diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
index 21b05878468bd4838fa9c73be632ef62461dd7a9..d5e1cc038faee3eaf3228790864a315ca4d51eeb 100644
--- a/boards/emlid/navio2/cross.cmake
+++ b/boards/emlid/navio2/cross.cmake
@@ -85,6 +85,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
index d7fe1c66ad3663cfa3be6063306ef7c7f9daaf21..23b11f1d5f220b072285d89883f14c1782c81937 100644
--- a/boards/emlid/navio2/native.cmake
+++ b/boards/emlid/navio2/native.cmake
@@ -83,6 +83,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/raspberrypi/cross.cmake b/boards/px4/raspberrypi/cross.cmake
index 15d75d0760243371af37e89c99c0ba0c14cb324f..c37217e6c6ee63e8ba417361d11173b1e663ca8c 100644
--- a/boards/px4/raspberrypi/cross.cmake
+++ b/boards/px4/raspberrypi/cross.cmake
@@ -5,7 +5,7 @@ px4_add_board(
 	LABEL cross
 	PLATFORM posix
 	ARCHITECTURE cortex-a53
-	TOOLCHAIN Toolchain-arm-linux-gnueabihf
+	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 
 	DRIVERS
@@ -64,6 +64,7 @@ px4_add_board(
 		pwm
 		reboot
 		sd_bench
+		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
@@ -72,6 +73,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/raspberrypi/native.cmake b/boards/px4/raspberrypi/native.cmake
index 01257d2a9dc0d1bbe2a5eaf3ac8de0dba3a412bc..80a714db6c68263f962d2002fa6154516a791800 100644
--- a/boards/px4/raspberrypi/native.cmake
+++ b/boards/px4/raspberrypi/native.cmake
@@ -47,6 +47,7 @@ px4_add_board(
 		navigator
 		position_estimator_inav
 		sensors
+		#simulator
 		#uavcan
 		vtol_att_control
 		wind_estimator
@@ -62,6 +63,7 @@ px4_add_board(
 		pwm
 		reboot
 		sd_bench
+		shutdown
 		tests # tests and test runner
 		top
 		topic_listener
@@ -70,6 +72,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/sitl/default.cmake b/boards/px4/sitl/default.cmake
index 184a8c00ea2baa2b5d7d116dbd69c55dabf5f0b8..b960ccce8f3ecaba1490770280f895bcbfc813fb 100644
--- a/boards/px4/sitl/default.cmake
+++ b/boards/px4/sitl/default.cmake
@@ -73,6 +73,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/sitl/rtps.cmake b/boards/px4/sitl/rtps.cmake
index 9be0cde875c94a5e3da45dfbd1eb8c55caab75c5..fae8d89331218d614342d9654bdae5f327b10b35 100644
--- a/boards/px4/sitl/rtps.cmake
+++ b/boards/px4/sitl/rtps.cmake
@@ -75,6 +75,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/boards/px4/sitl/test.cmake b/boards/px4/sitl/test.cmake
index 2c541dfee9eac0003c969ce9b2bf54ea5dd6be24..3dcb200120edd2efe78a9fcb123576e0f37d3d33 100644
--- a/boards/px4/sitl/test.cmake
+++ b/boards/px4/sitl/test.cmake
@@ -73,6 +73,7 @@ px4_add_board(
 
 	EXAMPLES
 		bottle_drop # OBC challenge
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 11cca7cf1a481cae3c5256c3e2c047e5cfe7fc0b..4d1f5990706fcb8c6c6618dd9065684182cecbfb 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -100,18 +100,18 @@ set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down"
 sanitizer_fail_test_on_error(shutdown)
 
 # Dynamic module loading test
-#add_test(NAME dyn
-#	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
-#		$<TARGET_FILE:px4>
-#		none
-#		none
-#		test_dyn_hello
-#		${PX4_SOURCE_DIR}
-#		${PX4_BINARY_DIR}
-#		$<TARGET_FILE:platforms__posix__tests__dyn_hello>
-#	WORKING_DIRECTORY ${SITL_WORKING_DIR})
-#set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
-#sanitizer_fail_test_on_error(dyn)
+add_test(NAME dyn
+	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+		$<TARGET_FILE:px4>
+		none
+		none
+		test_dyn_hello
+		${PX4_SOURCE_DIR}
+		${PX4_BINARY_DIR}
+		$<TARGET_FILE:examples__dyn_hello>
+	WORKING_DIRECTORY ${SITL_WORKING_DIR})
+set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
+sanitizer_fail_test_on_error(dyn)
 
 # run arbitrary commands
 set(test_cmds
@@ -140,7 +140,9 @@ endforeach()
 
 add_custom_target(test_results
 		COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
-		DEPENDS px4 #platforms__posix__tests__dyn_hello
+		DEPENDS
+			px4
+			examples__dyn_hello
 		USES_TERMINAL
 		COMMENT "Running tests in sitl"
 		WORKING_DIRECTORY ${PX4_BINARY_DIR})
diff --git a/posix-configs/SITL/init/test/test_dyn_hello b/posix-configs/SITL/init/test/test_dyn_hello
index e323fa95c27ee25307bce1d155424278e6ed555c..a97ff51d60225e25ab2f71af3d7bbbfa2c896665 100644
--- a/posix-configs/SITL/init/test/test_dyn_hello
+++ b/posix-configs/SITL/init/test/test_dyn_hello
@@ -3,6 +3,6 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh
 
-dyn ./platforms__posix__tests__dyn_hello.px4mod PASSED
+dyn ./examples__dyn_hello.px4mod PASSED
 
 shutdown
diff --git a/src/examples/dyn_hello/CMakeLists.txt b/src/examples/dyn_hello/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..99c47bdafdc90692e2ef9e3c12a118a519a80596
--- /dev/null
+++ b/src/examples/dyn_hello/CMakeLists.txt
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE examples__dyn_hello
+	MAIN hello
+	SRCS
+		hello.cpp
+	DEPENDS
+	DYNAMIC
+	)
diff --git a/src/platforms/posix/tests/dyn_hello/hello.cpp b/src/examples/dyn_hello/hello.cpp
similarity index 100%
rename from src/platforms/posix/tests/dyn_hello/hello.cpp
rename to src/examples/dyn_hello/hello.cpp
diff --git a/src/platforms/posix/tests/dyn_hello/CMakeLists.txt b/src/platforms/posix/tests/dyn_hello/CMakeLists.txt
deleted file mode 100644
index fd1577b8db66f3ab3d169589e095b4519451ce77..0000000000000000000000000000000000000000
--- a/src/platforms/posix/tests/dyn_hello/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-px4_add_module(
-	MODULE platforms__posix__tests__dyn_hello
-	MAIN hello
-	SRCS
-		hello.cpp
-	DEPENDS
-	DYNAMIC
-	)