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diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
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+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_includes.h
+ *
+ * Includes headers depending on the build target
+ */
+
+#pragma once
+
+#include <stdbool.h>
+
+#if defined(__PX4_ROS)
+/*
+ * Building for running within the ROS environment
+ */
+
+#ifdef __cplusplus
+#include "ros/ros.h"
+#include <px4_rc_channels.h>
+#include <px4_vehicle_attitude.h>
+#include <px4_vehicle_attitude_setpoint.h>
+#include <px4_manual_control_setpoint.h>
+#include <px4_actuator_controls.h>
+#include <px4_actuator_controls_0.h>
+#include <px4_actuator_controls_virtual_mc.h>
+#include <px4_vehicle_rates_setpoint.h>
+#include <px4_mc_virtual_rates_setpoint.h>
+#include <px4_vehicle_attitude.h>
+#include <px4_vehicle_control_mode.h>
+#include <px4_actuator_armed.h>
+#include <px4_parameter_update.h>
+#include <px4_vehicle_status.h>
+#endif
+
+#else
+/*
+ * Building for NuttX
+ */
+#include <nuttx/config.h>
+#include <uORB/uORB.h>
+#ifdef __cplusplus
+#include <platforms/nuttx/px4_messages/px4_rc_channels.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_attitude_setpoint.h>
+#include <platforms/nuttx/px4_messages/px4_manual_control_setpoint.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_controls.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_controls_0.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_controls_1.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_controls_2.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_controls_3.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_rates_setpoint.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_attitude.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_control_mode.h>
+#include <platforms/nuttx/px4_messages/px4_actuator_armed.h>
+#include <platforms/nuttx/px4_messages/px4_parameter_update.h>
+#include <platforms/nuttx/px4_messages/px4_vehicle_status.h>
+#endif
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <systemlib/systemlib.h>
+
+#endif