diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3837ad53a..7519f04b7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -490,7 +490,7 @@ endif(NOT VOLK_GNSSSDR_FOUND)
 # gflags - https://github.com/gflags/gflags
 ################################################################################
 set(LOCAL_GFLAGS false)
-set(gflags_RELEASE 2.1.2)
+set(gflags_RELEASE 2.2.0)
 find_package(GFlags)
 if (NOT GFlags_FOUND)
      message (STATUS " gflags library has not been found.")
@@ -554,11 +554,11 @@ if (NOT GLOG_FOUND OR ${LOCAL_GFLAGS})
      if(${LOCAL_GFLAGS})
          set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_SHARED_LIBS})
          set(GFLAGS_LIBRARY_DIR_TO_LINK ${CMAKE_CURRENT_BINARY_DIR}/gflags-${gflags_RELEASE}/lib)
-     else(${LOCAL_GFLAGS})  
+     else(${LOCAL_GFLAGS})
          set(GFLAGS_LIBRARIES_TO_LINK ${GFlags_LIBS})
          set(GFLAGS_LIBRARY_DIR_TO_LINK ${GFlags_LIBRARY_DIRS})
      endif(${LOCAL_GFLAGS})
-     
+
      if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
          file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/glog-${glog_RELEASE}/tmp/configure_with_gflags
 "#!/bin/sh
@@ -892,6 +892,10 @@ if(NOT GNUTLS_OPENSSL_LIBRARY)
      endif(OPENSSL_FOUND)
 endif(NOT GNUTLS_OPENSSL_LIBRARY)
 
+if(OS_IS_LINUX)
+    find_package(Threads REQUIRED)
+    link_libraries(${CMAKE_THREAD_LIBS_INIT})
+endif(OS_IS_LINUX)
 
 ################################################################################
 # USRP Hardware Driver (UHD) - OPTIONAL
@@ -1175,15 +1179,8 @@ if(ENABLE_GPROF)
     #endif(CMAKE_COMPILER_IS_GNUCXX)
 endif(ENABLE_GPROF)
 
-
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${MY_CXX_FLAGS}")
 
-if(OS_IS_LINUX)
-    if(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "openSUSE" OR ${LINUX_DISTRIBUTION} MATCHES "ArchLinux")
-        link_libraries(pthread)
-    endif(${LINUX_DISTRIBUTION} MATCHES "Fedora" OR ${LINUX_DISTRIBUTION} MATCHES "openSUSE" OR ${LINUX_DISTRIBUTION} MATCHES "ArchLinux")
-endif(OS_IS_LINUX)
-
 
 ########################################################################
 # Create uninstall target
diff --git a/README.md b/README.md
index 5cd3dd432..b1c3b30df 100644
--- a/README.md
+++ b/README.md
@@ -143,9 +143,9 @@ The full stop separated from ```cmake``` by a space is important. [CMake](http:/
 #### Install [Gflags](https://github.com/gflags/gflags "Gflags' Homepage"), a commandline flags processing module for C++:
 
 ~~~~~~
-$ wget https://github.com/gflags/gflags/archive/v2.1.2.tar.gz
-$ tar xvfz v2.1.2.tar.gz
-$ cd gflags-2.1.2
+$ wget https://github.com/gflags/gflags/archive/v2.2.0.tar.gz
+$ tar xvfz v2.2.0.tar.gz
+$ cd gflags-2.2.0
 $ cmake -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=OFF -DBUILD_gflags_nothreads_LIB=OFF .
 $ make
 $ sudo make install
diff --git a/cmake/Toolchains/oe-sdk_cross.cmake b/cmake/Toolchains/oe-sdk_cross.cmake
new file mode 100644
index 000000000..bcf81b3ff
--- /dev/null
+++ b/cmake/Toolchains/oe-sdk_cross.cmake
@@ -0,0 +1,20 @@
+##########################################################
+# Toolchain file for Open Embedded
+##########################################################
+set( CMAKE_SYSTEM_NAME Linux )
+
+string(REGEX MATCH "sysroots/([a-zA-Z0-9]+)" CMAKE_SYSTEM_PROCESSOR $ENV{SDKTARGETSYSROOT})
+string(REGEX REPLACE "sysroots/" "" CMAKE_SYSTEM_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR})
+
+set( CMAKE_CXX_FLAGS $ENV{CXXFLAGS}  CACHE STRING "" FORCE )
+set( CMAKE_C_FLAGS $ENV{CFLAGS} CACHE STRING "" FORCE ) #same flags for C sources
+set( CMAKE_LDFLAGS_FLAGS ${CMAKE_CXX_FLAGS} CACHE STRING "" FORCE ) #same flags for C sources
+set( CMAKE_LIBRARY_PATH ${OECORE_TARGET_SYSROOT}/usr/lib )
+
+set( CMAKE_FIND_ROOT_PATH $ENV{OECORE_TARGET_SYSROOT} $ENV{OECORE_NATIVE_SYSROOT} )
+set( CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER )
+set( CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY )
+set( CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY )
+
+set ( ORC_INCLUDE_DIRS $ENV{OECORE_TARGET_SYSROOT}/usr/include/orc-0.4 )
+set ( ORC_LIBRARY_DIRS $ENV{OECORE_TARGET_SYSROOT}/usr/lib )