diff --git a/config/FindXenomai.cmake b/config/FindXenomai.cmake
index 34d7c7ee2..8ea44c951 100644
--- a/config/FindXenomai.cmake
+++ b/config/FindXenomai.cmake
@@ -1,6 +1,6 @@
 ################################################################################
 #
-# CMake script for finding XENOMAI.
+# CMake script for finding the XENOMAI native skin.
 # If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
 # libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
 # directories, respectively. Otherwise the default CMake search process will be
@@ -21,6 +21,14 @@ if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
   mark_as_advanced(XENOMAI_ROOT_DIR)
 endif()
 
+if ( Xenomai_FIND_QUIETLY )
+  set( XENOMAI_FIND_QUIETLY "QUIET")
+endif()
+
+if ( Xenomai_FIND_REQUIRED )
+  set( XENOMAI_FIND_REQUIRED "REQUIRED")
+endif()
+
 # Header files to find
 set(header_NAME    native/task.h)
 
@@ -31,16 +39,26 @@ set(XENOMAI_NATIVE_NAME   native)
 # Find headers and libraries
 if(XENOMAI_ROOT_DIR)
   # Use location specified by environment variable
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_ROOT_DIR}/bin NO_DEFAULT_PATH)
   find_path(XENOMAI_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai NO_DEFAULT_PATH)
   find_library(XENOMAI_LIBRARY         NAMES ${XENOMAI_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
   find_library(XENOMAI_NATIVE_LIBRARY         NAMES ${XENOMAI_NATIVE_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
 else()
   # Use default CMake search process
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config )
   find_path(XENOMAI_INCLUDE_DIR       NAMES ${header_NAME} PATH_SUFFIXES xenomai )
   find_library(XENOMAI_LIBRARY        NAMES ${XENOMAI_NAME})
   find_library(XENOMAI_NATIVE_LIBRARY        NAMES ${XENOMAI_NATIVE_NAME})
 endif()
 
+if( XENOMAI_LIBRARY AND XENOMAI_INCLUDE_DIR AND NOT XENOMAI_XENO_CONFIG )
+  message(SEND_ERROR "Your Xenomai installation is broken: I can not determine Xenomai Native cflags/ldflags without xeno-config.")
+else()
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --ldflags OUTPUT_VARIABLE XENOMAI_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=native --cflags OUTPUT_VARIABLE XENOMAI_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+endif()
+
+
 # Set the include dir variables and the libraries and let libfind_process do the rest.
 # NOTE: Singular variables for this library, plural for libraries this this lib depends on.
 set(XENOMAI_PROCESS_INCLUDES XENOMAI_INCLUDE_DIR)
diff --git a/config/FindXenomaiPosix.cmake b/config/FindXenomaiPosix.cmake
index 1b6e49b88..942208584 100644
--- a/config/FindXenomaiPosix.cmake
+++ b/config/FindXenomaiPosix.cmake
@@ -1,6 +1,6 @@
 ################################################################################
 #
-# CMake script for finding XENOMAI.
+# CMake script for finding the XENOMAI Posix skin.
 # If the optional XENOMAI_ROOT_DIR environment variable exists, header files and
 # libraries will be searched in the XENOMAI_ROOT_DIR/include and XENOMAI_ROOT_DIR/lib
 # directories, respectively. Otherwise the default CMake search process will be
@@ -16,9 +16,17 @@
 include(LibFindMacros)
 
 # Get hint from environment variable (if any)
-if(NOT $ENV{XENOMAI_POSIX_ROOT_DIR} STREQUAL "")
-  set(XENOMAI_POSIX_ROOT_DIR $ENV{XENOMAI_POSIX_ROOT_DIR} CACHE PATH "Xenomai Posix base directory location (optional, used for nonstandard installation paths)" FORCE)
-  mark_as_advanced(XENOMAI_POSIX_ROOT_DIR)
+if(NOT $ENV{XENOMAI_ROOT_DIR} STREQUAL "")
+  set(XENOMAI_ROOT_DIR $ENV{XENOMAI_ROOT_DIR} CACHE PATH "Xenomai Posix base directory location (optional, used for nonstandard installation paths)" FORCE)
+  mark_as_advanced(XENOMAI_ROOT_DIR)
+endif()
+
+if ( XenomaiPosix_FIND_QUIETLY )
+  set( XENOMAI_POSIX_FIND_QUIETLY "QUIET")
+endif()
+
+if ( XenomaiPosix_FIND_REQUIRED )
+  set( XENOMAI_POSIX_FIND_REQUIRED "REQUIRED")
 endif()
 
 # Header files to find
@@ -28,11 +36,11 @@ set(header_NAME    pthread.h)
 set(XENOMAI_POSIX_NAME   pthread_rt)
 
 # Find headers and libraries
-if(XENOMAI_POSIX_ROOT_DIR)
+if(XENOMAI_ROOT_DIR)
   # Use location specified by environment variable
-  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_POSIX_ROOT_DIR}/bin NO_DEFAULT_PATH)
-  find_path(XENOMAI_POSIX_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_POSIX_ROOT_DIR}/include PATH_SUFFIXES xenomai/posix NO_DEFAULT_PATH)
-  find_library(XENOMAI_POSIX_LIBRARY         NAMES ${XENOMAI_POSIX_NAME}       PATHS ${XENOMAI_POSIX_ROOT_DIR}/lib     NO_DEFAULT_PATH)
+  find_program(XENOMAI_XENO_CONFIG NAMES xeno-config  PATHS ${XENOMAI_ROOT_DIR}/bin NO_DEFAULT_PATH)
+  find_path(XENOMAI_POSIX_INCLUDE_DIR        NAMES ${header_NAME}        PATHS ${XENOMAI_ROOT_DIR}/include PATH_SUFFIXES xenomai/posix NO_DEFAULT_PATH)
+  find_library(XENOMAI_POSIX_LIBRARY         NAMES ${XENOMAI_POSIX_NAME}       PATHS ${XENOMAI_ROOT_DIR}/lib     NO_DEFAULT_PATH)
 else()
   # Use default CMake search process
   find_program(XENOMAI_XENO_CONFIG NAMES xeno-config )
@@ -43,8 +51,8 @@ endif()
 if( XENOMAI_POSIX_LIBRARY AND XENOMAI_POSIX_INCLUDE_DIR AND NOT XENOMAI_XENO_CONFIG )
   message(SEND_ERROR "Your Xenomai installation is broken: I can not determine Xenomai POSIX cflags/ldflags without xeno-config.")
 else()
-  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --posix-ldflags OUTPUT_VARIABLE XENOMAI_POSIX_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
-  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --posix-cflags OUTPUT_VARIABLE XENOMAI_POSIX_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=posix --ldflags OUTPUT_VARIABLE XENOMAI_POSIX_LDFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
+  execute_process(COMMAND ${XENOMAI_XENO_CONFIG} --skin=posix --cflags OUTPUT_VARIABLE XENOMAI_POSIX_CFLAGS OUTPUT_STRIP_TRAILING_WHITESPACE)
 endif()
 
 # Set the include dir variables and the libraries and let libfind_process do the rest.
diff --git a/config/LibFindMacros.cmake b/config/LibFindMacros.cmake
index db880c19b..5c648ff6e 100644
--- a/config/LibFindMacros.cmake
+++ b/config/LibFindMacros.cmake
@@ -71,7 +71,7 @@ macro (libfind_process PREFIX)
         foreach (i ${${PREFIX}_PROCESS_INCLUDES} ${${PREFIX}_PROCESS_LIBS})
           message("${i}=${${i}}")
         endforeach (i)
-        message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, use the ${PREFIX}_ROOT_DIR environment variable or ccmake to set the missing variables manually.")
+        message (FATAL_ERROR "Required library ${PREFIX} NOT FOUND.\nInstall the library (dev version) and try again. If the library is already installed, set the ${PREFIX}_ROOT_DIR environment variable or use cmake to set the missing variables manually.")
       else (${PREFIX}_FIND_REQUIRED)  # NOTE: else case not included in original file
         message (STATUS "Optional library ${PREFIX} NOT FOUND. If the library is already installed, use the ${PREFIX}_ROOT_DIR environment variable or ccmake to set the missing variables manually.")
       endif (${PREFIX}_FIND_REQUIRED)
diff --git a/config/check_depend.cmake b/config/check_depend.cmake
index f3a9a4b0a..c5e75deaa 100644
--- a/config/check_depend.cmake
+++ b/config/check_depend.cmake
@@ -111,6 +111,10 @@ endif(XERCES_FOUND)
 message("Orocos target is ${OROCOS_TARGET}")
 string(TOUPPER ${OROCOS_TARGET} OROCOS_TARGET_CAP)
 
+if ( NOT ";lxrt;gnulinux;xenomai;macosx;win32;" MATCHES ".*;${OROCOS_TARGET};.*")
+  message( FATAL_ERROR "OROCOS_TARGET=${OROCOS_TARGET} is an unkown target. Please use one of lxrt;gnulinux;xenomai;macosx;win32.")
+endif()
+
 # Setup flags for RTAI/LXRT
 if(OROCOS_TARGET STREQUAL "lxrt")
   set(OROPKG_OS_LXRT TRUE CACHE INTERNAL "This variable is exported to the rtt-config.h file to expose our target choice to the code." FORCE)
@@ -144,10 +148,13 @@ if(OROCOS_TARGET STREQUAL "xenomai")
   add_definitions( -Wall )
 
   if(XENOMAI_FOUND)
-    list(APPEND OROCOS-RTT_USER_LINK_LIBS ${XENOMAI_LIBRARIES} ) # For libraries used in inline (fosi/template) code.
+    # Input for .pc and .cmake generated files:
     list(APPEND OROCOS-RTT_INCLUDE_DIRS ${XENOMAI_INCLUDE_DIRS} ${PTHREAD_INCLUDE_DIRS})
     list(APPEND OROCOS-RTT_LIBRARIES ${XENOMAI_LIBRARIES} ${PTHREAD_LIBRARIES} dl) 
     list(APPEND OROCOS-RTT_DEFINITIONS "OROCOS_TARGET=${OROCOS_TARGET}") 
+    # Direct input only for .pc file:
+    list(APPEND RTT_USER_LDFLAGS ${XENOMAI_LDFLAGS} )
+    list(APPEND RTT_USER_CFLAGS ${XENOMAI_CFLAGS} )
     if (XENOMAI_POSIX_FOUND)
       set(MQ_LDFLAGS ${XENOMAI_POSIX_LDFLAGS} )
       set(MQ_CFLAGS ${XENOMAI_POSIX_CFLAGS} )
@@ -261,7 +268,7 @@ else(OROCOS_TARGET STREQUAL "win32")
 endif(OROCOS_TARGET STREQUAL "win32")
 
 if( NOT OROCOS-RTT_DEFINITIONS )
-  message(FATAL_ERROR "No suitable OROCOS_TARGET selected. Use one of 'lxrt,xenomai,gnulinux,macosx,win32'")
+  message(FATAL_ERROR "No suitable OROCOS_TARGET found. Please check your setup or provide additional search paths to cmake.")
 endif()
 
 # The machine type is tested using compiler macros in rtt-config.h.in
diff --git a/orocos-rtt.default.cmake b/orocos-rtt.default.cmake
index c3a9041cb..1373243d6 100644
--- a/orocos-rtt.default.cmake
+++ b/orocos-rtt.default.cmake
@@ -69,7 +69,7 @@ else()
       set(OROCOS_TARGET gnulinux CACHE STRING "${DOC_STRING}")
     endif()
   endif()
-  message( "No OROCOS_TARGET environment variable detected. Using: ${OROCOS_TARGET}")
+  message( "No OROCOS_TARGET environment variable set. Using: ${OROCOS_TARGET}")
 endif()
 
 # Useful for Windows/MSVC builds, sets all libraries and executables in one place.
diff --git a/rtt/orocos-rtt.pc.in b/rtt/orocos-rtt.pc.in
index 1cf19f7c3..d071408e2 100644
--- a/rtt/orocos-rtt.pc.in
+++ b/rtt/orocos-rtt.pc.in
@@ -6,6 +6,6 @@ includedir=${prefix}/include
 Name: Orocos-RTT                          # human-readable name
 Description: Open Robot Control Software: Real-Time Tookit # human-readable description
 Version: @RTT_VERSION@
-Libs: -L${libdir} -lorocos-rtt-@OROCOS_TARGET@ @RTT_USER_LINK_LIBS@ # If some RTT headers include inline calls to other libraries, we need to specify these here too.
+Libs: -L${libdir} -lorocos-rtt-@OROCOS_TARGET@ @RTT_USER_LINK_LIBS@ @RTT_USER_LDFLAGS@ # If some RTT headers include inline calls to other libraries, we need to specify these here too.
 Libs.private: @RTT_LINKFLAGS@
-Cflags: -I${includedir} @RTT_DEFINES@ @RTT_CFLAGS@
+Cflags: -I${includedir} @RTT_DEFINES@ @RTT_CFLAGS@ @RTT_USER_CFLAGS@
diff --git a/rtt/transports/mqueue/orocos-rtt-mqueue.pc.in b/rtt/transports/mqueue/orocos-rtt-mqueue.pc.in
index f4e9a7811..61a6088ff 100644
--- a/rtt/transports/mqueue/orocos-rtt-mqueue.pc.in
+++ b/rtt/transports/mqueue/orocos-rtt-mqueue.pc.in
@@ -7,6 +7,6 @@ Name: Orocos-RTT-MQUEUE                                     # human-readable nam
 Description: Open Robot Control Software: Real-Time Tookit # human-readable description
 Requires: orocos-rtt-@OROCOS_TARGET@
 Version: @RTT_VERSION@
-Libs: -L${libdir} -lorocos-rtt-mqueue-@OROCOS_TARGET@
-Libs.private: @RTT_MQUEUE_LINKFLAGS@
-Cflags: -I${includedir}/rtt/mqueue @RTT_MQUEUE_DEFINES@ @RTT_MQUEUE_CFLAGS@
+Libs: -L${libdir} -lorocos-rtt-mqueue-@OROCOS_TARGET@ @MQ_LDFLAGS@
+Libs.private:
+Cflags: -I${includedir}/rtt/mqueue @MQ_CFLAGS@