4 files changed, 60 insertions, 4 deletions
diff --git a/makefiles/config_px4fmu-v1_backside.mk b/makefiles/config_px4fmu-v1_backside.mk
index c86beacca..6d2a9f7bd 100644
--- a/makefiles/config_px4fmu-v1_backside.mk
+++ b/makefiles/config_px4fmu-v1_backside.mk
@@ -92,6 +92,7 @@ MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
+MODULES		+= modules/dataman
 
 #
 # Libraries
@@ -103,6 +104,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/config_px4fmu-v1_default.mk b/makefiles/config_px4fmu-v1_default.mk
index d0733ec53..146a77d23 100644
--- a/makefiles/config_px4fmu-v1_default.mk
+++ b/makefiles/config_px4fmu-v1_default.mk
@@ -82,8 +82,8 @@ MODULES		+= modules/position_estimator_inav
 #
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
-MODULES		+= modules/multirotor_att_control
-MODULES		+= modules/multirotor_pos_control
+MODULES		+= modules/mc_att_control_vector
+MODULES		+= modules/mc_pos_control
 #MODULES		+= examples/flow_position_control
 #MODULES		+= examples/flow_speed_control
 
@@ -105,6 +105,7 @@ MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
+MODULES		+= modules/dataman
 
 #
 # Libraries
@@ -116,6 +117,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps
diff --git a/makefiles/config_px4fmu-v1_test.mk b/makefiles/config_px4fmu-v1_test.mk
new file mode 100644
index 000000000..42a35c5dd
--- /dev/null
+++ b/makefiles/config_px4fmu-v1_test.mk
@@ -0,0 +1,50 @@
+#
+# Makefile for the px4fmu_default configuration
+#
+
+#
+# Use the configuration's ROMFS.
+#
+ROMFS_ROOT	 = $(PX4_BASE)/ROMFS/px4fmu_test
+
+#
+# Board support modules
+#
+MODULES		+= drivers/device
+MODULES		+= drivers/stm32
+MODULES		+= drivers/led
+MODULES		+= drivers/boards/px4fmu-v1
+MODULES		+= systemcmds/perf
+MODULES		+= systemcmds/reboot
+MODULES		+= systemcmds/tests
+MODULES		+= systemcmds/nshterm
+
+#
+# Libraries
+#
+LIBRARIES	+= lib/mathlib/CMSIS
+MODULES		+= lib/mathlib
+
+#
+# Library modules
+#
+MODULES		+= modules/systemlib
+MODULES		+= modules/uORB
+MODULES		+= modules/systemlib/mixer
+
+#
+# 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/config_px4fmu-v2_default.mk b/makefiles/config_px4fmu-v2_default.mk
index afe072b64..e81540c03 100644
--- a/makefiles/config_px4fmu-v2_default.mk
+++ b/makefiles/config_px4fmu-v2_default.mk
@@ -84,8 +84,8 @@ MODULES		+= examples/flow_position_estimator
 #MODULES		+= modules/segway # XXX Needs GCC 4.7 fix
 MODULES		+= modules/fw_pos_control_l1
 MODULES		+= modules/fw_att_control
-MODULES		+= modules/multirotor_att_control
-MODULES		+= modules/multirotor_pos_control
+MODULES		+= modules/mc_att_control_vector
+MODULES		+= modules/mc_pos_control
 
 #
 # Logging
@@ -105,6 +105,7 @@ MODULES		+= modules/systemlib
 MODULES		+= modules/systemlib/mixer
 MODULES		+= modules/controllib
 MODULES		+= modules/uORB
+MODULES		+= modules/dataman
 
 #
 # Libraries
@@ -116,6 +117,7 @@ MODULES		+= lib/ecl
 MODULES		+= lib/external_lgpl
 MODULES		+= lib/geo
 MODULES		+= lib/conversion
+MODULES		+= lib/launchdetection
 
 #
 # Demo apps