diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 7ad8254d8a..b08565971c 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -101,9 +101,14 @@ include(CMakeParseArguments)
 function(px4_parse_function_args)
 	cmake_parse_arguments(IN "" "NAME" "OPTIONS;ONE_VALUE;MULTI_VALUE;REQUIRED;ARGN" "${ARGN}")
 	cmake_parse_arguments(OUT "${IN_OPTIONS}" "${IN_ONE_VALUE}" "${IN_MULTI_VALUE}" "${IN_ARGN}")
+	if (OUT_UNPARSED_ARGUMENTS)
+		message(FATAL_ERROR "${IN_NAME}: unparsed ${OUT_UNPARSED_ARGUMENTS}")
+	endif()
 	foreach(arg ${IN_REQUIRED})
 		if (NOT OUT_${arg})
-			message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
+			if (NOT "${OUT_${arg}}" STREQUAL "0")
+				message(FATAL_ERROR "${IN_NAME} requires argument ${arg}\nARGN: ${IN_ARGN}")
+			endif()
 		endif()
 	endforeach()
 	foreach(arg ${IN_OPTIONS} ${IN_ONE_VALUE} ${IN_MULTI_VALUE})
@@ -143,6 +148,9 @@ function(px4_add_git_submodule)
 		)
 	add_custom_target(${TARGET}
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+# todo:Not have 2 list of submodues one (see the end of Tools/check_submodules.sh and Firmware/CMakeLists.txt)
+# using the list of submodules from the CMake file to drive the test
+#		COMMAND Tools/check_submodules.sh ${PATH}
 		DEPENDS ${PX4_BINARY_DIR}/git_init_${NAME}.stamp
 		)
 endfunction()
@@ -240,7 +248,7 @@ endfunction()
 #		STACK			: deprecated use stack main instead
 #		STACK_MAIN		: size of stack for main function
 #		STACK_MAX		: maximum stack size of any frame
-#		COMPILE_FLAGS		: compile flags
+#		COMPILE_FLAGS	: compile flags
 #		LINK_FLAGS		: link flags
 #		SRCS			: source files
 #		INCLUDES		: include directories
@@ -375,6 +383,8 @@ function(px4_generate_messages)
 		MULTI_VALUE MSG_FILES DEPENDS INCLUDES
 		REQUIRED MSG_FILES OS TARGET
 		ARGN ${ARGN})
+	if("${config_nuttx_config}" STREQUAL "bootloader")
+	else()
 	set(QUIET)
 	if(NOT VERBOSE)
 		set(QUIET "-q")
@@ -463,7 +473,7 @@ function(px4_generate_messages)
 		${msg_multi_files_out}
 		${msg_files_out}
 		)
-
+    endif()
 endfunction()
 
 #=============================================================================
@@ -1043,7 +1053,7 @@ function(px4_generate_airframes_xml)
 	set(process_airframes ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
 	add_custom_command(OUTPUT ${OUT}
 		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-			-a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			-a ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${BOARD} --xml
 		)
 	set(${OUT} ${${OUT}} PARENT_SCOPE)
@@ -1098,6 +1108,34 @@ function(px4_copy_tracked)
 	set(${OUT} ${_files_out} PARENT_SCOPE)
 endfunction()
 
+#=============================================================================
+#
+#	px4_share_subdirectory
+#
+#	This function simplifes sharing a sub directory
+#
+#	Usage:
+#		px4_share_subdirectory(RELDIR <relative path> ARGS <args>)
+#
+#	Input:
+#		RELDIR	: The relitive path to share.
+#		ARGS		: Any optional arguments to pass to add_subdirectory
+#
+#	Output:
+#						: None
+#
+#	Example:
+#		px4_share_subdirectory(RELDIR ../uavcan/libuavcan  ARGS EXCLUDE_FROM_ALL)
+#
+function(px4_share_subdirectory)
+	px4_parse_function_args(
+		NAME px4_share_subdirectory
+		ONE_VALUE OUT RELDIR
+		MULTI_VALUE ARGS
+		REQUIRED RELDIR
+		ARGN ${ARGN})
+		add_subdirectory(${RELDIR} ${RELDIR}/${RELDIR} ${ARGS})
+endfunction()
 #=============================================================================
 #
 #	px4_strip_optimization
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 562d97f982..16d4a9813b 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -38,6 +38,7 @@
 # 	OS Specific Functions
 #
 #		* px4_nuttx_add_firmware
+#		* px4_nuttx_make_uavcan_bootloadable
 #		* px4_nuttx_generate_builtin_commands
 #		* px4_nuttx_add_export
 #		* px4_nuttx_add_romfs
@@ -93,7 +94,7 @@ function(px4_nuttx_add_firmware)
 			)
 	endif()
 
-	add_custom_command(OUTPUT ${OUT}
+	add_custom_command(OUTPUT ${OUT} ${EXE}.bin
 		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
 		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
 			--prototype ${PX4_SOURCE_DIR}/Images/${BOARD}.prototype
@@ -105,6 +106,70 @@ function(px4_nuttx_add_firmware)
 	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
 endfunction()
 
+#=============================================================================
+#
+#	px4_nuttx_make_uavcan_bootloadable
+#
+#	This function adds a uavcan boot loadable target.
+#
+#	Usage:
+#	  px4_nuttx_make_uavcan_bootloadable(
+#	   BOARD	<board>
+#	   BIN <input bin file>)
+#	   HWNAME <uavcan name>
+#	   HW_MAJOR <number>
+#	   HW_MINOR <number>
+#	   SW_MAJOR <number>
+#	   SW_MINOR <number>)
+#
+#	Input:
+#	  BOARD      : the board
+#	  BIN        : the bin file to generate the bootloadable image from
+#	  HWNAME     : the uavcan name
+#	  HW_MAJOR   : the major hardware revision
+#	  HW_MINOR   : the minor hardware revision
+#	  SW_MAJOR   : the major software revision
+#	  SW_MINOR   : the minor software revision
+#
+#	Output:
+#		OUT			: None
+#
+#	Example:
+#	px4_nuttx_make_uavcan_bootloadable(
+#	  BOARD ${BOARD}
+#		BIN ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+#		HWNAME ${uavcanblid_name}
+#		HW_MAJOR ${uavcanblid_hw_version_major}
+#		HW_MINOR ${uavcanblid_hw_version_minor}
+#		SW_MAJOR ${uavcanblid_sw_version_major}
+#		SW_MINOR ${uavcanblid_sw_version_minor}
+#	 )
+#
+function(px4_nuttx_make_uavcan_bootloadable)
+	px4_parse_function_args(
+		NAME px4_nuttx_make_uavcan_bootloadable
+		ONE_VALUE BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
+		REQUIRED BOARD BIN HWNAME HW_MAJOR HW_MINOR SW_MAJOR SW_MINOR
+		ARGN ${ARGN})
+	string(REPLACE "\"" "" HWNAME ${HWNAME})
+	execute_process(
+		COMMAND git rev-list HEAD --max-count=1 --abbrev=8 --abbrev-commit
+		OUTPUT_VARIABLE uavcanbl_git_desc
+		OUTPUT_STRIP_TRAILING_WHITESPACE
+		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	)
+  if ("${uavcanbl_git_desc}" STREQUAL "")
+		set(uavcanbl_git_desc ffffffff)
+  endif()
+	set(uavcan_bl_imange_name ${HWNAME}-${HW_MAJOR}.${HW_MINOR}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
+	message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_imange_name}")
+	add_custom_command(OUTPUT ${uavcan_bl_imange_name}
+		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/make_can_boot_descriptor.py
+			-v --use-git-hash ${BIN} ${uavcan_bl_imange_name}
+		DEPENDS ${BIN})
+	add_custom_target(build_uavcan_bl_${BOARD} ALL DEPENDS ${uavcan_bl_imange_name})
+endfunction()
+
 #=============================================================================
 #
 #	px4_nuttx_generate_builtin_commands
@@ -185,60 +250,75 @@ function(px4_nuttx_add_export)
 
 	set(nuttx_src ${PX4_BINARY_DIR}/${CONFIG}/NuttX)
 
+	# all patches
+	file(GLOB nuttx_patches ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
+
+	# copy
+	file(GLOB_RECURSE nuttx_all_files ${PX4_SOURCE_DIR}/NuttX/*)
+	add_custom_command(OUTPUT nuttx_copy_${CONFIG}.stamp
+		COMMAND ${MKDIR} -p ${nuttx_src}
+		COMMAND rsync -a --delete --exclude=.git ${PX4_SOURCE_DIR}/NuttX/ ${nuttx_src}/
+		COMMAND ${TOUCH} nuttx_copy_${CONFIG}.stamp
+		DEPENDS ${DEPENDS} ${nuttx_patches} ${nuttx_all_files}
+		COMMENT "Copying NuttX for ${CONFIG} with ${config_nuttx_config}")
+
 	# patch
-	add_custom_target(__nuttx_patch_${CONFIG})
-	file(GLOB nuttx_patches RELATIVE ${PX4_SOURCE_DIR}
-	    ${PX4_SOURCE_DIR}/nuttx-patches/*.patch)
+	add_custom_target(nuttx_patch_${CONFIG})
 	foreach(patch ${nuttx_patches})
-		string(REPLACE "/" "_" patch_name "${patch}-${CONFIG}")
-	    message(STATUS "nuttx-patch: ${patch}")
-		add_custom_command(OUTPUT nuttx_patch_${patch_name}.stamp
-			COMMAND ${PATCH} -p0 -N  < ${PX4_SOURCE_DIR}/${patch}
-			COMMAND ${TOUCH} nuttx_patch_${patch_name}.stamp
-			DEPENDS ${DEPENDS}
-			)
-	    add_custom_target(nuttx_patch_${patch_name}
-			DEPENDS nuttx_patch_${patch_name}.stamp)
-	    add_dependencies(nuttx_patch nuttx_patch_${patch_name})
+		get_filename_component(patch_file_name ${patch} NAME)
+		message(STATUS "NuttX patch: nuttx-patches/${patch_file_name}")
+		string(REPLACE "/" "_" patch_name "nuttx_patch_${patch_file_name}-${CONFIG}")
+		set(patch_stamp ${nuttx_src}/${patch_name}.stamp)
+
+		add_custom_command(OUTPUT ${patch_stamp}
+			COMMAND ${PATCH} -d ${nuttx_src} -s -p1 -N < ${patch}
+			COMMAND ${TOUCH} ${patch_stamp}
+			DEPENDS ${DEPENDS} nuttx_copy_${CONFIG}.stamp ${patch}
+			COMMENT "Applying ${patch}")
+
+		add_custom_target(${patch_name} DEPENDS ${patch_stamp})
+		add_dependencies(nuttx_patch_${CONFIG} ${patch_name})
 	endforeach()
 
-	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
+	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes
 	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
-	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig"
+	file(STRINGS "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
 		hw_stack_check_${CONFIG}
 		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
 		)
 	if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
-		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "")
+		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
 	endif()
 
-	# copy and export
-	file(RELATIVE_PATH nuttx_cp_src ${PX4_BINARY_DIR} ${PX4_SOURCE_DIR}/NuttX)
+	# configure
 	file(GLOB_RECURSE config_files ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
-	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/${CONFIG}.export
-		COMMAND ${MKDIR} -p ${nuttx_src}
-		COMMAND rsync -a --delete --exclude=.git ${nuttx_cp_src}/ ${CONFIG}/NuttX/
-		#COMMAND ${ECHO} Configuring NuttX for ${CONFIG}
-		COMMAND ${MAKE} --no-print-directory -C${nuttx_src}/nuttx -r --quiet distclean
-		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/PX4_Warnings.mk ${nuttx_src}/nuttx/
-		COMMAND ${CP} -r ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
-		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/nsh && cd ..
-		#COMMAND ${ECHO} Exporting NuttX for ${CONFIG}
-		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -j${THREADS} -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
-		COMMAND ${CP} -r ${nuttx_src}/nuttx/nuttx-export.zip ${PX4_BINARY_DIR}/${CONFIG}.export
-		DEPENDS ${config_files} "${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/nsh/defconfig" ${DEPENDS}
+	add_custom_command(OUTPUT ${nuttx_src}/nuttx/.config
+		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/*.mk ${nuttx_src}/nuttx/
+		COMMAND ${CP} -rp ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG} ${nuttx_src}/nuttx/configs
+		COMMAND cd ${nuttx_src}/nuttx/tools && ./configure.sh ${CONFIG}/${config_nuttx_config}
+		DEPENDS ${DEPENDS} nuttx_patch_${CONFIG} ${config_files}
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		COMMENT "Building NuttX for ${CONFIG}")
+		COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
 
-	# extract
-	add_custom_command(OUTPUT nuttx_export_${CONFIG}.stamp
-		COMMAND ${RM} -rf ${nuttx_src}/nuttx-export
-		COMMAND ${UNZIP} -q ${PX4_BINARY_DIR}/${CONFIG}.export -d ${nuttx_src}
-		COMMAND ${TOUCH} nuttx_export_${CONFIG}.stamp
-		DEPENDS ${DEPENDS} ${PX4_BINARY_DIR}/${CONFIG}.export)
+	# manual reconfigure helper
+	add_custom_target(reconfigure_nuttx_${CONFIG}
+		COMMAND cd ${nuttx_src}/nuttx
+		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
+		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
+		COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		DEPENDS ${nuttx_src}/nuttx/.config
+		COMMENT "Reconfiguring NuttX for ${CONFIG} with ${config_nuttx_config}"
+		USES_TERMINAL)
 
-	add_custom_target(${OUT}
-		DEPENDS nuttx_export_${CONFIG}.stamp)
+	# build and export
+	add_custom_command(OUTPUT ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h
+		COMMAND ${RM} -rf ${nuttx_src}/nuttx/nuttx-export
+		COMMAND ${MAKE} --no-print-directory --quiet -C ${nuttx_src}/nuttx -r CONFIG_ARCH_BOARD=${CONFIG} export > nuttx_build.log
+		DEPENDS ${DEPENDS} ${nuttx_src}/nuttx/.config
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		COMMENT "Building NuttX for ${CONFIG} with ${config_nuttx_config}")
+
+	add_custom_target(${OUT} DEPENDS ${nuttx_src}/nuttx/nuttx-export/include/nuttx/config.h)
 
 endfunction()
 
@@ -308,6 +388,7 @@ function(px4_nuttx_add_romfs)
 		REQUIRED OUT ROOT
 		ARGN ${ARGN})
 
+	set(romfs_used y PARENT_SCOPE)
 	set(romfs_temp_dir ${PX4_BINARY_DIR}/tmp/${ROOT})
 	set(romfs_src_dir ${PX4_SOURCE_DIR}/${ROOT})
 	set(romfs_autostart ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py)
@@ -422,20 +503,27 @@ function(px4_os_add_flags)
 		LINK_DIRS ${LINK_DIRS}
 		DEFINITIONS ${DEFINITIONS})
 
-	set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+	set(nuttx_export_root ${PX4_BINARY_DIR}/${BOARD}/NuttX)
+	set(nuttx_export_dir ${nuttx_export_root}/nuttx/nuttx-export)
 	set(added_include_dirs
 		${nuttx_export_dir}/include
 		${nuttx_export_dir}/include/cxx
 		${nuttx_export_dir}/arch/chip
 		${nuttx_export_dir}/arch/common
+		${nuttx_export_dir}/arch/armv7-m
+		${nuttx_export_root}/apps/include
 		)
 	set(added_link_dirs
 		${nuttx_export_dir}/libs
 		)
 	set(added_definitions
 		-D__PX4_NUTTX
-		-D__DF_NUTTX # Define for DriverFramework
 		)
+
+	if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+		list(APPEND added_definitions -D__DF_NUTTX)
+	endif()
+
 	set(added_c_flags
 		-nodefaultlibs
 		-nostdlib
@@ -458,27 +546,27 @@ function(px4_os_add_flags)
 	endif()
 
 	set(cpu_flags)
-	# Handle non-F4 boards specifically here
-	if (${BOARD} STREQUAL "px4io-v1")
+	if (${config_nuttx_hw} STREQUAL "m7")
 		set(cpu_flags
-			-mcpu=cortex-m3
+			-mcpu=cortex-m7
 			-mthumb
-			-march=armv7-m
+			-mfpu=fpv5-sp-d16
+			-mfloat-abi=hard
 			)
-	elseif (${BOARD} STREQUAL "px4io-v2")
+	elseif (${config_nuttx_hw} STREQUAL "m4")
 		set(cpu_flags
-			-mcpu=cortex-m3
-			-mthumb
-			-march=armv7-m
-			)
-	else ()
-			set(cpu_flags
 			-mcpu=cortex-m4
 			-mthumb
 			-march=armv7e-m
 			-mfpu=fpv4-sp-d16
 			-mfloat-abi=hard
 			)
+	elseif (${config_nuttx_hw} STREQUAL "m3")
+		set(cpu_flags
+			-mcpu=cortex-m3
+			-mthumb
+			-march=armv7-m
+			)
 	endif()
 	list(APPEND c_flags ${cpu_flags})
 	list(APPEND cxx_flags ${cpu_flags})
@@ -527,4 +615,51 @@ function(px4_os_prebuild_targets)
 	add_custom_target(${OUT} DEPENDS nuttx_export_${BOARD})
 endfunction()
 
+#=============================================================================
+#
+#	px4_nuttx_configure
+#
+#	This function sets the nuttx configuration
+#
+#	Usage:
+#		px4_nuttx_configure(
+#	    HWCLASS <m3|m4>
+#		  CONFIG <nsh|bootloader
+#		  [ROMFS <y|n>
+#		  ROMFSROOT <root>]
+#			)
+#
+#	Input:
+#	  HWCLASS 		: the class of hardware
+#	  CONFIG 		  : the nuttx condufiguration to use
+#	  ROMFS 	    : whether or not to use incllude theROMFS
+#	  ROMFSROOT	  : If ROMFS used set the root the default is px4fmu_common
+#
+#	Output:
+#		OUT	: None
+#
+#	Example:
+#		px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y)
+#
+function(px4_nuttx_configure)
+	px4_parse_function_args(
+			NAME px4_nuttx_configure
+			ONE_VALUE HWCLASS CONFIG ROMFS ROMFSROOT
+			REQUIRED HWCLASS CONFIG
+			ARGN ${ARGN})
+	set(config_nuttx_config ${CONFIG} PARENT_SCOPE)
+	set(config_nuttx_hw ${HWCLASS} PARENT_SCOPE)
+	if ("${ROMFS}" STREQUAL "y")
+		set(romfs_used ${ROMFS} PARENT_SCOPE)
+		if (NOT DEFINED ROMFSROOT)
+			set(config_romfs_root px4fmu_common)
+		else()
+			set(config_romfs_root ${ROMFSROOT})
+		endif()
+		set(HASROMFS "with ROMFS on ${config_romfs_root}")
+		set(config_romfs_root ${config_romfs_root} PARENT_SCOPE)
+	endif()
+	message(STATUS "Nuttx build for ${BOARD} on ${HWCLASS} hardware, using ${CONFIG} ${HASROMFS}")
+endfunction()
+
 # vim: set noet fenc=utf-8 ff=unix nowrap:
diff --git a/cmake/qurt/px4_impl_qurt.cmake b/cmake/qurt/px4_impl_qurt.cmake
index d6ff56f97d..c783e38c18 100644
--- a/cmake/qurt/px4_impl_qurt.cmake
+++ b/cmake/qurt/px4_impl_qurt.cmake
@@ -189,6 +189,8 @@ function(px4_os_add_flags)
 	set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
 	set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
 
+	set(DF_TARGET "qurt" PARENT_SCOPE)
+
 	# output
 	foreach(var ${inout_vars})
 		string(TOLOWER ${var} lower_var)
diff --git a/nuttx-configs/PX4_Config.mk b/nuttx-configs/PX4_Config.mk
new file mode 100644
index 0000000000..4ec3002da1
--- /dev/null
+++ b/nuttx-configs/PX4_Config.mk
@@ -0,0 +1,45 @@
+############################################################################
+# nuttx-configs/PX4_Config.mk
+#
+# Copyright (c) 2016 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.
+#
+############################################################################
+
+# Nuttx GNU builds now use GNU_EABI<L|W> to set the toolchaine
+# PX4 uses the host OS to decide if it is Linux, Darwin or Windows
+
+ifeq ($(OS),Windows_NT)
+    OS_DETECTED := Windows
+    HOST_OS_FIRST_LETTER:= W
+else
+    OS_DETECTED := $(shell uname -s)
+     # Clump Dawin and Linux as L to set GNU_EABI<L|W>
+    HOST_OS_FIRST_LETTER := L
+endif
diff --git a/nuttx-configs/PX4_Warnings.mk b/nuttx-configs/PX4_Warnings.mk
index a2da41cae6..cca25b0df7 100644
--- a/nuttx-configs/PX4_Warnings.mk
+++ b/nuttx-configs/PX4_Warnings.mk
@@ -1,5 +1,5 @@
 ############################################################################
-# configs/PX4_Warnings.mk
+# nuttx-configs/PX4_Warnings.mk
 #
 #   Copyright (C) 2011 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index d0d16e5ee6..0167bc4329 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -10,16 +10,49 @@ add_executable(firmware_nuttx
 	builtin_commands.c)
 
 
-set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${BOARD}/NuttX/nuttx/nuttx-export)
 
 set(link_libs
-	romfs apps nuttx m gcc
+	apps nuttx m gcc
 	)
 
+if("${romfs_used}" STREQUAL "y")
+	list(APPEND link_libs romfs)
+endif()
+
+#
+# Bootloaders use a different ld file, a seperate startup file
+# and need to override the os version of sched_process_timer
+#
+set(startup_libs)
+
+if("${config_nuttx_config}" STREQUAL "bootloader")
+	set(nuttx_ld_prefix "bootloader")
+	set(nuttx_startup_files ${nuttx_export_dir}/startup/${nuttx_startup_files})
+	set(nuttx_bootloader_wrapers "-Wl,-wrap,sched_process_timer")
+
+	add_custom_command(OUTPUT
+		${nuttx_startup_files}
+		DEPENDS nuttx_export_${BOARD})
+
+	set_source_files_properties(
+		${nuttx_startup_files}
+		PROPERTIES
+		EXTERNAL_OBJECT true
+		GENERATED true)
+
+	add_library(startup
+		${nuttx_startup_files})
+	set_target_properties(startup
+		PROPERTIES
+		LINKER_LANGUAGE C)
+	list(APPEND startup_libs startup)
+
+endif()
+
 if(NOT ${BOARD} STREQUAL "sim")
-	list(APPEND link_libs nosys)
 	set(main_link_flags
-		"-T${nuttx_export_dir}/build/ld.script"
+		"-T${nuttx_export_dir}/build/${nuttx_ld_prefix}ld.script"
 		"-Wl,-Map=${PX4_BINARY_DIR}/${BOARD}/main.map"
 		)
 	px4_join(OUT main_link_flags LIST ${main_link_flags} GLUE " ")
@@ -27,10 +60,14 @@ if(NOT ${BOARD} STREQUAL "sim")
 endif()
 
 target_link_libraries(firmware_nuttx
+	-Wl,--warn-common
+	-Wl,--gc-sections
 	-Wl,--start-group
+	${startup_libs}
 	${module_libraries}
 	${df_driver_libs}
 	${config_extra_libs}
+	${nuttx_bootloader_wrapers}
 	${link_libs}
 	-Wl,--end-group)
 
@@ -42,35 +79,36 @@ add_custom_target(check_weak
 
 if(NOT ${BOARD} STREQUAL "sim")
 
-	if (config_io_board)
-		set(extras "${PX4_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+	if ("${romfs_used}" STREQUAL "y")
+
+		if (config_io_board)
+			set(extras "${CMAKE_BINARY_DIR}/src/modules/px4iofirmware/${config_io_board}.bin")
+		endif()
+
+		message(STATUS "Adding ROMFS on ${BOARD}")
+		px4_nuttx_add_romfs(OUT romfs
+			ROOT ROMFS/${config_romfs_root}
+			EXTRAS ${extras}
+			)
+		if (config_io_board)
+			add_dependencies(romfs fw_io)
+		endif()
 	endif()
 
-	set(romfs_dir "ROMFS/px4fmu_common")
-	if (${BOARD} STREQUAL "tap-v1")
-		set(romfs_dir "ROMFS/tap_common")
+	set(fw_file
+		${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
+
+#
+# Bootloaders do not need .px4 or xml
+#
+	if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+		px4_nuttx_add_firmware(OUT ${fw_file}
+			BOARD ${BOARD}
+			EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
+			PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
+			AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
+			)
 	endif()
-	if (${BOARD} STREQUAL "px4fmu-v2" AND ${LABEL} STREQUAL "test")
-	    set(romfs_dir "ROMFS/px4fmu_test")
-	endif()
-
-
-	px4_nuttx_add_romfs(OUT romfs
-		ROOT ${romfs_dir}
-		EXTRAS ${extras}
-		)
-	if (config_io_board)
-	    add_dependencies(romfs fw_io)
-	endif()
-
-	set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
-
-	px4_nuttx_add_firmware(OUT ${fw_file}
-		BOARD ${BOARD}
-		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-		PARAM_XML ${PX4_BINARY_DIR}/parameters.xml
-		AIRFRAMES_XML ${PX4_BINARY_DIR}/airframes.xml
-		)
 
 	configure_file(gdbinit.in .gdbinit)
 
@@ -113,15 +151,19 @@ if(NOT ${BOARD} STREQUAL "sim")
 			${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
 		)
 
-	if ("${BOARD}" STREQUAL "aerofc-v1")
-		px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD}
-			BUNDLE ${fw_file})
-	else()
-		px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
-			BUNDLE ${fw_file})
+	if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+		if ("${BOARD}" STREQUAL "aerofc-v1")
+			px4_add_upload_aero(OUT upload OS ${OS} BOARD ${BOARD}
+				BUNDLE ${fw_file})
+		else()
+			px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
+				BUNDLE ${fw_file})
+		endif()
 	endif()
 endif()
 
-install(FILES ${fw_file} DESTINATION .)
+if(NOT "${config_nuttx_config}" STREQUAL "bootloader")
+	install(FILES ${fw_file} DESTINATION .)
+endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 754bf715a3..bef1719312 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -45,6 +45,8 @@ set(include_dirs)
 set(link_dirs)
 set(definitions)
 
+px4_nuttx_configure(HWCLASS m3 CONFIG nsh)
+
 px4_os_prebuild_targets(OUT io_prebuild_targets
 	BOARD ${config_io_board}
 	THREADS ${THREADS})
@@ -120,7 +122,7 @@ add_dependencies(${fw_io_name}
 	mixer_gen
 	)
 
-set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx-export)
+set(nuttx_export_dir ${PX4_BINARY_DIR}/${config_io_board}/NuttX/nuttx/nuttx-export)
 set(main_link_flags
 	"-T${nuttx_export_dir}/build/ld.script"
 	"-Wl,-Map=${PX4_BINARY_DIR}/${config_io_board}/main.map"