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diff --git a/src/platforms/px4_tasks.h b/src/platforms/px4_tasks.h
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+/****************************************************************************
+ *
+ *   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
+