Initial Linux support including execution shell

Uncomment the following line in setup.mk and comment out the line above
to enable the Linux build.

   export PX4_TARGET_OS	 = linux

The build uses the clang compiler by default. The final bundled executable
is mainapp located in:

   Build/linux_default.build/mainapp

When you run mainapp it will provide a list of the built-in apps. You can
type in the commands to run such as:

   hello_main start

Because the Linux build is threaded and does not support tasks or processes,
it cannot call errx, exit() _exit(), etc. It also requires unique scoped
variables to test if a thread is running or if an application should exit.
The px4::AppMgr class was added in px4_app.h for this purpose. The
hello sample app demonstrates how this is used.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

22 files changed, 1229 insertions, 24 deletions

diff --git a/Tools/linux_apps.py b/Tools/linux_apps.py
new file mode 100755
index 000000000..9a380efd0
--- /dev/null
+++ b/Tools/linux_apps.py
@@ -0,0 +1,84 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+import glob
+#builtins = glob.glob("../Build/linux_default.build/builtin_commands/COMMAND*")
+builtins = glob.glob("builtin_commands/COMMAND*")
+
+apps = []
+for f in builtins:
+	apps.append(f.split(".")[-1])
+
+print
+print """
+#include <string>
+#include <map>
+using namespace std;
+
+extern "C" {
+"""
+for app in apps:
+	print "extern int "+app+"(int argc, char *argv[]);"
+
+print """
+static int list_builtins(int argc, char *argv[]);
+}
+
+
+static map<string,px4_main_t> app_map(void);
+
+static map<string,px4_main_t> app_map(void)
+{
+	map<string,px4_main_t> apps;
+"""
+for app in apps:
+	print '\tapps["'+app+'"] = '+app+';'
+
+print '\tapps["list_builtins"] = list_builtins;'
+print """
+	return apps;
+}
+
+map<string,px4_main_t> apps = app_map();
+
+static int list_builtins(int argc, char *argv[])
+{
+	cout << "Builtin Commands:" << endl;
+	for (map<string,px4_main_t>::iterator it=apps.begin(); it!=apps.end(); ++it)
+		cout << '\t' << it->first << endl;
+
+	return 0;
+}
+"""
+
diff --git a/makefiles/linux/config_linux_default.mk b/makefiles/linux/config_linux_default.mk
index 57721c0db..fc5d7639c 100644
--- a/makefiles/linux/config_linux_default.mk
+++ b/makefiles/linux/config_linux_default.mk
@@ -5,18 +5,13 @@
 #
 # Use the configuration's ROMFS.
 #
-ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
+#ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_common
 
 #
 # Board support modules
 #
-#MODULES		+= drivers/dxl
-#MODULES		+= drivers/i2c_pwm
-#MODULES		+= drivers/lemonrx
-#MODULES		+= drivers/mpu9x50
-#MODULES		+= drivers/um7
-MODULES		+= drivers/device
-MODULES		+= modules/sensors
+#MODULES		+= drivers/device
+#MODULES		+= modules/sensors
 
 #
 # System commands
@@ -27,38 +22,38 @@ MODULES		+= modules/sensors
 # General system control
 #
 #MODULES	+= modules/mavlink
-MODULES		+= modules/mavlink
+#MODULES		+= modules/mavlink
 
 #
 # Estimation modules (EKF/ SO3 / other filters)
 #
-MODULES		+= modules/attitude_estimator_ekf
+#MODULES		+= modules/attitude_estimator_ekf
 
 #
 # Vehicle Control
 #
-MODULES		+= modules/mc_att_control
+#MODULES		+= modules/mc_att_control
 
 #
 # Library modules
 #
-MODULES		+= modules/systemlib
-MODULES		+= modules/systemlib/mixer
-MODULES		+= modules/uORB
-MODULES		+= modules/dataman
+#MODULES		+= modules/systemlib
+#MODULES		+= modules/systemlib/mixer
+#MODULES		+= modules/uORB
+#MODULES		+= modules/dataman
 
 #
 # Libraries
 #
-MODULES		+= lib/mathlib
-MODULES		+= lib/geo
-MODULES		+= lib/geo_lookup
-MODULES		+= lib/conversion
+#MODULES		+= lib/mathlib
+#MODULES		+= lib/geo
+#MODULES		+= lib/geo_lookup
+#MODULES		+= lib/conversion
 #MODULES		+= lib/utils
 
 #
 # Linux port
 #
 MODULES		+= platforms/linux/px4_layer
-MODULES		+= platforms/linux/publisher
+MODULES		+= platforms/linux/hello
 
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 9c1a828cc..3c9ca3502 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -144,6 +144,7 @@ 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),)
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index 1c6e5c3a2..fd4cbb1a7 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -33,8 +33,8 @@
 # Path and tool setup
 #
 
-export PX4_TARGET_OS	 = nuttx
-#export PX4_TARGET_OS	 = linux
+#export PX4_TARGET_OS	 = nuttx
+export PX4_TARGET_OS	 = linux
 
 #
 # Some useful paths.
diff --git a/src/platforms/linux/hello/hello_example.cpp b/src/platforms/linux/hello/hello_example.cpp
new file mode 100644
index 000000000..7881b73d6
--- /dev/null
+++ b/src/platforms/linux/hello/hello_example.cpp
@@ -0,0 +1,61 @@
+
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "hello_example.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppMgr HelloExample::mgr;
+
+int HelloExample::main()
+{
+	mgr.setRunning(true);
+
+	int i=0;
+	while (!mgr.exitRequested() && i<5) {
+		sleep(2);
+
+		printf("  Doing work...\n");
+		++i;
+	}
+
+	return 0;
+}
diff --git a/src/platforms/linux/hello/hello_example.h b/src/platforms/linux/hello/hello_example.h
new file mode 100644
index 000000000..b736f60bc
--- /dev/null
+++ b/src/platforms/linux/hello/hello_example.h
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class HelloExample {
+public:
+	HelloExample() {};
+
+	~HelloExample() {};
+
+	int main();
+
+	static px4::AppMgr mgr; /* Manage requests to terminate app */
+};
diff --git a/src/platforms/linux/hello/hello_main.cpp b/src/platforms/linux/hello/hello_main.cpp
new file mode 100644
index 000000000..69e8c21ec
--- /dev/null
+++ b/src/platforms/linux/hello/hello_main.cpp
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "hello_example.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "hello");
+
+	printf("hello\n");
+	HelloExample hello;
+	hello.main();
+
+	printf("goodbye\n");
+	return 0;
+}
diff --git a/src/platforms/linux/hello/hello_start_linux.cpp b/src/platforms/linux/hello/hello_start_linux.cpp
new file mode 100644
index 000000000..027566261
--- /dev/null
+++ b/src/platforms/linux/hello/hello_start_linux.cpp
@@ -0,0 +1,100 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_start_linux.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "hello_example.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+#define SCHED_DEFAULT	SCHED_FIFO
+#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
+#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int hello_main(int argc, char *argv[]);
+int hello_main(int argc, char *argv[])
+{
+	
+	if (argc < 2) {
+		printf("usage: hello {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (HelloExample::mgr.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("hello",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		HelloExample::mgr.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (HelloExample::mgr.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: hello {start|stop|status}\n");
+	return 1;
+}
diff --git a/src/platforms/linux/hello/module.mk b/src/platforms/linux/hello/module.mk
new file mode 100644
index 000000000..730f9189e
--- /dev/null
+++ b/src/platforms/linux/hello/module.mk
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= hello
+
+SRCS		= hello_main.cpp \
+		  hello_start_linux.cpp \
+		  hello_example.cpp
+
diff --git a/src/platforms/linux/include/arch/board/board.h b/src/platforms/linux/include/arch/board/board.h
new file mode 100644
index 000000000..e69de29bb
--- /dev/null
+++ b/src/platforms/linux/include/arch/board/board.h
diff --git a/src/platforms/linux/include/board_config.h b/src/platforms/linux/include/board_config.h
new file mode 100644
index 000000000..7bd465647
--- /dev/null
+++ b/src/platforms/linux/include/board_config.h
@@ -0,0 +1 @@
+#define UDID_START		0x1FFF7A10
diff --git a/src/platforms/linux/main.cpp b/src/platforms/linux/main.cpp
new file mode 100644
index 000000000..a0b210415
--- /dev/null
+++ b/src/platforms/linux/main.cpp
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+/**
+ * @file main.cpp
+ * Basic shell to execute builtin "apps" 
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <sstream>
+
+using namespace std;
+
+typedef int (*px4_main_t)(int argc, char *argv[]);
+
+#include "apps.h"
+
+// FIXME - the code below only passes 1 arg for now
+void run_cmd(const string &command, const string &apparg);
+void run_cmd(const string &command, const string &apparg) {
+	const char *arg[3];
+
+	if (apps.find(command) != apps.end()) {
+		arg[0] = (char *)command.c_str();
+		arg[1] = (char *)apparg.c_str();
+		arg[2] = (char *)0;
+		apps[command](2,(char **)arg);
+	}
+	else
+	{
+		cout << "Invalid command" << endl;
+	}
+}
+
+int main(int argc, char **argv)
+{
+	string mystr;
+	string command;
+	string apparg;
+	
+	// Execute a command list of provided
+	if (argc == 2) {
+		ifstream infile(argv[1]);
+
+		//vector<string> tokens;
+
+		for (string line; getline(infile, line, '\n'); ) {
+  			stringstream(line) >> command >> apparg;
+			cout << "Command " << command << ", apparg " << apparg << endl;
+			run_cmd(command, apparg);
+		}
+	}
+
+	while(1) {
+		run_cmd("list_builtins", "");
+
+		cout << "Enter a command and its args:" << endl;
+		getline (cin,mystr);
+  		stringstream(mystr) >> command >> apparg;
+		run_cmd(command, apparg);
+		mystr = "";
+		command = "";
+		apparg = "";
+	}
+}
diff --git a/src/platforms/linux/px4_layer/module.mk b/src/platforms/linux/px4_layer/module.mk
new file mode 100644
index 000000000..da247b8dd
--- /dev/null
+++ b/src/platforms/linux/px4_layer/module.mk
@@ -0,0 +1,42 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+#
+# NuttX / uORB adapter library
+#
+
+SRCS		 = 	\
+			px4_linux_impl.cpp \
+			px4_linux_tasks.c 
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/platforms/linux/px4_layer/px4_linux_impl.cpp b/src/platforms/linux/px4_layer/px4_linux_impl.cpp
new file mode 100644
index 000000000..c5ce67809
--- /dev/null
+++ b/src/platforms/linux/px4_layer/px4_linux_impl.cpp
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_linux_impl.cpp
+ *
+ * PX4 Middleware Wrapper Linux Implementation
+ */
+
+#include <stdint.h>
+#include <stdio.h>
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *app_name)
+{
+	printf("App name: %s\n", app_name);
+}
+
+}
diff --git a/src/platforms/linux/px4_layer/px4_linux_tasks.c b/src/platforms/linux/px4_layer/px4_linux_tasks.c
new file mode 100644
index 000000000..a00d39b5b
--- /dev/null
+++ b/src/platforms/linux/px4_layer/px4_linux_tasks.c
@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *   Author: @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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_linux_tasks.c
+ * Implementation of existing task API for Linux
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdbool.h>
+#include <fcntl.h>
+#include <sched.h>
+#include <signal.h>
+#include <unistd.h>
+#include <float.h>
+#include <string.h>
+
+#include <sys/stat.h>
+#include <sys/types.h>
+
+//#include <systemlib/systemlib.h>
+
+#include <px4_tasks.h>
+
+#define MAX_CMD_LEN 100
+
+#define PX4_MAX_TASKS 100
+static pthread_t taskmap[PX4_MAX_TASKS] = {};
+
+typedef struct 
+{
+	px4_main_t entry;
+	int argc;
+	char *argv[];
+	// strings are allocated after the 
+} pthdata_t;
+
+void entry_adapter ( void *ptr );
+void entry_adapter ( void *ptr )
+{
+	pthdata_t *data;            
+	data = (pthdata_t *) ptr;  
+
+	data->entry(data->argc, data->argv);
+	free(ptr);
+	pthread_exit(0); 
+} 
+
+void
+px4_systemreset(bool to_bootloader)
+{
+	printf("Called px4_system_reset\n");
+}
+
+px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, px4_main_t entry, char * const argv[])
+{
+	int rv = 0;
+	int argc = 0;
+	int i;
+	unsigned int len = 0;
+	unsigned long offset;
+	unsigned long structsize;
+	char * p = (char *)argv;
+
+        px4_task_t task;
+
+	// Calculate argc
+	while (p != (char *)0) {
+		p = argv[argc];
+		if (p == (char *)0)
+			break;
+		++argc;
+		len += strlen(p)+1;
+	}
+        structsize = sizeof(pthdata_t)+(argc+1)*sizeof(char *);
+	pthdata_t *taskdata;
+    
+	// not safe to pass stack data to the thread creation
+	taskdata = (pthdata_t *)malloc(structsize+len);
+	offset = ((unsigned long)taskdata)+structsize;
+
+    	taskdata->entry = entry;
+	taskdata->argc = argc;
+
+	for (i=0; i<argc; i++) {
+		printf("arg %d %s\n", i, argv[i]);
+		taskdata->argv[i] = (char *)offset;
+		strcpy((char *)offset, argv[i]);
+		offset+=strlen(argv[i])+1;
+	}
+	// Must add NULL at end of argv
+	taskdata->argv[argc] = (char *)0;
+
+	//printf("Called px4_task_spawn_cmd\n");
+	// FIXME - add handling for scheduler and priority
+        rv = pthread_create (&task, NULL, (void *)&entry_adapter, (void *) taskdata);
+	//printf("pthread_create task=%d rv=%d\n",(int)task, rv);
+
+	for (i=0; i<PX4_MAX_TASKS; ++i) {
+		// FIXME - precludes pthread task to have an ID of 0
+		if (taskmap[i] == 0) {
+			taskmap[i] = task;
+			break;
+		}
+	}
+	if (i>=PX4_MAX_TASKS) {
+		return -ENOSPC;
+	}
+        return i;
+}
+
+int px4_task_delete(px4_task_t id)
+{
+	int rv = 0;
+	int i; 
+	pthread_t pid;
+	//printf("Called px4_task_delete\n");
+
+	// Get pthread ID from the opaque ID
+	for (i=0; i<PX4_MAX_TASKS; ++i) {
+		// FIXME - precludes pthread task to have an ID of 0
+		if (taskmap[i] == id) {
+			pid = taskmap[i];
+			break;
+		}
+	}
+	if (i>=PX4_MAX_TASKS) {
+		return -EINVAL;
+	}
+	// If current thread then exit, otherwise cancel
+        if (pthread_self() == pid) {
+		pthread_exit(0);
+	} else {
+		rv = pthread_cancel(pid);
+	}
+
+	taskmap[id] = 0;
+
+	return rv;
+}
+
+void px4_killall(void)
+{
+	//printf("Called px4_killall\n");
+	for (int i=0; i<PX4_MAX_TASKS; ++i) {
+		// FIXME - precludes pthread task to have an ID of 0
+		if (taskmap[i] != 0) {
+			px4_task_delete(i);
+		}
+	}
+}
+
diff --git a/src/platforms/nuttx/px4_layer/module.mk b/src/platforms/nuttx/px4_layer/module.mk
new file mode 100644
index 000000000..1738063a5
--- /dev/null
+++ b/src/platforms/nuttx/px4_layer/module.mk
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+#
+# NuttX porting layer
+#
+
+SRCS		 = 	px4_nuttx_tasks.c
+
+MAXOPTIMIZATION	 = -Os
diff --git a/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
new file mode 100644
index 000000000..542aef5aa
--- /dev/null
+++ b/src/platforms/nuttx/px4_layer/px4_nuttx_tasks.c
@@ -0,0 +1,118 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_nuttx_tasks.c
+ * Implementation of existing task API for NuttX
+ */
+
+#include <nuttx/config.h>
+#include <unistd.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <sched.h>
+#include <signal.h>
+#include <unistd.h>
+#include <float.h>
+#include <string.h>
+
+#include <sys/stat.h>
+#include <sys/types.h>
+
+#include <stm32_pwr.h>
+
+#include <systemlib/systemlib.h>
+
+// Didn't seem right to include up_internal.h, so direct extern instead.
+extern void up_systemreset(void) noreturn_function;
+
+void
+px4_systemreset(bool to_bootloader)
+{
+	if (to_bootloader) {
+		stm32_pwr_enablebkp();
+
+		/* XXX wow, this is evil - write a magic number into backup register zero */
+		*(uint32_t *)0x40002850 = 0xb007b007;
+	}
+	up_systemreset();
+
+	/* lock up here */
+	while(true);
+}
+
+static void kill_task(FAR struct tcb_s *tcb, FAR void *arg);
+
+void px4_killall()
+{
+//	printf("Sending SIGUSR1 to all processes now\n");
+
+	/* iterate through all tasks and send kill signal */
+	sched_foreach(kill_task, NULL);
+}
+
+static void kill_task(FAR struct tcb_s *tcb, FAR void *arg)
+{
+	kill(tcb->pid, SIGUSR1);
+}
+
+int px4_task_spawn_cmd(const char *name, int scheduler, int priority, int stack_size, main_t entry, char * const argv[])
+{
+	int pid;
+
+	sched_lock();
+
+	/* create the task */
+	pid = task_create(name, priority, stack_size, entry, argv);
+
+	if (pid > 0) {
+
+		/* configure the scheduler */
+		struct sched_param param;
+
+		param.sched_priority = priority;
+		sched_setscheduler(pid, scheduler, &param);
+
+		/* XXX do any other private task accounting here before the task starts */
+	}
+
+	sched_unlock();
+
+	return pid;
+}
+
+int px4_task_delete(int pid)
+{
+	return task_delete(pid);
+}
diff --git a/src/platforms/px4_app.h b/src/platforms/px4_app.h
new file mode 100644
index 000000000..1314397b5
--- /dev/null
+++ b/src/platforms/px4_app.h
@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+namespace px4 {
+
+class AppMgr {
+public:
+	~AppMgr() {}
+
+#if defined(__PX4_ROS)
+	AppMgr() {}
+
+	bool exitRequested() { return !ros::ok(); }
+	void requestExit() { ros::shutdown(); }
+#else
+	AppMgr() : _exitRequested(false), _isRunning(false) {}
+
+	bool exitRequested() { return _exitRequested; }
+	void requestExit() { _exitRequested = true; }
+
+	bool isRunning() { return _isRunning; }
+	void setRunning(bool running) { _isRunning = running; }
+
+protected:
+	bool _exitRequested;
+	bool _isRunning;
+#endif
+private:
+	AppMgr(const AppMgr&); 
+	const AppMgr& operator=(const AppMgr&);
+};
+}
+
+// Task/process based build
+#if defined(__PX4_ROS) || defined(__PX4_NUTTX)
+
+#define PX4_MAIN main
+
+// Thread based build
+#else
+
+// The name passed must be globally unique
+// set PX4_APPMAIN in module.mk
+// EXTRADEFINES	+= -DPX4_MAIN=foo_app
+#ifdef PX4_MAIN
+
+extern int PX4_MAIN(int argc, char *argv[]);
+#endif
+
+#endif
+
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index 0e98783fd..8af93b2b2 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -70,7 +70,7 @@
 #include <px4_vehicle_force_setpoint.h>
 #endif
 
-#else
+#elif defined(__PX4_NUTTX)
 /*
  * Building for NuttX
  */
@@ -102,4 +102,36 @@
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
+#elif defined(__PX4_LINUX)
+#include <string.h>
+#include <assert.h>
+#include <uORB/uORB.h>
+
+#define ASSERT(x) assert(x)
+
+#ifdef __cplusplus
+#include <platforms/linux/px4_messages/px4_rc_channels.h>
+#include <platforms/linux/px4_messages/px4_vehicle_attitude_setpoint.h>
+#include <platforms/linux/px4_messages/px4_manual_control_setpoint.h>
+#include <platforms/linux/px4_messages/px4_actuator_controls.h>
+#include <platforms/linux/px4_messages/px4_actuator_controls_0.h>
+#include <platforms/linux/px4_messages/px4_actuator_controls_1.h>
+#include <platforms/linux/px4_messages/px4_actuator_controls_2.h>
+#include <platforms/linux/px4_messages/px4_actuator_controls_3.h>
+#include <platforms/linux/px4_messages/px4_vehicle_rates_setpoint.h>
+#include <platforms/linux/px4_messages/px4_vehicle_attitude.h>
+#include <platforms/linux/px4_messages/px4_vehicle_control_mode.h>
+#include <platforms/linux/px4_messages/px4_actuator_armed.h>
+#include <platforms/linux/px4_messages/px4_parameter_update.h>
+#include <platforms/linux/px4_messages/px4_vehicle_status.h>
+#include <platforms/linux/px4_messages/px4_vehicle_local_position_setpoint.h>
+#include <platforms/linux/px4_messages/px4_vehicle_global_velocity_setpoint.h>
+#include <platforms/linux/px4_messages/px4_vehicle_local_position.h>
+#include <platforms/linux/px4_messages/px4_position_setpoint_triplet.h>
+#endif
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+#else
+#define "No target platform defined"
 #endif
diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.h
index 735d34234..d86ddd664 100644
--- a/src/platforms/px4_middleware.h
+++ b/src/platforms/px4_middleware.h
@@ -54,12 +54,16 @@ __EXPORT uint64_t get_time_micros();
  * Returns true if the app/task should continue to run
  */
 inline bool ok() { return ros::ok(); }
-#else
+#elif defined(__PX4_NUTTX)
 extern bool task_should_exit;
 /**
  * Returns true if the app/task should continue to run
  */
 __EXPORT inline bool ok() { return !task_should_exit; }
+#else
+/**
+ * Linux needs to have globally unique checks for thread/task status
+ */
 #endif
 
 class Rate
diff --git a/src/platforms/px4_posix.h b/src/platforms/px4_posix.h
new file mode 100644
index 000000000..d08c8d238
--- /dev/null
+++ b/src/platforms/px4_posix.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_posix.h
+ *
+ * Includes POSIX-like functions for virtual character devices
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <poll.h>
+#include <semaphore.h>
+
+
+#define  PX4_F_RDONLY 1
+#define  PX4_F_WRONLY 2
+
+__BEGIN_DECLS
+
+extern int px4_errno;
+
+#ifndef __PX4_NUTTX
+typedef short pollevent_t;
+#endif
+
+typedef struct {
+  /* This part of the struct is POSIX-like */
+  int		fd;       /* The descriptor being polled */
+  pollevent_t 	events;   /* The input event flags */
+  pollevent_t 	revents;  /* The output event flags */
+
+  /* Required for PX4 compatability */
+  sem_t   *sem;  	/* Pointer to semaphore used to post output event */
+  void   *priv;     	/* For use by drivers */
+} px4_pollfd_struct_t;
+
+__EXPORT int 		px4_open(const char *path, int flags);
+__EXPORT int 		px4_close(int fd);
+__EXPORT ssize_t	px4_read(int fd, void *buffer, size_t buflen);
+__EXPORT ssize_t	px4_write(int fd, const void *buffer, size_t buflen);
+__EXPORT int		px4_ioctl(int fd, int cmd, unsigned long arg);
+__EXPORT int		px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout);
+
+__END_DECLS
diff --git a/src/platforms/px4_tasks.h b/src/platforms/px4_tasks.h
new file mode 100644
index 000000000..ac75126c4
--- /dev/null
+++ b/src/platforms/px4_tasks.h
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *   Author: Mark Charlebois <charlebm@gmail.com> 2015
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_tasks.h
+ * Preserve existing task API call signature with OS abstraction
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+#ifdef __PX4_ROS
+#error "PX4 tasks not supported in ROS"
+#elif defined(__PX4_NUTTX)
+typedef int px4_task_t;
+#elif defined(__PX4_LINUX)
+#include <pthread.h>
+typedef pthread_t px4_task_t;
+
+typedef struct {
+	int argc;
+	char **argv;
+} px4_task_args_t;
+#else
+#error "No target OS defined"
+#endif
+
+typedef int (*px4_main_t)(int argc, char *argv[]);
+
+__BEGIN_DECLS
+
+/** Reboots the board */
+__EXPORT void px4_systemreset(bool to_bootloader) noreturn_function;
+
+/** Sends SIGUSR1 to all processes */
+__EXPORT void px4_killall(void);
+
+/** Starts a task and performs any specific accounting, scheduler setup, etc. */
+__EXPORT px4_task_t px4_task_spawn_cmd(const char *name,
+			int priority,
+			int scheduler,
+			int stack_size,
+			px4_main_t entry,
+			char * const argv[]);
+
+__EXPORT int px4_task_delete(px4_task_t pid);
+
+__END_DECLS
+