diff --git a/nshlib/nsh_parse.c b/nshlib/nsh_parse.c
index 6018fd894..9162a90bf 100644
--- a/nshlib/nsh_parse.c
+++ b/nshlib/nsh_parse.c
@@ -157,9 +157,9 @@ static FAR char *nsh_envexpand(FAR struct nsh_vtbl_s *vtbl,
 #endif
 
 static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-               FAR char **allocation);
+               FAR char **allocation, int* isenvvar);
 static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, char **saveptr,
-               FAR NSH_MEMLIST_TYPE *memlist);
+               FAR NSH_MEMLIST_TYPE *memlist, int* isenvvar);
 
 #ifndef CONFIG_NSH_DISABLESCRIPT
 #ifndef CONFIG_NSH_DISABLE_LOOPS
@@ -1010,7 +1010,7 @@ static FAR char *nsh_envexpand(FAR struct nsh_vtbl_s *vtbl,
 
 #if defined(CONFIG_NSH_ARGCAT) && defined(HAVE_MEMLIST)
 static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-                               FAR char **allocation)
+                               FAR char **allocation, int* isenvvar)
 {
   FAR char *working = cmdline;
   FAR char *argument = NULL;
@@ -1129,8 +1129,8 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
           *allocation = argument;
 
           /* Find the end of the environment variable reference.  If the
-           * dollar sign ('$') is followed by a right bracket ('{') then the
-           * variable name is terminated with the left bracket character
+           * dollar sign ('$') is followed by a left bracket ('{') then the
+           * variable name is terminated with the right bracket character
            * ('}').  Otherwise, the variable name goes to the end of the
            * argument.
            */
@@ -1168,6 +1168,10 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
            * nsh_envexpand will return the NULL string.
            */
 
+          if (isenvvar) {
+              *isenvvar = 1;
+          }
+
           envstr = nsh_envexpand(vtbl, ptr);
 
 #ifndef CONFIG_NSH_DISABLESCRIPT
@@ -1199,7 +1203,7 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
 
 #else
 static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
-                               FAR char **allocation)
+                               FAR char **allocation, int* isenvvar)
 {
   FAR char *argument = (FAR char *)g_nullstring;
 
@@ -1235,6 +1239,9 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
 
   if (*cmdline == '$')
     {
+      if (isenvvar) {
+          *isenvvar = 1;
+      }
       argument = nsh_envexpand(vtbl, cmdline + 1);
     }
   else
@@ -1257,7 +1264,7 @@ static FAR char *nsh_argexpand(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
  ****************************************************************************/
 
 static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
-                              FAR NSH_MEMLIST_TYPE *memlist)
+                              FAR NSH_MEMLIST_TYPE *memlist, int* isenvvar)
 {
   FAR char *pbegin     = *saveptr;
   FAR char *pend       = NULL;
@@ -1330,6 +1337,13 @@ static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
 
           pbegin++;
           term = "\"";
+
+          /* If this is an environment variable in double quotes, we don't want it split into
+           * multiple argument should CONFIG_NSH_ENABLEPX4PARSING be defined
+           * So just invalidate the flag pointer which would otherwise communictate such 
+           * back up the call tree.
+           */
+          isenvvar = NULL;
         }
       else
         {
@@ -1400,11 +1414,11 @@ static FAR char *nsh_argument(FAR struct nsh_vtbl_s *vtbl, FAR char **saveptr,
 
       /* Perform expansions as necessary for the argument */
 
-      argument = nsh_argexpand(vtbl, pbegin, &allocation);
+      argument = nsh_argexpand(vtbl, pbegin, &allocation, isenvvar);
     }
 
   /* If any memory was allocated for this argument, make sure that it is
-   * added to the list of memory to be freed at the end of commend
+   * added to the list of memory to be freed at the end of command
    * processing.
    */
 
@@ -1521,7 +1535,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
 
           /* Get the cmd following the "while" or "until" */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
           if (!*ppcmd)
             {
               nsh_output(vtbl, g_fmtarginvalid, "if");
@@ -1578,7 +1592,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the "do" -- there may or may not be one */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
 
           /* Verify that "do" is valid in this context */
 
@@ -1598,7 +1612,7 @@ static int nsh_loop(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the "done" -- there should be one */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
           if (*ppcmd)
             {
               nsh_output(vtbl, g_fmtarginvalid, "done");
@@ -1703,7 +1717,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the if */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
           if (!*ppcmd)
             {
               nsh_output(vtbl, g_fmtarginvalid, "if");
@@ -1741,7 +1755,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the "then" -- there may or may not be one */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
 
           /* Verify that "then" is valid in this context */
 
@@ -1760,7 +1774,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the "else" -- there may or may not be one */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
 
           /* Verify that "else" is valid in this context */
 
@@ -1779,7 +1793,7 @@ static int nsh_itef(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
         {
           /* Get the cmd following the fi -- there should be one */
 
-          *ppcmd = nsh_argument(vtbl, saveptr, memlist);
+          *ppcmd = nsh_argument(vtbl, saveptr, memlist, 0);
           if (*ppcmd)
             {
               nsh_output(vtbl, g_fmtarginvalid, "fi");
@@ -1851,10 +1865,10 @@ static int nsh_nice(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
 
           /* Get the cmd (or -d option of nice command) */
 
-          cmd = nsh_argument(vtbl, saveptr, memlist);
+          cmd = nsh_argument(vtbl, saveptr, memlist, 0);
           if (cmd && strcmp(cmd, "-d") == 0)
             {
-              FAR char *val = nsh_argument(vtbl, saveptr, memlist);
+              FAR char *val = nsh_argument(vtbl, saveptr, memlist, 0);
               if (val)
                 {
                   char *endptr;
@@ -1865,7 +1879,7 @@ static int nsh_nice(FAR struct nsh_vtbl_s *vtbl, FAR char **ppcmd,
                       nsh_output(vtbl, g_fmtarginvalid, "nice");
                       return ERROR;
                     }
-                  cmd = nsh_argument(vtbl, saveptr, memlist);
+                  cmd = nsh_argument(vtbl, saveptr, memlist, 0);
                 }
             }
 
@@ -1935,7 +1949,7 @@ static int nsh_parse_cmdparm(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
   /* Parse out the command at the beginning of the line */
 
   saveptr = cmdline;
-  cmd = nsh_argument(vtbl, &saveptr, &memlist);
+  cmd = nsh_argument(vtbl, &saveptr, &memlist, 0);
 
   /* Check if any command was provided -OR- if command processing is
    * currently disabled.
@@ -1969,7 +1983,7 @@ static int nsh_parse_cmdparm(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline,
   argv[0] = cmd;
   for (argc = 1; argc < MAX_ARGV_ENTRIES-1; argc++)
     {
-      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist);
+      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist, 0);
       if (!argv[argc])
         {
           break;
@@ -2036,7 +2050,7 @@ static int nsh_parse_command(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline)
   /* Parse out the command at the beginning of the line */
 
   saveptr = cmdline;
-  cmd = nsh_argument(vtbl, &saveptr, &memlist);
+  cmd = nsh_argument(vtbl, &saveptr, &memlist, 0);
 
 #ifndef CONFIG_NSH_DISABLESCRIPT
 #ifndef CONFIG_NSH_DISABLE_LOOPS
@@ -2104,15 +2118,54 @@ static int nsh_parse_command(FAR struct nsh_vtbl_s *vtbl, FAR char *cmdline)
    */
 
   argv[0] = cmd;
+
+#define CONFIG_NSH_ENABLEPX4PARSING
+
   for (argc = 1; argc < MAX_ARGV_ENTRIES-1; argc++)
     {
-      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist);
+      int isenvvar = 0; /* flag for if an enviroment variable gets expanded */
+      argv[argc] = nsh_argument(vtbl, &saveptr, &memlist, &isenvvar);
       if (!argv[argc])
         {
           break;
         }
+
+#ifdef CONFIG_NSH_ENABLEPX4PARSING
+      if (isenvvar)
+        {
+          while (argc < MAX_ARGV_ENTRIES-1) /* TODO: check this bounds check is correct */
+            {
+              FAR char *pbegin = argv[argc];
+
+              /* Find the end of the current token */
+              for (; *pbegin && !strchr(g_token_separator, *pbegin); pbegin++);
+
+              /* If end of string, we've processed the last token and we're done */
+              if ('\0' == *pbegin)
+                {
+                  break;
+                }
+
+              /* Terminate the token to complete the argv variable */
+              *pbegin = '\0';
+
+              /* We've inserted an extra parameter, so bump the count */
+              argc++;
+
+              /* Move to the next character in the string of tokens */
+              pbegin++;
+
+              /* Throw away any extra separator chars between tokens */
+              for (; *pbegin && strchr(g_token_separator, *pbegin) != NULL; pbegin++);
+
+              /* Prepare to loop again on the next argument token */
+              argv[argc] = pbegin;
+            }
+        }
+#endif /* CONFIG_NSH_ENABLEPX4PARSING */
     }
 
+  /* Last argument vector must be empty */
   argv[argc] = NULL;
 
   /* Check if the command should run in background */