How does PX4 fit into NuttX?

PX4 Autopilot
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I am very new to PX4 and NuttX, and I’m trying to understand how PX4 and NuttX co-exist. I’ve built NuttX standalone plus I managed to hack the nxp_fmurt1062-v1_default build to run on a Teensy4.1. Now I’m just trying to understand how PX4 starts up…
I see in nuttx documentation that NSH initialization can be customized. Does PX4 run by kicking off a bunch of builtins through NuttX? Is there any documentation on this or can someone point me to some code that starts up the “px4 application” within NuttX?

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Hello, were you able to find the answer? Also, how did you hack the teensy to run px4?

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Well that was a while ago! Never got a reply, but concluded that PX4 is heavily intertwined with NUTTX. IIRC, it was a non-trivial exercise to get to know it all, and unfortunately since then I’ve moved onto other things. Regarding your second question… I assume you mean how did I hack PX4 to run on Teensy4.1? I added similar IO (IMU, motor drivers, etc…) to a custom Teensy4.1 carrier and modified the firmware interfaces as needed. Just grunt work.