles/posix/board_posix.mk b/makefiles/posix/board_posix.mk
deleted file mode 100644
index 4e8c9e9f58..0000000000
--- a/makefiles/posix/board_posix.mk
+++ /dev/null
@@ -1,12 +0,0 @@
-#
-# Board-specific definitions for the POSIX port of PX4
-# for use in SITL testing
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = NATIVE
-CONFIG_BOARD			 = SITL
-
-include $(PX4_MK_DIR)/posix/toolchain_native.mk
diff --git a/makefiles/posix/config_posix_sitl.mk b/makefiles/posix/config_posix_sitl.mk
deleted file mode 100644
index b745d0e263..0000000000
--- a/makefiles/posix/config_posix_sitl.mk
+++ /dev/null
@@ -1,107 +0,0 @@
-#
-# Makefile for the SITL configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/boards/sitl
-MODULES		+= drivers/device
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/rgbled
-MODULES		+= drivers/led
-MODULES		+= modules/sensors
-MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES		+= systemcmds/param
-MODULES		+= systemcmds/mixer
-#MODULES 	+= systemcmds/esc_calib
-MODULES		+= systemcmds/tests
-#MODULES 	+= systemcmds/reboot
-MODULES 	+= systemcmds/topic_listener
-MODULES		+= systemcmds/ver
-MODULES		+= systemcmds/esc_calib
-MODULES		+= systemcmds/reboot
-
-#
-# General system control
-#
-MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES 	+= modules/navigator
-MODULES 	+= modules/mc_pos_control
-MODULES		+= modules/mc_att_control
-MODULES 	+= modules/mc_pos_control_multiplatform
-MODULES		+= modules/mc_att_control_multiplatform
-MODULES		+= modules/land_detector
-MODULES		+= modules/fw_att_control
-MODULES		+= modules/fw_pos_control_l1
-
-
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
-MODULES		+= modules/sdlog2
-MODULES		+= modules/simulator
-MODULES		+= modules/commander
-MODULES 	+= modules/controllib
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/ecl
-MODULES		+= lib/external_lgpl
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES		+= lib/launchdetection
-
-
-#
-# POSIX port
-#
-MODULES		+= platforms/posix/px4_layer
-MODULES		+= platforms/posix/work_queue
-MODULES		+= platforms/posix/drivers/accelsim
-MODULES		+= platforms/posix/drivers/gyrosim
-MODULES		+= platforms/posix/drivers/adcsim
-MODULES		+= platforms/posix/drivers/barosim
-MODULES		+= platforms/posix/drivers/tonealrmsim
-MODULES		+= platforms/posix/drivers/airspeedsim
-MODULES 	+= platforms/posix/drivers/gpssim
-
-#
-# Unit tests
-#
-#MODULES	+= platforms/posix/tests/hello
-MODULES	+= platforms/posix/tests/vcdev_test
-#MODULES	+= platforms/posix/tests/hrt_test
-#MODULES	+= platforms/posix/tests/wqueue
-
-#
-# muorb fastrpc changes.
-#
-#MODULES	+= $(PX4_BASE)../muorb_krait
diff --git a/makefiles/posix/firmware_posix.mk b/makefiles/posix/firmware_posix.mk
deleted file mode 100644
index f6f087d449..0000000000
--- a/makefiles/posix/firmware_posix.mk
+++ /dev/null
@@ -1,56 +0,0 @@
-#
-#   Copyright (c) 2012-2015 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.
-#
-
-#
-# Built products
-#
-FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
-
-all: 	$(FIRMWARES)
-
-#
-# Generate FIRMWARES.
-#
-.PHONY: $(FIRMWARES)
-$(BUILD_DIR)%.build/firmware.a: config   = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
-$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	checkgitversion generateuorbtopicheaders
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-		-f $(PX4_MK_DIR)firmware.mk \
-		CONFIG=$(config) \
-		WORK_DIR=$(work_dir) \
-		$(FIRMWARE_GOAL)
-
-
diff --git a/makefiles/posix/ld.script b/makefiles/posix/ld.script
deleted file mode 100644
index 32478e1e14..0000000000
--- a/makefiles/posix/ld.script
+++ /dev/null
@@ -1,46 +0,0 @@
-/****************************************************************************
- * ld.script
- *
- * Copyright (C) 2015 Mark Charlebois. All rights reserved.
- * Author: Mark Charlebois <charlebm@gmail.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-SECTIONS
-{
-	/*
-	 * Construction data for parameters.
-	 */
-	__param : ALIGN(8) {
-		__param_start = .;
-		KEEP(*(__param*))
-		__param_end = .;
-	}
-}
diff --git a/makefiles/posix/posix.mk b/makefiles/posix/posix.mk
deleted file mode 100644
index 13cb97f0db..0000000000
--- a/makefiles/posix/posix.mk
+++ /dev/null
@@ -1,40 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Rules and definitions related to handling the Linux specific impl when
-# building firmware.
-#
-
-MODULES += \
-		platforms/common \
-		platforms/posix/px4_layer 
-
diff --git a/makefiles/posix/posix_elf.mk b/makefiles/posix/posix_elf.mk
deleted file mode 100644
index bbc7545a5e..0000000000
--- a/makefiles/posix/posix_elf.mk
+++ /dev/null
@@ -1,75 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Makefile for PX4 POSIX based firmware images.
-#
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build.
-#
-PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
-PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
-
-.PHONY:			firmware
-firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)mainapp
-
-#
-# Built product rules
-#
-
-$(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
-
-$(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
-	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
-
-$(WORK_DIR)apps.h: $(WORK_DIR)builtin_commands
-	$(PX4_BASE)/Tools/posix_apps.py > $(WORK_DIR)apps.h
-
-MAIN = $(PX4_BASE)/src/platforms/posix/main.cpp
-$(WORK_DIR)mainapp: $(PRODUCT_SHARED_LIB) $(WORK_DIR)apps.h
-	$(call LINK,$@, -I. $(MAIN) $(PRODUCT_SHARED_LIB))
-
-#
-# Utility rules
-#
-
-.PHONY: clean
-clean:			$(MODULE_CLEANS)
-	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_ELF)
-	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
-
diff --git a/makefiles/posix/toolchain_native.mk b/makefiles/posix/toolchain_native.mk
deleted file mode 100644
index c3a766d5ef..0000000000
--- a/makefiles/posix/toolchain_native.mk
+++ /dev/null
@@ -1,369 +0,0 @@
-#
-#   Copyright (C) 2012-2014 PX4 Development Team. All rights reuint32_tserved.
-#
-#   2005 Modified for clang and GCC on POSIX:
-#        Author: Mark Charlebois <charlebm@gmail.com>
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Definitions for a native GCC toolchain
-#
-
-#$(info TOOLCHAIN  native)
-
-# Toolchain commands. Normally only used inside this file.
-#
-
-# Set to 1 for GCC-4.8.2 and to 0 for Clang-3.5 (Ubuntu 14.04)
-USE_GCC?=0
-
-ifeq ($(PX4_DEBUG_LEVEL),)
-VERBOSITY_LEVEL=
-else
-VERBOSITY_LEVEL=-D$(PX4_DEBUG_LEVEL)
-endif
-
-ifneq ($(USE_GCC),1)
-
-HAVE_CLANG35:=$(shell clang-3.5 -dumpversion 2>/dev/null)
-
-# Clang will report 4.2.1 as GCC version
-HAVE_CLANG:=$(shell clang -dumpversion 2> /dev/null)
-
-#If using ubuntu 14.04 and packaged clang 3.5
-ifeq ($(HAVE_CLANG35),4.2.1)
-USE_GCC=0
-CLANGVER=-3.5
-else
-
-#If using ubuntu 12.04 and downloaded clang 3.4.2
-ifeq ($(HAVE_CLANG),4.2.1)
-USE_GCC=0
-CLANGVER=
-endif
-endif
-
-# If no version of clang was found
-ifeq ($(HAVE_CLANG35),)
-ifeq ($(HAVE_CLANG),)
-$(error Clang not found. Try make USE_GCC=1)
-endif
-endif
-endif # USE_GCC is not 1
-
-ifeq ($(USE_GCC),1)
-# GCC Options:
-CC			 = gcc
-CXX			 = g++
-CPP			 = gcc -E
-
-# GCC Version
-DEV_VER_SUPPORTED	 = 4.8.1 4.8.2 4.9.1
-
-else
-# Clang options
-CC			 = clang$(CLANGVER)
-CXX			 = clang++$(CLANGVER)
-CPP			 = clang$(CLANGVER) -E
-
-# Clang GCC reported version
-DEV_VER_SUPPORTED	 = 4.2.1
-endif
-
-#LD			 = ld.gold
-LD			 = ld.bfd
-AR			 = ar rcs
-NM			 = nm
-OBJCOPY			 = objcopy
-OBJDUMP			 = objdump
-
-# Check if the right version of the toolchain is available
-#
-DEV_VER_FOUND	 = $(shell $(CC) -dumpversion)
-
-ifeq (,$(findstring $(DEV_VER_FOUND), $(DEV_VER_SUPPORTED)))
-$(error Unsupported version of $(CC), found: $(DEV_VER_FOUND) instead of one in: $(DEV_VER_SUPPORTED))
-endif
-
-
-# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
-
-MAXOPTIMIZATION		 ?= -O3
-
-# Enabling stack checks if OS was build with them
-#
-
-# Set the board flags
-#
-ifeq ($(CONFIG_BOARD),)
-$(error Board config does not define CONFIG_BOARD)
-endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			-Dnoreturn_function=__attribute__\(\(noreturn\)\) \
-			$(VERBOSITY_LEVEL)\
-			-I$(PX4_BASE)/src/modules/systemlib \
-			-I$(PX4_BASE)/src/lib/eigen \
-			-I$(PX4_BASE)/src/platforms/posix/include \
-			-I$(PX4_BASE)/mavlink/include/mavlink \
-			-Wno-error=shadow
-
-UNAME_S := $(shell uname -s)
-ifeq ($(UNAME_S),Linux)
-    ARCHDEFINES		+= -D__PX4_POSIX -D__PX4_LINUX
-endif
-ifeq ($(UNAME_S),Darwin)
-    ARCHDEFINES		+= -D__PX4_POSIX -D__PX4_DARWIN
-endif
-
-# optimisation flags
-#
-ARCHOPTIMIZATION	 = $(MAXOPTIMIZATION) \
-			   -g3 \
-			   -fno-strict-aliasing \
-			   -fomit-frame-pointer \
-			   -funsafe-math-optimizations \
-			   -fno-builtin-printf \
-			   -ffunction-sections \
-			   -fdata-sections
-
-# Language-specific flags
-#
-ARCHCFLAGS		 = -std=gnu99 -g
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=c++11 -fno-threadsafe-statics -D__CUSTOM_FILE_IO__ -g
-
-# Generic warnings
-#
-# Disabled
-#			   -Wshadow 			- Breaks for the libeigen package headers
-#			   -Wframe-larger-than=1024  	- Only needed for embedded
-
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Werror \
-			   -Wfloat-equal \
-			   -Wpointer-arith \
-			   -Wmissing-declarations \
-			   -Wpacked \
-			   -Wno-unused-parameter \
-			   -Wno-packed \
-			   -Werror=format-security \
-			   -Werror=array-bounds \
-			   -Wfatal-errors \
-			   -Werror=unused-variable \
-			   -Werror=reorder \
-			   -Werror=uninitialized \
-			   -Werror=init-self
-
-# Add compiler specific options
-ifeq ($(USE_GCC),1)
-ARCHDEFINES		+=
-ARCHWARNINGS		+= -Wdouble-promotion \
-			   -Wformat=1 \
-			   -Werror=unused-but-set-variable \
-			   -Werror=double-promotion
-ARCHOPTIMIZATION	+= -fno-strength-reduce
-else
-ARCHWARNINGS		+= -Wno-gnu-array-member-paren-init 
-endif
-
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-# C-specific warnings
-#
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wbad-function-cast \
-			   -Wstrict-prototypes \
-			   -Wmissing-prototypes \
-			   -Wnested-externs
-
-# Add compiler specific options
-ifeq ($(USE_GCC),1)
-ARCHCWARNINGS		+= -Wold-style-declaration \
-			   -Wmissing-parameter-type \
-			   -Wno-error=unused-local-typedefs \
-			   -Wno-error=enum-compare \
-			   -Wno-error=float-equal
-endif
-
-# C++-specific warnings
-#
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-missing-field-initializers
-
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
-#EXTRA_LIBS		+= $(LIBM)
-#EXTRA_LIBS		+= ${PX4_BASE}../muorb_krait/lib/libmuorb.so
-EXTRA_LIBS		+= -pthread -lm -lrt
-
-# Flags we pass to the C compiler
-#
-CFLAGS			 = $(ARCHCFLAGS) \
-			   $(ARCHCWARNINGS) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   $(EXTRADEFINES) \
-			   $(EXTRACFLAGS) \
-			   -fno-common \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the C++ compiler
-#
-CXXFLAGS		 = $(ARCHCXXFLAGS) \
-			   $(ARCHWARNINGSXX) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHXXINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   -DCONFIG_WCHAR_BUILTIN \
-			   $(EXTRADEFINES) \
-			   $(EXTRACXXFLAGS) \
-			   -Wno-effc++ \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-ifeq ($(USE_GCC),0)
-CXXFLAGS		+= -Wno-deprecated-register \
-			   -Wno-tautological-constant-out-of-range-compare \
-			   -Wno-unused-private-field \
-			   -Wno-unused-const-variable
-endif
-
-# Flags we pass to the assembler
-#
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
-			   $(EXTRADEFINES) \
-			   $(EXTRAAFLAGS)
-
-LDSCRIPT		 = $(PX4_BASE)/makefiles/posix/ld.script
-# Flags we pass to the linker
-#
-LDFLAGS			+= $(EXTRALDFLAGS) \
-			   $(addprefix -L,$(LIB_DIRS))
-
-# Compiler support library
-#
-LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
-
-# Files that the final link depends on
-#
-#LINK_DEPS		+= $(LDSCRIPT)
-LINK_DEPS		+=
-
-# Files to include to get automated dependencies
-#
-DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
-
-# Compile C source $1 to object $2
-# as a side-effect, generate a dependency file
-#
-define COMPILE
-	@$(ECHO) "CC:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-# Compile C++ source $1 to $2
-# as a side-effect, generate a dependency file
-#
-define COMPILEXX
-	@$(ECHO) "CXX:     $1"
-	@$(MKDIR) -p $(dir $2)
-	@$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-endef
-
-# Assemble $1 into $2
-#
-define ASSEMBLE
-	@$(ECHO) "AS:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINK
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -o $1 $2
-
-endef
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINKF
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
-
-endef
-#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-
-# Update the archive $1 with the files in $2
-#
-define ARCHIVE
-	@$(ECHO) "AR:      $2"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_A
-	@$(ECHO) "LINK_A:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_SO
-	@$(ECHO) "LINK_SO:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(CXX) $(LDFLAGS) -shared -Wl,-soname,`basename $1`.1 -o $1 $2 $(LIBS) -pthread -lc
-endef
-
-# Link the objects in $2 into the application $1
-#
-define LINK
-	@$(ECHO) "LINK:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(CXX) $(CXXFLAGS) $(LDFLAGS) -o $1 $2 $(LIBS) $(EXTRA_LIBS) $(LIBGCC)
-
-endef
-
diff --git a/makefiles/qurt/DISABLE_config_qurt_muorb_test.mk b/makefiles/qurt/DISABLE_config_qurt_muorb_test.mk
deleted file mode 100644
index 07f4355073..0000000000
--- a/makefiles/qurt/DISABLE_config_qurt_muorb_test.mk
+++ /dev/null
@@ -1,77 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/led
-#MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-#MODULES	+= systemcmds/param
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-#MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-
-#
-# Libraries
-#
-#MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-
-#
-# Unit tests
-#
-MODULES		+= platforms/qurt/tests/muorb
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
-#
-# sources for muorb over fastrpc
-#
-MODULES         += $(PX4_BASE)/../muorb_qurt/
diff --git a/makefiles/qurt/board_qurt.mk b/makefiles/qurt/board_qurt.mk
deleted file mode 100644
index 1038a90b76..0000000000
--- a/makefiles/qurt/board_qurt.mk
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# Board-specific definitions for the Linux port of PX4
-#
-
-#
-# Configure the toolchain
-#
-CONFIG_ARCH			 = HEXAGON
-CONFIG_BOARD			 = QURTTEST
-
-include $(PX4_MK_DIR)/qurt/toolchain_hexagon.mk
diff --git a/makefiles/qurt/config_qurt_adsp.mk b/makefiles/qurt/config_qurt_adsp.mk
deleted file mode 100644
index fcd63eef57..0000000000
--- a/makefiles/qurt/config_qurt_adsp.mk
+++ /dev/null
@@ -1,87 +0,0 @@
-#Added configuration specific flags here. 
-
-ifndef HEXAGON_DRIVERS_ROOT
-$(error HEXAGON_DRIVERS_ROOT is not set)
-endif
-ifndef EAGLE_DRIVERS_SRC
-$(error EAGLE_DRIVERS_SRC is not set)
-endif
-
-INCLUDE_DIRS += $(HEXAGON_DRIVERS_ROOT)/inc
-
-# For Actual flight we need to link against the driver dynamic libraries
-LDFLAGS	+= -L${HEXAGON_DRIVERS_ROOT}/libs -lmpu9x50
-LDFLAGS	+= -luart_esc
-LDFLAGS	+= -lcsr_gps
-LDFLAGS	+= -lrc_receiver
-
-#
-# Makefile for the EAGLE QuRT *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= modules/sensors
-MODULES		+= $(EAGLE_DRIVERS_SRC)/mpu9x50
-MODULES		+= $(EAGLE_DRIVERS_SRC)/uart_esc
-MODULES		+= $(EAGLE_DRIVERS_SRC)/rc_receiver
-MODULES		+= $(EAGLE_DRIVERS_SRC)/csr_gps
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-
-
-#
-# General system control
-#
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-MODULES		+= modules/commander
-MODULES 	+= modules/controllib
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/work_queue
-
-#
-# Unit tests
-#
-
-#
-# sources for muorb over fastrpc
-#
-MODULES         += modules/muorb/adsp/
diff --git a/makefiles/qurt/config_qurt_default.mk b/makefiles/qurt/config_qurt_default.mk
deleted file mode 100644
index e09754ab7b..0000000000
--- a/makefiles/qurt/config_qurt_default.mk
+++ /dev/null
@@ -1,83 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Use the configuration's ROMFS.
-#
-#ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/blinkm
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/led
-MODULES		+= drivers/rgbled
-MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/work_queue
-MODULES		+= platforms/posix/drivers/accelsim
-MODULES		+= platforms/posix/drivers/gyrosim
-MODULES		+= platforms/posix/drivers/adcsim
-MODULES		+= platforms/posix/drivers/barosim
-
-#
-# Unit tests
-#
-MODULES		+= platforms/qurt/tests/hello
-MODULES		+= platforms/posix/tests/vcdev_test
-MODULES		+= platforms/posix/tests/hrt_test
-MODULES		+= platforms/posix/tests/wqueue
-
-#
-# sources for muorb over fastrpc
-#
-#MODULES         += $(PX4_BASE)/../muorb_qurt/
diff --git a/makefiles/qurt/config_qurt_hello.mk b/makefiles/qurt/config_qurt_hello.mk
deleted file mode 100644
index 2ec18b7fce..0000000000
--- a/makefiles/qurt/config_qurt_hello.mk
+++ /dev/null
@@ -1,74 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/led
-#MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/mc_att_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-
-#
-# Libraries
-#
-#MODULES		+= lib/mathlib
-#MODULES		+= lib/mathlib/math/filter
-#MODULES		+= lib/geo
-#MODULES		+= lib/geo_lookup
-#MODULES		+= lib/conversion
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/work_queue
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-
-#
-# Unit tests
-#
-MODULES		+= platforms/qurt/tests/hello
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
diff --git a/makefiles/qurt/config_qurt_hil.mk b/makefiles/qurt/config_qurt_hil.mk
deleted file mode 100644
index 6f14dd6a00..0000000000
--- a/makefiles/qurt/config_qurt_hil.mk
+++ /dev/null
@@ -1,84 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-MODULES		+= drivers/boards/sitl
-#MODULES		+= drivers/blinkm
-MODULES		+= drivers/pwm_out_sim
-MODULES		+= drivers/led
-MODULES		+= drivers/rgbled
-MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-MODULES	+= systemcmds/param
-MODULES += systemcmds/mixer
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-MODULES		+= modules/ekf_att_pos_estimator
-MODULES		+= modules/attitude_estimator_q
-MODULES		+= modules/position_estimator_inav
-
-#
-# Vehicle Control
-#
-MODULES		+= modules/mc_att_control
-MODULES		+= modules/mc_pos_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-MODULES		+= modules/commander
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-MODULES 	+= modules/controllib
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/work_queue
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-
-#
-# Unit tests
-#
-#MODULES		+= platforms/qurt/tests/muorb
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
-#
-# sources for muorb over fastrpc
-#
-MODULES         += modules/muorb/adsp/
diff --git a/makefiles/qurt/config_qurt_muorb_test.mk b/makefiles/qurt/config_qurt_muorb_test.mk
deleted file mode 100644
index 57a961734f..0000000000
--- a/makefiles/qurt/config_qurt_muorb_test.mk
+++ /dev/null
@@ -1,80 +0,0 @@
-#
-# Makefile for the Foo *default* configuration
-#
-
-#
-# Board support modules
-#
-MODULES		+= drivers/device
-#MODULES		+= drivers/blinkm
-#MODULES		+= drivers/pwm_out_sim
-#MODULES		+= drivers/led
-#MODULES		+= drivers/rgbled
-#MODULES		+= modules/sensors
-#MODULES		+= drivers/ms5611
-
-#
-# System commands
-#
-#MODULES	+= systemcmds/param
-#MODULES += systemcmds/mixer
-
-#
-# General system control
-#
-#MODULES		+= modules/mavlink
-
-#
-# Estimation modules (EKF/ SO3 / other filters)
-#
-#MODULES		+= modules/attitude_estimator_ekf
-#MODULES		+= modules/ekf_att_pos_estimator
-
-#
-# Vehicle Control
-#
-#MODULES		+= modules/mc_att_control
-#MODULES		+= modules/mc_pos_control
-
-#
-# Library modules
-#
-MODULES		+= modules/systemlib
-#MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-#MODULES		+= modules/dataman
-#MODULES		+= modules/sdlog2
-#MODULES		+= modules/simulator
-#MODULES		+= modules/commander
-
-#
-# Libraries
-#
-MODULES		+= lib/mathlib
-MODULES		+= lib/mathlib/math/filter
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
-
-#
-# QuRT port
-#
-MODULES		+= platforms/qurt/px4_layer
-MODULES		+= platforms/posix/work_queue
-#MODULES		+= platforms/posix/drivers/accelsim
-#MODULES		+= platforms/posix/drivers/gyrosim
-#MODULES		+= platforms/posix/drivers/adcsim
-#MODULES		+= platforms/posix/drivers/barosim
-
-#
-# Unit tests
-#
-MODULES		+= platforms/qurt/tests/muorb
-#MODULES		+= platforms/posix/tests/vcdev_test
-#MODULES		+= platforms/posix/tests/hrt_test
-#MODULES		+= platforms/posix/tests/wqueue
-
-#
-# sources for muorb over fastrpc
-#
-MODULES         += modules/muorb/adsp/
diff --git a/makefiles/qurt/firmware_qurt.mk b/makefiles/qurt/firmware_qurt.mk
deleted file mode 100644
index ac87683487..0000000000
--- a/makefiles/qurt/firmware_qurt.mk
+++ /dev/null
@@ -1,62 +0,0 @@
-#
-#   Copyright (c) 2012-2015 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.
-#
-
-#
-# Built products
-#
-FIRMWARES		 = $(foreach config,$(CONFIGS),$(BUILD_DIR)$(config).build/firmware.a)
-
-all: 	$(FIRMWARES)
-
-#
-# Generate FIRMWARES.
-#
-.PHONY: $(FIRMWARES)
-$(BUILD_DIR)%.build/firmware.a: config   = $(patsubst $(BUILD_DIR)%.build/firmware.a,%,$@)
-$(BUILD_DIR)%.build/firmware.a: work_dir = $(BUILD_DIR)$(config).build/
-$(FIRMWARES): $(BUILD_DIR)%.build/firmware.a:	generateuorbtopicheaders
-	@$(ECHO) %%%%
-	@$(ECHO) %%%% Building $(config) in $(work_dir)
-	@$(ECHO) %%%%
-	$(Q) $(MKDIR) -p $(work_dir)
-	$(Q) $(MAKE) -r --no-print-directory -C $(work_dir) \
-		-f $(PX4_MK_DIR)firmware.mk \
-		CONFIG=$(config) \
-		WORK_DIR=$(work_dir) \
-		$(FIRMWARE_GOAL)
-
-HEXAGON_TOOLS_ROOT	 ?= /opt/6.4.03
-V_ARCH			 = v5
-HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
-SIM     = $(HEXAGON_CLANG_BIN)/hexagon-sim
-SIMFLAGS+= -m$(V_ARCH) 
-sim:
-	$(SIM) $(SIMFLAGS) Build/qurt_default.build/mainapp
diff --git a/makefiles/qurt/qurt.mk b/makefiles/qurt/qurt.mk
deleted file mode 100644
index 00bbe8dc8f..0000000000
--- a/makefiles/qurt/qurt.mk
+++ /dev/null
@@ -1,39 +0,0 @@
-#
-#   Copyright (C) 2015 Mark Charlebois. 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.
-#
-
-#
-# Rules and definitions related to handling the Linux specific impl when
-# building firmware.
-#
-
-MODULES += \
-	platforms/common 
-
diff --git a/makefiles/qurt/qurt_eigen.patch b/makefiles/qurt/qurt_eigen.patch
deleted file mode 100644
index 9ea57403ba..0000000000
--- a/makefiles/qurt/qurt_eigen.patch
+++ /dev/null
@@ -1,17 +0,0 @@
-This patch is required for QuRT. complex.h defines "I" and it replaces "I" in the 
-enum definition without this patch creating an error.
-
-diff --git a/Eigen/src/Core/SolveTriangular.h b/Eigen/src/Core/SolveTriangular.h
-index ef17f28..1116270 100644
---- a/Eigen/src/Core/SolveTriangular.h
-+++ b/Eigen/src/Core/SolveTriangular.h
-@@ -112,6 +112,9 @@ template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
-          bool Stop = Index==Size>
- struct triangular_solver_unroller;
- 
-+#ifdef __PX4_QURT
-+#undef I
-+#endif
- template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
- struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
-   enum {
diff --git a/makefiles/qurt/qurt_elf.mk b/makefiles/qurt/qurt_elf.mk
deleted file mode 100644
index 73f1cd4ece..0000000000
--- a/makefiles/qurt/qurt_elf.mk
+++ /dev/null
@@ -1,85 +0,0 @@
-#
-#   Copyright (C) 2012 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.
-#
-
-#
-# Makefile for PX4 Linux based firmware images.
-#
-
-################################################################################
-# Build rules
-################################################################################
-
-#
-# What we're going to build.
-#
-
-EXTRALDFLAGS = -Wl,-soname=libpx4.so
-PRODUCT_SHARED_LIB	= $(WORK_DIR)firmware.a
-PRODUCT_SHARED_PRELINK	= $(WORK_DIR)firmware.o
-
-.PHONY:			firmware
-firmware:		$(PRODUCT_SHARED_LIB) $(WORK_DIR)libpx4.so $(WORK_DIR)mainapp
-
-#
-# Built product rules
-#
-
-$(PRODUCT_SHARED_PRELINK):	$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKFILES)
-	$(call PRELINKF,$@,$(OBJS) $(MODULE_OBJS) $(LIBRARY_LIBS))
-
-$(PRODUCT_SHARED_LIB):		$(PRODUCT_SHARED_PRELINK)
-	$(call LINK_A,$@,$(PRODUCT_SHARED_PRELINK))
-
-$(WORK_DIR)apps.cpp: $(PX4_BASE)/Tools/qurt_apps.py 
-	$(PX4_BASE)/Tools/qurt_apps.py > $@
-
-$(WORK_DIR)apps.o: $(WORK_DIR)apps.cpp
-	$(call COMPILEXX,$<, $@)
-	mv $(WORK_DIR)apps.cpp $(WORK_DIR)apps.cpp_sav
-
-$(WORK_DIR)libpx4.so: $(WORK_DIR)apps.o $(PRODUCT_SHARED_LIB)
-	$(call LINK_SO,$@, $^)
-
-$(WORK_DIR)dspal_stub.o: $(PX4_BASE)/src/platforms/qurt/dspal/dspal_stub.c
-	$(call COMPILENOSHARED,$^, $@)
-
-$(WORK_DIR)mainapp: $(WORK_DIR)dspal_stub.o
-	$(call LINK,$@, $^)
-
-#
-# Utility rules
-#
-
-.PHONY: clean
-clean:			$(MODULE_CLEANS)
-	@$(ECHO) %% cleaning
-	$(Q) $(REMOVE) $(PRODUCT_ELF)
-	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
diff --git a/makefiles/qurt/setup.sh b/makefiles/qurt/setup.sh
deleted file mode 100755
index 8ffb13cc4b..0000000000
--- a/makefiles/qurt/setup.sh
+++ /dev/null
@@ -1,48 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2015 Mark Charlebois. 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.
-#
-# ###########################################################################
-
-#
-# This file is required to modify the PX4 project so it can be build with
-# the Hexagon toolchain.
-#
-# 1. Downgrade Eigen to 3.2 because the C++11 features of latest version
-#    are not supported
-# 2. Patch Eigen because the Hexagon toolchain complex.h defines "I"
-#
-
-cd $1
-cd src/lib/eigen/
-git checkout .
-git checkout e7850ed81f9c469e02df496ef09ae32ec0379b71
-patch -p1 < ../../../makefiles/qurt/qurt_eigen.patch 
-
diff --git a/makefiles/qurt/toolchain_hexagon.mk b/makefiles/qurt/toolchain_hexagon.mk
deleted file mode 100644
index 77a9d4e838..0000000000
--- a/makefiles/qurt/toolchain_hexagon.mk
+++ /dev/null
@@ -1,345 +0,0 @@
-#
-#   Copyright (C) 2015 Mark Charlebois. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Definitions for a generic GNU ARM-EABI toolchain
-#
-
-#$(info TOOLCHAIN  gnu-arm-eabi)
-
-# Toolchain commands. Normally only used inside this file.
-#
-HEXAGON_TOOLS_ROOT	 ?= /opt/6.4.03
-#HEXAGON_TOOLS_ROOT	 = /opt/6.4.05
-HEXAGON_SDK_ROOT	 ?= /opt/Hexagon_SDK/2.0
-V_ARCH			 = v5
-CROSSDEV		 = hexagon-
-HEXAGON_BIN		 = $(addsuffix /gnu/bin,$(HEXAGON_TOOLS_ROOT))
-HEXAGON_CLANG_BIN	 = $(addsuffix /qc/bin,$(HEXAGON_TOOLS_ROOT))
-HEXAGON_LIB_DIR		 = $(HEXAGON_TOOLS_ROOT)/gnu/hexagon/lib
-HEXAGON_ISS_DIR		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/iss
-TOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/dinkumware/lib/$(V_ARCH)/G0
-QCTOOLSLIB		 = $(HEXAGON_TOOLS_ROOT)/qc/lib/$(V_ARCH)/G0
-QURTLIB			 = $(HEXAGON_SDK_ROOT)/lib/common/qurt/ADSP$(V_ARCH)MP/lib
-DSPAL_INCS		 ?= $(PX4_BASE)/src/lib/dspal
-
-
-CC			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang
-CXX			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang++
-CPP			 = $(HEXAGON_CLANG_BIN)/$(CROSSDEV)clang -E
-LD			 = $(HEXAGON_BIN)/$(CROSSDEV)ld
-AR			 = $(HEXAGON_BIN)/$(CROSSDEV)ar rcs
-NM			 = $(HEXAGON_BIN)/$(CROSSDEV)nm
-OBJCOPY			 = $(HEXAGON_BIN)/$(CROSSDEV)objcopy
-OBJDUMP			 = $(HEXAGON_BIN)/$(CROSSDEV)objdump
-HEXAGON_GCC		 = $(HEXAGON_BIN)/$(CROSSDEV)gcc
-
-QURTLIBS		 = \
-			   $(QCTOOLSLIB)/libdl.a \
-			   $(TOOLSLIB)/init.o \
-			   $(TOOLSLIB)/libc.a \
-			   $(TOOLSLIB)/libqcc.a \
-			   $(TOOLSLIB)/libstdc++.a \
-			   $(QURTLIB)/crt0.o \
-			   $(QURTLIB)/libqurt.a \
-			   $(QURTLIB)/libqurtkernel.a \
-			   $(QURTLIB)/libqurtcfs.a \
-			   $(QURTLIB)/libqube_compat.a \
-			   $(QURTLIB)/libtimer.a \
-			   $(QURTLIB)/libposix.a \
-			   $(QURTLIB)/../examples/cust_config.o \
-			   $(QCTOOLSLIB)/libhexagon.a \
-			   $(TOOLSLIB)/fini.o 
-
-DYNAMIC_LIBS            = \
-			   -Wl,$(TOOLSLIB)/pic/libstdc++.a
-
-
-# Check if the right version of the toolchain is available
-#
-CROSSDEV_VER_SUPPORTED	 = 6.4.03 6.4.05
-CROSSDEV_VER_FOUND	 = $(shell $(CC) --version | sed -n 's/^.*version \([\. 0-9]*\),.*$$/\1/p')
-
-ifeq (,$(findstring $(CROSSDEV_VER_FOUND), $(CROSSDEV_VER_SUPPORTED)))
-$(error Unsupported version of $(CC), found: $(CROSSDEV_VER_FOUND) instead of one in: $(CROSSDEV_VER_SUPPORTED))
-endif
-
-
-# XXX this is pulled pretty directly from the fmu Make.defs - needs cleanup
-
-MAXOPTIMIZATION		 := -O0
-
-# Base CPU flags for each of the supported architectures.
-#
-ARCHCPUFLAGS	 	 = -m$(V_ARCH) -G0
-
-
-# Set the board flags
-#
-ifeq ($(CONFIG_BOARD),)
-$(error Board config does not define CONFIG_BOARD)
-endif
-ARCHDEFINES		+= -DCONFIG_ARCH_BOARD_$(CONFIG_BOARD) \
-			    -D__PX4_QURT -D__PX4_POSIX \
-			    -D_PID_T -D_UID_T -D_TIMER_T\
-			    -Dnoreturn_function= \
-			    -D__EXPORT= \
-			    -Drestrict= \
-			    -D_DEBUG \
-			    -I$(DSPAL_INCS)/include \
-			    -I$(DSPAL_INCS)/sys \
-			    -I$(HEXAGON_TOOLS_ROOT)/gnu/hexagon/include \
-			    -I$(PX4_BASE)/src/lib/eigen \
-			    -I$(PX4_BASE)/src/platforms/qurt/include \
-			    -I$(PX4_BASE)/src/platforms/posix/include \
-			    -I$(PX4_BASE)/mavlink/include/mavlink \
-			    -I$(PX4_BASE)/../inc \
-			    -I$(QURTLIB)/..//include \
-			    -I$(HEXAGON_SDK_ROOT)/inc \
-			    -I$(HEXAGON_SDK_ROOT)/inc/stddef \
-			    -Wno-error=shadow
-
-
-
-# optimisation flags
-#
-ARCHOPTIMIZATION	 = \
-                           -O0 \
-			   -g \
-			   -fno-strict-aliasing \
-			   -fdata-sections \
-                           -fpic  \
-                           -fno-zero-initialized-in-bss
-
-#-fomit-frame-pointer \
-#-funsafe-math-optimizations \
-#-ffunction-sections
-#$(MAXOPTIMIZATION)
-
-# enable precise stack overflow tracking
-# note - requires corresponding support in NuttX
-INSTRUMENTATIONDEFINES	 = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
-
-# Language-specific flags
-#
-ARCHCFLAGS		 = -std=gnu99 -D__CUSTOM_FILE_IO__
-ARCHCXXFLAGS		 = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
-
-# Generic warnings
-#
-ARCHWARNINGS		 = -Wall \
-			   -Wextra \
-			   -Werror \
-			   -Wno-unused-parameter \
-			   -Wno-unused-function \
-			   -Wno-unused-variable \
-			   -Wno-gnu-array-member-paren-init \
-			   -Wno-cast-align \
-			   -Wno-missing-braces \
-			   -Wno-strict-aliasing
-#   -Werror=float-conversion - works, just needs to be phased in with some effort and needs GCC 4.9+
-#   -Wcast-qual  - generates spurious noreturn attribute warnings, try again later
-#   -Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
-#   -Wcast-align - would help catch bad casts in some cases, but generates too many false positives
-
-# C-specific warnings
-#
-ARCHCWARNINGS		 = $(ARCHWARNINGS) \
-			   -Wstrict-prototypes \
-			   -Wnested-externs
-
-# C++-specific warnings
-#
-ARCHWARNINGSXX		 = $(ARCHWARNINGS) \
-			   -Wno-missing-field-initializers
-
-# pull in *just* libm from the toolchain ... this is grody
-LIBM			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-file-name=libm.a)
-EXTRA_LIBS		+= $(LIBM)
-
-# Flags we pass to the C compiler
-#
-CFLAGS			 = $(ARCHCFLAGS) \
-			   $(ARCHCWARNINGS) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   $(EXTRADEFINES) \
-			   $(EXTRACFLAGS) \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-			   #-fno-common
-# Flags we pass to the C++ compiler
-#
-CXXFLAGS		 = $(ARCHCXXFLAGS) \
-			   $(ARCHWARNINGSXX) \
-			   $(ARCHOPTIMIZATION) \
-			   $(ARCHCPUFLAGS) \
-			   $(ARCHXXINCLUDES) \
-			   $(INSTRUMENTATIONDEFINES) \
-			   $(ARCHDEFINES) \
-			   -DCONFIG_WCHAR_BUILTIN \
-			   $(EXTRADEFINES) \
-			   $(EXTRACXXFLAGS) \
-			   $(addprefix -I,$(INCLUDE_DIRS))
-
-# Flags we pass to the assembler
-#
-AFLAGS			 = $(CFLAGS) -D__ASSEMBLY__ \
-			   $(EXTRADEFINES) \
-			   $(EXTRAAFLAGS)
-
-LDSCRIPT		 = $(PX4_BASE)/makefiles/posix/ld.script
-# Flags we pass to the linker
-#
-LDFLAGS			+=  -g -mv5 -mG0lib -G0 -fpic -shared \
-			   -Wl,-Bsymbolic \
-			   -Wl,--wrap=malloc \
-			   -Wl,--wrap=calloc \
-			   -Wl,--wrap=free \
-			   -Wl,--wrap=realloc \
-			   -Wl,--wrap=memalign \
-			   -Wl,--wrap=__stack_chk_fail  \
-                           -lc \
-			   $(EXTRALDFLAGS) \
-			   $(addprefix -L,$(LIB_DIRS))
-
-# Compiler support library
-#
-LIBGCC			:= $(shell $(CC) $(ARCHCPUFLAGS) -print-libgcc-file-name)
-
-# Files that the final link depends on
-#
-LINK_DEPS		+= $(LDSCRIPT)
-
-# Files to include to get automated dependencies
-#
-DEP_INCLUDES		 = $(subst .o,.d,$(OBJS))
-
-# Compile C source $1 to object $2
-# as a side-effect, generate a dependency file
-#
-define COMPILENOSHARED
-	@$(ECHO) "CC:      $1"
-	@$(MKDIR) -p $(dir $2)
-	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-	$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-endef
-
-# Compile C source $1 to object $2 for use in shared library
-# as a side-effect, generate a dependency file
-#
-define COMPILE
-	@$(ECHO) "CC:      $1"
-	@$(MKDIR) -p $(dir $2)
-	@echo $(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) $(abspath $1) -o $2
-	#$(Q) $(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
-	#$(CCACHE) $(CC) -MD -c $(CFLAGS) -D__V_DYNAMIC__  -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
-	$(CCACHE) $(CC) -c $(CFLAGS) -D__V_DYNAMIC__  -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
-endef
-
-# Compile C++ source $1 to $2 for use in shared library
-# as a side-effect, generate a dependency file
-#
-define COMPILEXX
-	@$(ECHO) "CXX:     $1"
-	@$(MKDIR) -p $(dir $2)
-	@echo $(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) $(abspath $1) -o $2
-	#$(Q) $(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -fPIC $(abspath $1) -o $2
-	#$(CCACHE) $(CXX) -MD -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" -fPIC $(abspath $1) -o $2
-	$(CCACHE) $(CXX) -c $(CXXFLAGS) -D__V_DYNAMIC__ -D__FILENAME__=\"$(notdir $1)\" $(abspath $1) -o $2
-endef
-
-# Assemble $1 into $2
-#
-define ASSEMBLE
-	@$(ECHO) "AS:      $1"
-	@$(MKDIR) -p $(dir $2)
-	$(Q) $(CC) -c $(AFLAGS) $(abspath $1) -o $2
-endef
-
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINK
-	@$(ECHO) "PRELINK: $1"
-	@$(MKDIR) -p $(dir $1)
-	@echo $(Q) $(LD) -Ur -o $1 $2
-	$(Q) $(LD) -Ur -o $1 $2
-
-endef
-# Produce partially-linked $1 from files in $2
-#
-#$(Q) $(LD) -Ur -o $1 $2 # -Ur not supported in ld.gold
-define PRELINKF
-	@$(ECHO) "PRELINKF: $1"
-	@$(MKDIR) -p $(dir $1)
-	@echo $(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2
-	$(Q) $(LD) -Ur -T$(LDSCRIPT) -o $1 $2 
-
-endef
-#	$(Q) $(LD) -Ur -o $1 $2 && $(OBJCOPY) --localize-hidden $1
-
-# Update the archive $1 with the files in $2
-#
-define ARCHIVE
-	@$(ECHO) "AR:      $2"
-	@$(MKDIR) -p $(dir $1)
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_A
-	@$(ECHO) "LINK_A:    $1"
-	@$(MKDIR) -p $(dir $1)
-	echo "$(Q) $(AR) $1 $2"
-	$(Q) $(AR) $1 $2
-endef
-
-# Link the objects in $2 into the shared library $1
-#
-define LINK_SO
-	@$(ECHO) "LINK_SO:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(HEXAGON_GCC) $(LDFLAGS) -o $1 -Wl,--whole-archive $2 -Wl,--no-whole-archive $(LIBS) $(DYNAMIC_LIBS)
-endef
-
-# Link the objects in $2 into the application $1
-#
-define LINK
-	@$(ECHO) "LINK:    $1"
-	@$(MKDIR) -p $(dir $1)
-	$(LD) --section-start .start=0x1d000000 -o $1 --start-group $2 $(EXTRA_LIBS) $(QURTLIBS) --end-group --dynamic-linker= -E --force-dynamic
-endef
-
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
deleted file mode 100644
index dd5637bcd9..0000000000
--- a/makefiles/setup.mk
+++ /dev/null
@@ -1,110 +0,0 @@
-#
-#   Copyright (C) 2012 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-#
-# Path and tool setup
-#
-
-export PX4_TARGET_OS 	 ?= nuttx
-
-# PX4_TARGET_OS	can be nuttx, posix, or qurt
-ifeq ($(PX4_TARGET_OS),)
-$(error Use: make PX4_TARGET_OS=<target> where <target> is nuttx, posix, or qurt)
-endif
-
-#
-# Some useful paths.
-#
-# Note that in general we always keep directory paths with the separator
-# at the end, and join paths without explicit separators. This reduces
-# the number of duplicate slashes we have lying around in paths,
-# and is consistent with joining the results of $(dir) and $(notdir).
-#
-export PX4_INCLUDE_DIR	 = $(abspath $(PX4_BASE)/src/include)/
-export PX4_MODULE_SRC	 = $(abspath $(PX4_BASE)/src)/
-export PX4_LIB_DIR	 = $(abspath $(PX4_BASE)/src/lib)/
-export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
-export PX4_MK_DIR	 = $(abspath $(PX4_BASE)/makefiles)/
-export NUTTX_SRC	 = $(abspath $(PX4_BASE)/NuttX/nuttx)/
-export NUTTX_APP_SRC	 = $(abspath $(PX4_BASE)/NuttX/apps)/
-#export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
-export MAVLINK_SRC	 = $(abspath $(PX4_BASE)/mavlink)/
-export UAVCAN_DIR	 = $(abspath $(PX4_BASE)/uavcan)/
-export ROMFS_SRC	 = $(abspath $(PX4_BASE)/ROMFS)/
-export IMAGE_DIR	 = $(abspath $(PX4_BASE)/Images)/
-export BUILD_DIR	 = $(abspath $(PX4_BASE)/Build)/
-export ARCHIVE_DIR	 = $(abspath $(PX4_BASE)/Archives)/
-export PX4_VERSIONING_DIR = $(BUILD_DIR)versioning/
-
-#
-# Default include paths
-#
-export INCLUDE_DIRS	:= $(PX4_MODULE_SRC) \
-			   $(PX4_MODULE_SRC)/modules/ \
-			   $(PX4_INCLUDE_DIR) \
-			   $(PX4_LIB_DIR) \
-			   $(PX4_PLATFORMS_DIR) \
-			   $(PX4_VERSIONING_DIR)
-
-#
-# Tools
-#
-export MKFW		 = $(PX4_BASE)/Tools/px_mkfw.py
-export UPLOADER		 = $(PX4_BASE)/Tools/px_uploader.py
-export COPY		 = cp
-export COPYDIR		 = cp -Rf
-export REMOVE		 = rm -f
-export RMDIR		 = rm -rf
-export GENROMFS		 = genromfs
-export TOUCH		 = touch
-export MKDIR		 = mkdir
-export FIND		 = find
-export ECHO		 = echo
-export UNZIP_CMD	 = unzip
-export PYTHON		 = python
-export OPENOCD		 = openocd
-export GREP		 = grep
-export SIZE		 = size
-
-#
-# Host-specific paths, hacks and fixups
-#
-export SYSTYPE		:= $(shell uname -s)
-
-ifeq ($(SYSTYPE),Darwin)
-# Eclipse may not have the toolchain on its path.
-export PATH		:= $(PATH):/usr/local/bin
-endif
-
-#
-# Makefile debugging.
-#
-export Q		:= $(if $(V),,@)