diff --git a/flight/PiOS/STM32F10x/library.mk b/flight/PiOS/STM32F10x/library.mk
index e86234dea..b2b4b7927 100644
--- a/flight/PiOS/STM32F10x/library.mk
+++ b/flight/PiOS/STM32F10x/library.mk
@@ -46,5 +46,6 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
     SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
+    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
 endif
diff --git a/flight/targets/CopterControl/Makefile b/flight/targets/CopterControl/Makefile
index 1defe2ace..6cd6a9e9b 100644
--- a/flight/targets/CopterControl/Makefile
+++ b/flight/targets/CopterControl/Makefile
@@ -28,21 +28,21 @@ include $(ROOT_DIR)/make/firmware-defs.mk
 USE_DSP_LIB      ?= NO
 
 # Optional module and driver defaults
-USE_CAMERASTAB   ?= YES
+USE_CAMERASTAB	 ?= YES
 USE_COMUSBBRIDGE ?= YES
-USE_GPS          ?= YES
-USE_TXPID        ?= YES
-USE_ALTITUDE     ?= NO
-USE_AUTOTUNE     ?= NO
-TEST_FAULTS      ?= NO
+USE_GPS		 ?= YES
+USE_TXPID	 ?= YES
+USE_ALTITUDE	 ?= NO
+USE_AUTOTUNE	 ?= NO
+TEST_FAULTS	 ?= NO
 
 # Camera gimbal options
-USE_INPUT_LPF   ?= YES
-USE_GIMBAL_LPF  ?= YES
-USE_GIMBAL_FF   ?= YES
+USE_INPUT_LPF	 ?= YES
+USE_GIMBAL_LPF	 ?= YES
+USE_GIMBAL_FF	 ?= YES
 
 # Set to YES to build a FW version that will erase data flash memory
-ERASE_FLASH     ?= NO
+ERASE_FLASH	 ?= NO
 
 # List of mandatory modules to include
 MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
@@ -75,9 +75,6 @@ ifeq ($(TEST_FAULTS), YES)
 endif
 
 # Misc defines
-ifeq ($(ERASE_FLASH), YES)
-    CDEFS += -DERASE_FLASH
-endif
 ifeq ($(USE_INPUT_LPF), YES)
     CDEFS += -DUSE_INPUT_LPF
 endif
@@ -87,13 +84,16 @@ endif
 ifeq ($(USE_GIMBAL_FF), YES)
     CDEFS += -DUSE_GIMBAL_FF
 endif
+ifeq ($(ERASE_FLASH), YES)
+    CDEFS += -DERASE_FLASH
+endif
 
 # List C source files here (C dependencies are automatically generated).
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Modules
-    SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
     SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+    SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 
     ## Application Core
     SRC += ${OPMODULEDIR}/System/systemmod.c
@@ -154,3 +154,4 @@ ifndef TESTAPP
 endif
 
 include $(ROOT_DIR)/make/apps-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/PipXtreme/Makefile b/flight/targets/PipXtreme/Makefile
index 5f8f3135f..bdbfae8e4 100644
--- a/flight/targets/PipXtreme/Makefile
+++ b/flight/targets/PipXtreme/Makefile
@@ -61,3 +61,4 @@ endif
 include $(FLIGHTLIB)/rscode/library.mk
 
 include $(ROOT_DIR)/make/apps-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
diff --git a/make/apps-defs.mk b/make/apps-defs.mk
index 6c3507b31..71acae877 100644
--- a/make/apps-defs.mk
+++ b/make/apps-defs.mk
@@ -45,44 +45,29 @@ PIOSINC		= $(PIOS)/inc
 PIOSCOMMON	= $(PIOS)/Common
 PIOSBOARDS	= $(PIOS)/Boards
 FLIGHTLIBINC	= $(FLIGHTLIB)/inc
+
+## UAVTalk and UAVObject manager
+OPUAVOBJINC	= $(OPUAVOBJ)/inc
+OPUAVTALKINC	= $(OPUAVTALK)/inc
+
+## Math
 MATHLIB		= $(FLIGHTLIB)/math
 MATHLIBINC	= $(FLIGHTLIB)/math
-STMSPDSRCDIR	= $(STMSPDDIR)/src
-STMSPDINCDIR	= $(STMSPDDIR)/inc
-OPUAVTALKINC	= $(OPUAVTALK)/inc
-OPUAVOBJINC	= $(OPUAVOBJ)/inc
-DOXYGENDIR	= $(TOPDIR)/../Doc/Doxygen
+
+## FreeRTOS support
+FREERTOS_DIR	 = $(PIOSCOMMON)/Libraries/FreeRTOS
+FREERTOS_SRC_DIR = $(FREERTOS_DIR)/Source
+FREERTOS_INC_DIR = $(FREERTOS_SRC_DIR)/include
+
+## Misc
+DOXYGENDIR	= $(ROOT_DIR)/flight/Doc/Doxygen
 OPTESTS		= $(TOPDIR)/Tests
 
-PYMITE		= $(FLIGHTLIB)/PyMite
-PYMITELIB	= $(PYMITE)/lib
-PYMITEPLAT	= $(PYMITE)/platform/openpilot
-PYMITETOOLS	= $(PYMITE)/tools
-PYMITEVM	= $(PYMITE)/vm
-PYMITEINC	= $(PYMITEVM)
-PYMITEINC	+= $(PYMITEPLAT)
-PYMITEINC	+= $(OUTDIR)
-
-FLIGHTPLANLIB	= $(OPMODULEDIR)/FlightPlan/lib
-FLIGHTPLANS	= $(OPMODULEDIR)/FlightPlan/flightplans
-
+## PIOS Hardware
 ifeq ($(MCU),cortex-m3)
-    PIOSSTM32F10X = $(PIOS)/STM32F10x
-    APPLIBDIR     = $(PIOSSTM32F10X)/Libraries
-    STMLIBDIR     = $(APPLIBDIR)
-    STMSPDDIR     = $(STMLIBDIR)/STM32F10x_StdPeriph_Driver
-    STMUSBDIR     = $(STMLIBDIR)/STM32_USB-FS-Device_Driver
-    STMUSBSRCDIR  = $(STMUSBDIR)/src
-    STMUSBINCDIR  = $(STMUSBDIR)/inc
-    CMSISDIR      = $(STMLIBDIR)/CMSIS/Core/CM3
-    MSDDIR        = $(APPLIBDIR)/msd
-    DOSFSDIR      = $(PIOSCOMMON)/Libraries/dosfs
-    RTOSDIR       = $(PIOSCOMMON)/Libraries/FreeRTOS
-    RTOSSRCDIR    = $(RTOSDIR)/Source
-    RTOSINCDIR    = $(RTOSSRCDIR)/include
-    RTOSPORTDIR   = $(APPLIBDIR)/FreeRTOS/Source
+    include $(PIOS)/STM32F10x/library.mk
 else ifeq ($(MCU),cortex-m4)
-    $(error This makefile is not yet converted for F4, work in progress)
+    include $(PIOS)/STM32F4xx/library.mk
 else
     $(error Unsupported MCU: $(MCU))
 endif
@@ -90,124 +75,53 @@ endif
 # List C source files here (C dependencies are automatically generated).
 # Use file-extension c for "c-only"-files
 
-## PIOS Hardware
-ifeq ($(MCU),cortex-m3)
-    ## PIOS Hardware (STM32F10x)
-    SRC += $(PIOSSTM32F10X)/pios_sys.c
-    SRC += $(PIOSSTM32F10X)/pios_led.c
-    SRC += $(PIOSSTM32F10X)/pios_delay.c
-    SRC += $(PIOSSTM32F10X)/pios_usart.c
-    SRC += $(PIOSSTM32F10X)/pios_irq.c
-    SRC += $(PIOSSTM32F10X)/pios_adc.c
-    SRC += $(PIOSSTM32F10X)/pios_servo.c
-    SRC += $(PIOSSTM32F10X)/pios_i2c.c
-    SRC += $(PIOSSTM32F10X)/pios_spi.c
-    SRC += $(PIOSSTM32F10X)/pios_ppm.c
-    SRC += $(PIOSSTM32F10X)/pios_pwm.c
-    SRC += $(PIOSSTM32F10X)/pios_dsm.c
-    SRC += $(PIOSSTM32F10X)/pios_debug.c
-    SRC += $(PIOSSTM32F10X)/pios_gpio.c
-    SRC += $(PIOSSTM32F10X)/pios_exti.c
-    SRC += $(PIOSSTM32F10X)/pios_rtc.c
-    SRC += $(PIOSSTM32F10X)/pios_wdg.c
-    SRC += $(PIOSSTM32F10X)/pios_iap.c
-    SRC += $(PIOSSTM32F10X)/pios_tim.c
-    SRC += $(PIOSSTM32F10X)/pios_bl_helper.c
-    SRC += $(PIOSSTM32F10X)/pios_eeprom.c
-    SRC += $(PIOSSTM32F10X)/pios_ppm_out.c
+## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_crc.c
+SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
+SRC += $(PIOSCOMMON)/pios_flash_jedec.c
+SRC += $(PIOSCOMMON)/pios_adxl345.c
+SRC += $(PIOSCOMMON)/pios_mpu6000.c
+SRC += $(PIOSCOMMON)/pios_com.c
+SRC += $(PIOSCOMMON)/pios_sbus.c
+SRC += $(PIOSCOMMON)/pios_rcvr.c
+SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
+SRC += $(PIOSCOMMON)/pios_rfm22b.c
+SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
+SRC += $(PIOSCOMMON)/printf-stdarg.c
+SRC += $(PIOSCOMMON)/pios_i2c_esc.c
+SRC += $(PIOSSTM32F10X)/pios_ppm_out.c
 
-    # PIOS USB related files
-    SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(PIOSSTM32F10X)/pios_usb.c
-    SRC += $(PIOSSTM32F10X)/pios_usbhook.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_rctx.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_cdc.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid_istr.c
-    SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
-    SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
-    SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
-    SRC += $(PIOSCOMMON)/pios_usb_util.c
+# PIOS USB related files
+SRC += $(OPSYSTEM)/pios_usb_board_data.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c
+SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
+SRC += $(PIOSCOMMON)/pios_usb_util.c
 
-    ## PIOS Hardware (Common)
-    SRC += $(PIOSCOMMON)/pios_crc.c
-    SRC += $(PIOSCOMMON)/pios_flashfs_logfs.c
-    SRC += $(PIOSCOMMON)/pios_flash_jedec.c
-    SRC += $(PIOSCOMMON)/pios_adxl345.c
-    SRC += $(PIOSCOMMON)/pios_mpu6000.c
-    SRC += $(PIOSCOMMON)/pios_com.c
-    SRC += $(PIOSCOMMON)/pios_sbus.c
-    SRC += $(PIOSCOMMON)/pios_rcvr.c
-    SRC += $(PIOSCOMMON)/pios_gcsrcvr.c
-    SRC += $(PIOSCOMMON)/pios_rfm22b.c
-    SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
-    SRC += $(PIOSCOMMON)/printf-stdarg.c
-    SRC += $(PIOSCOMMON)/pios_i2c_esc.c
+## Libraries for flight calculations
+SRC += $(FLIGHTLIB)/fifo_buffer.c
+SRC += $(FLIGHTLIB)/taskmonitor.c
+SRC += $(FLIGHTLIB)/packet_handler.c
+SRC += $(FLIGHTLIB)/sanitycheck.c
+SRC += $(FLIGHTLIB)/CoordinateConversions.c
+SRC += $(MATHLIB)/sin_lookup.c
+SRC += $(MATHLIB)/pid.c
 
-    ## Libraries for flight calculations
-    SRC += $(FLIGHTLIB)/fifo_buffer.c
-    SRC += $(FLIGHTLIB)/CoordinateConversions.c
-    SRC += $(FLIGHTLIB)/taskmonitor.c
-    SRC += $(FLIGHTLIB)/sanitycheck.c
-    SRC += $(MATHLIB)/sin_lookup.c
-    SRC += $(MATHLIB)/pid.c
-
-    ## CMSIS for STM32
-    SRC += $(CMSISDIR)/core_cm3.c
-    SRC += $(CMSISDIR)/system_stm32f10x.c
-
-    ## Used parts of the STM-Library
-    SRC += $(STMSPDSRCDIR)/stm32f10x_adc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_bkp.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_crc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_dac.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_dma.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_exti.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_flash.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_gpio.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_i2c.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_pwr.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_rcc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_rtc.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_spi.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_tim.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_usart.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_iwdg.c
-    SRC += $(STMSPDSRCDIR)/stm32f10x_dbgmcu.c
-    SRC += $(STMSPDSRCDIR)/misc.c
-
-    ## STM32 USB Library
-    SRC += $(STMUSBSRCDIR)/usb_core.c
-    SRC += $(STMUSBSRCDIR)/usb_init.c
-    SRC += $(STMUSBSRCDIR)/usb_int.c
-    SRC += $(STMUSBSRCDIR)/usb_mem.c
-    SRC += $(STMUSBSRCDIR)/usb_regs.c
-    SRC += $(STMUSBSRCDIR)/usb_sil.c
-
-    ## RTOS
-    SRC += $(RTOSSRCDIR)/list.c
-    SRC += $(RTOSSRCDIR)/queue.c
-    SRC += $(RTOSSRCDIR)/tasks.c
-
-    ## RTOS Portable
-    SRC += $(RTOSPORTDIR)/portable/GCC/ARM_CM3/port.c
-    SRC += $(RTOSPORTDIR)/portable/MemMang/heap_1.c
-else ifeq ($(MCU),cortex-m4)
-    ## PIOS Hardware (STM32F4xx)
-    include $(PIOS)/STM32F4xx/library.mk
-endif
+## Common FreeRTOS files
+SRC += $(FREERTOS_SRC_DIR)/list.c
+SRC += $(FREERTOS_SRC_DIR)/queue.c
+SRC += $(FREERTOS_SRC_DIR)/tasks.c
 
 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
 # Use file-extension c for "c-only"-files
-SRCARM =
+SRCARM +=
 
 # List C++ source files here.
 # Use file-extension .cpp for C++-files (not .C)
-CPPSRC =
+CPPSRC +=
 
 # List C++ source files here which must be compiled in ARM-Mode.
 # Use file-extension .cpp for C++-files (not .C)
-CPPSRCARM =
+CPPSRCARM +=
 
 # List Assembler source files here.
 # Make them always end in a capital .S. Files ending in a lowercase .s
@@ -216,14 +130,10 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ifeq ($(MCU),cortex-m3)
-    ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
-else
-    ASRC =
-endif
+ASRC +=
 
 # List Assembler source files here which must be assembled in ARM-Mode.
-ASRCARM =
+ASRCARM +=
 
 # List any extra directories to look for include files here.
 #    Each directory must be seperated by a space.
@@ -232,29 +142,13 @@ EXTRAINCDIRS += $(PIOSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
-EXTRAINCDIRS += $(STMSPDINCDIR)
-EXTRAINCDIRS += $(CMSISDIR)
 EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
-EXTRAINCDIRS += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS += $(MATHLIBINC)
-EXTRAINCDIRS += $(PYMITEINC)
-
-ifeq ($(MCU),cortex-m3)
-    EXTRAINCDIRS += $(PIOSSTM32F10X)
-    EXTRAINCDIRS += $(OPUAVTALK)
-    EXTRAINCDIRS += $(OPUAVTALKINC)
-    EXTRAINCDIRS += $(OPUAVOBJ)
-    EXTRAINCDIRS += $(OPUAVOBJINC)
-    EXTRAINCDIRS += $(DOSFSDIR)
-    EXTRAINCDIRS += $(MSDDIR)
-    EXTRAINCDIRS += $(RTOSINCDIR)
-    EXTRAINCDIRS += $(STMUSBINCDIR)
-    EXTRAINCDIRS += $(APPLIBDIR)
-    EXTRAINCDIRS += $(RTOSPORTDIR)/portable/GCC/ARM_CM3
-else ifeq ($(MCU),cortex-m4)
-    EXTRAINCDIRS += $(PIOSSTM34FXX)
-endif
+EXTRAINCDIRS += $(OPUAVOBJINC)
+EXTRAINCDIRS += $(OPUAVTALKINC)
+EXTRAINCDIRS += $(OPUAVSYNTHDIR)
+EXTRAINCDIRS += $(FREERTOS_INC_DIR)
 
 # Modules
 EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
@@ -263,7 +157,7 @@ EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/i
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -271,81 +165,14 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+EXTRA_LIBS += m
 
-# Path to linker scripts
-ifeq ($(MCU),cortex-m3)
-    LINKERSCRIPTPATH = $(PIOSSTM32F10X)
-else ifeq ($(MCU),cortex-m4)
-    LINKERSCRIPTPATH = $(PIOSSTM32FXX)
-endif
-
-# Optimization level, can be [0, 1, 2, 3, s].
-# 0 = turn off optimization. s = optimize for size.
-# Note: 3 is not always the best optimization level.
-ifeq ($(DEBUG), YES)
-    OPT = 1
-else
-    OPT = s
-endif
-
-# Output format (can be ihex or binary or both).
-#  binary to create a load-image in raw-binary format i.e. for SAM-BA,
-#  ihex to create a load-image in Intel hex format
-#LOADFORMAT = ihex
-#LOADFORMAT = binary
-LOADFORMAT = both
-
-# Debugging format.
-DEBUGF = dwarf-2
-
-# Place project-specific -D (define) and/or -U options for C here.
-ifeq ($(MCU),cortex-m3)
-    CDEFS =  -DSTM32F10X_$(MODEL)
-else ifeq ($(MCU),cortex-m4)
-    CDEFS += -DSTM32F4XX
-    CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ)
-    CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ)
-endif
-
-CDEFS += -DUSE_$(BOARD)
-CDEFS += -DUSE_STDPERIPH_DRIVER
-
-ifeq ($(ENABLE_DEBUG_PINS), YES)
-    CDEFS += -DPIOS_ENABLE_DEBUG_PINS
-endif
+# Compiler flags
+CFLAGS +=
 
 # Declare all non-optional modules as built-in to force inclusion
 CDEFS += $(foreach mod, $(notdir $(MODULES)), -DMODULE_$(mod)_BUILTIN)
 
-# Place project-specific -D and/or -U options for Assembler with preprocessor here.
-#ADEFS = -DUSE_IRQ_ASM_WRAPPER
-ADEFS = -D__ASSEMBLY__
-
-# Compiler flag to set the C Standard level.
-# c89   - "ANSI" C
-# gnu89 - c89 plus GCC extensions
-# c99   - ISO C99 standard (not yet fully implemented)
-# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
-
-# Compiler flags.
-#
-#  -g*:          generate debugging information
-#  -O*:          optimization level
-#  -f...:        tuning, see GCC manual and avr-libc documentation
-#  -Wall...:     warning level
-#  -Wa,...:      tell GCC to pass this to the assembler.
-#    -adhlns...: create assembler listing
-
-# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
-ifeq ($(MCU),cortex-m4)
-    # This is not the best place for these.  Really should abstract out
-    # to the board file or something
-    CFLAGS += -DSTM32F4XX
-    CFLAGS += -DMEM_SIZE=1024000000
-endif
-
 # The following Makefile command, ifneq (,$(filter) $(A), $(B) $(C))
 #    is equivalent to the pseudocode `if (A == B || A == C)`
 ifneq (,$(filter YES,$(STACK_DIAGNOSTICS) $(ALL_DIGNOSTICS)))
@@ -368,190 +195,10 @@ ifneq (,$(filter YES,$(DIAG_TASKS) $(ALL_DIGNOSTICS)))
     CFLAGS += -DDIAG_TASKS
 endif
 
-CFLAGS += -mcpu=$(MCU)
-CFLAGS += $(CDEFS)
-CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
-CFLAGS += -mapcs-frame
-CFLAGS += -fomit-frame-pointer
-CFLAGS += -O$(OPT)
-CFLAGS += -g$(DEBUGF)
-
-ifeq ($(DEBUG), YES)
-    CFLAGS += -DDEBUG
-else
-    CFLAGS += -fdata-sections -ffunction-sections
-endif
-
-CFLAGS += -Wall
-# FIXME: STM32F4xx library raises strict aliasing and const qualifier warnings
-ifneq ($(MCU),cortex-m4)
-    CFLAGS += -Werror
-endif
-CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
-
-# Compiler flags to generate dependency files
-CFLAGS += -MD -MP -MF $(OUTDIR)/dep/$(@F).d
-
-# Flags only for C
-#CONLYFLAGS += -Wnested-externs
-CONLYFLAGS += $(CSTANDARD)
-
-# Assembler flags.
-#  -Wa,...:    tell GCC to pass this to the assembler.
-#  -ahlns:     create listing
-ASFLAGS =  -mcpu=$(MCU) -I. -x assembler-with-cpp
-ASFLAGS += $(ADEFS)
-ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
-ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
-
-MATH_LIB = -lm
-
-# Linker flags.
-#  -Wl,...:     tell GCC to pass this to linker.
-#    -Map:      create map file
-#    --cref:    add cross reference to  map file
-LDFLAGS += -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
-LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
-LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
-LDFLAGS += -lc -lgcc $(MATH_LIB)
-LDFLAGS += -Wl,--warn-common
-LDFLAGS += -Wl,--fatal-warnings
-
-ifneq ($(DEBUG), YES)
-    LDFLAGS += -Wl,-static
-endif
-
 # Set linker-script name depending on selected submodel name
 ifeq ($(MCU),cortex-m3)
-    LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
-    LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
+    LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_memory.ld
+    LDFLAGS += -T$(LINKER_SCRIPTS_PATH)/link_$(BOARD)_sections.ld
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 endif
-
-# List of all source files.
-ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
-# List of all source files without directory and file-extension.
-ALLSRCBASE = $(notdir $(basename $(ALLSRC)))
-
-# Define all object files.
-ALLOBJ     = $(addprefix $(OUTDIR)/, $(addsuffix .o, $(ALLSRCBASE)))
-
-# Define all listing files (used for make clean).
-LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
-# Define all depedency-files (used for make clean).
-DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
-
-# Default target.
-all: build
-
-ifeq ($(LOADFORMAT),ihex)
-build: elf hex sym
-else ifeq ($(LOADFORMAT),binary)
-build: elf bin sym
-else ifeq ($(LOADFORMAT),both)
-build: elf hex bin sym
-else
-    $(error "$(MSG_FORMATERROR) $(FORMAT)")
-endif
-
-# Generate code for PyMite
-# $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
-#	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
-#	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
-#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
-
-# Link: create ELF output file from object files.
-$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
-
-# Assemble: create object files from assembler source files.
-$(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))
-
-# Assemble: create object files from assembler source files. ARM-only
-$(foreach src, $(ASRCARM), $(eval $(call ASSEMBLE_ARM_TEMPLATE, $(src))))
-
-# Compile: create object files from C source files.
-$(foreach src, $(SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
-
-# Compile: create object files from C source files. ARM-only
-$(foreach src, $(SRCARM), $(eval $(call COMPILE_C_ARM_TEMPLATE, $(src))))
-
-# Compile: create object files from C++ source files.
-$(foreach src, $(CPPSRC), $(eval $(call COMPILE_CPP_TEMPLATE, $(src))))
-
-# Compile: create object files from C++ source files. ARM-only
-$(foreach src, $(CPPSRCARM), $(eval $(call COMPILE_CPP_ARM_TEMPLATE, $(src))))
-
-# Compile: create assembler files from C source files. ARM/Thumb
-$(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
-
-# Compile: create assembler files from C source files. ARM only
-$(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
-
-$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
-
-# Add opfw target
-$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
-
-# Add jtag targets (program and wipe)
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
-
-.PHONY: elf lss sym hex bin bino opfw
-elf: $(OUTDIR)/$(TARGET).elf
-lss: $(OUTDIR)/$(TARGET).lss
-sym: $(OUTDIR)/$(TARGET).sym
-hex: $(OUTDIR)/$(TARGET).hex
-bin: $(OUTDIR)/$(TARGET).bin
-bino: $(OUTDIR)/$(TARGET).bin.o
-opfw: $(OUTDIR)/$(TARGET).opfw
-
-# Display sizes of sections.
-$(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-
-# Generate Doxygen documents
-docs:
-	doxygen  $(DOXYGENDIR)/doxygen.cfg
-
-# Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).opfw
-ifneq ($(INSTALL_DIR),)
-	@$(ECHO) $(MSG_INSTALLING) $(call toprel, $<)
-	$(V1) $(MKDIR) -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
-else
-	$(error INSTALL_DIR must be specified for $@)
-endif
-
-# Target: clean project.
-clean: clean_list
-
-clean_list :
-	@echo $(MSG_CLEANING)
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
-	$(V1) $(RM) -f $(ALLOBJ)
-	$(V1) $(RM) -f $(LSTFILES)
-	$(V1) $(RM) -f $(DEPFILES)
-	$(V1) $(RM) -f $(SRC:.c=.s)
-	$(V1) $(RM) -f $(SRCARM:.c=.s)
-	$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
-	$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
-
-# Create output files directory
-# all known MS Windows OS define the ComSpec environment variable
-$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
-
-# Include the dependency files.
--include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
-
-# Listing of phony targets.
-.PHONY : all build clean clean_list install
diff --git a/make/boot-defs.mk b/make/boot-defs.mk
index b1e37e35f..f7b5d43dd 100644
--- a/make/boot-defs.mk
+++ b/make/boot-defs.mk
@@ -95,7 +95,6 @@ EXTRAINCDIRS += $(PIOSINC)
 EXTRAINCDIRS += $(FLIGHTLIBINC)
 EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(PIOSBOARDS)
-EXTRAINCDIRS += $(STMSPDINCDIR)
 EXTRAINCDIRS += $(HWDEFSINC)
 EXTRAINCDIRS += $(OPSYSTEMINC)
 
@@ -103,7 +102,7 @@ EXTRAINCDIRS += $(OPSYSTEMINC)
 # Also add directories where the linker should search for
 # includes from linker-script to the list
 #     Each directory must be seperated by a space.
-EXTRA_LIBDIRS =
+EXTRA_LIBDIRS +=
 
 # Extra Libraries
 #    Each library-name must be seperated by a space.
@@ -111,7 +110,7 @@ EXTRA_LIBDIRS =
 #    EXTRA_LIBS = xyz abc efsl
 # for newlib-lpc (file: libnewlibc-lpc.a):
 #    EXTRA_LIBS = newlib-lpc
-EXTRA_LIBS =
+EXTRA_LIBS +=
 
 # Provide (only) the bootloader with board-specific defines
 BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
diff --git a/make/common-defs.mk b/make/common-defs.mk
index cf05fb68a..cd8b503e0 100644
--- a/make/common-defs.mk
+++ b/make/common-defs.mk
@@ -117,8 +117,7 @@ ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
 #    --cref:    add cross reference to  map file
 LDFLAGS += -nostartfiles -Wl,-Map=$(OUTDIR)/$(TARGET).map,--cref,--gc-sections
 LDFLAGS += $(patsubst %,-L%,$(EXTRA_LIBDIRS))
-LDFLAGS += $(patsubst %,-l%,$(EXTRA_LIBS))
-LDFLAGS += -lc -lgcc -lm
+LDFLAGS += -lc -lgcc $(patsubst %,-l%,$(EXTRA_LIBS))
 LDFLAGS += -Wl,--warn-common
 LDFLAGS += -Wl,--fatal-warnings
 
@@ -152,8 +151,15 @@ else
     $(error "$(MSG_FORMATERROR) $(FORMAT)")
 endif
 
+# Generate code for PyMite
+# $(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
+#	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
+#	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
+#	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
+
 # Link: create ELF output file from object files.
-$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
+$(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ), $(ALLLIB)))
 
 # Assemble: create object files from assembler source files.
 $(foreach src, $(ASRC), $(eval $(call ASSEMBLE_TEMPLATE, $(src))))