diff --git a/kernel/nvidia-oot.nix b/kernel/nvidia-oot.nix
index 3b5508d..9947a66 100644
--- a/kernel/nvidia-oot.nix
+++ b/kernel/nvidia-oot.nix
@@ -1,58 +1,85 @@
-# TODO: Should try to merge with upstream nixpkgs's open.nix nvidia driver
-{ stdenv
-, lib
-, kernel
-, gitRepos
-, l4tVersion
+{
+  stdenv,
+  kernel,
+  runCommand,
+  fetchurl,
+  lib,
+  buildPackages
 }:
+let
+  src = fetchurl {
+    url = "https://developer.nvidia.com/downloads/embedded/l4t/r36_release_v3.0/sources/public_sources.tbz2";
+    hash = "sha256-6U2+ACWuMT7rYDBhaXr+13uWQdKgbfAiiIV0Vi3R9sU=";
+  };
+
+  source = runCommand "source" { } ''
+    tar xf ${src}
+    cd Linux_for_Tegra/source
+    mkdir $out
+    tar -C $out -xf kernel_oot_modules_src.tbz2
+    tar -C $out -xf nvidia_kernel_display_driver_source.tbz2
+  '';
 
-stdenv.mkDerivation rec {
+  # unclear why we need this, but some part of nvidia's conftest doesn't pick up the headers otherwise
+  kernelIncludes = x: [
+    "${kernel.dev}/lib/modules/${kernel.modDirVersion}/source/include"
+    "${kernel.dev}/lib/modules/${kernel.modDirVersion}/source/arch/${stdenv.hostPlatform.linuxArch}/include"
+    "${kernel.dev}/lib/modules/${kernel.modDirVersion}/source/include/uapi/"
+    "${kernel.dev}/lib/modules/${kernel.modDirVersion}/source/arch/${stdenv.hostPlatform.linuxArch}/include/uapi/"
+  ];
+in
+stdenv.mkDerivation {
   pname = "nvidia-oot";
-  version = "jetson_${l4tVersion}";
+  inherit (kernel) version;
 
-   src = gitRepos."nvidia-oot";
+  src = source;
+  # Patch created like that:
+  # nix-build ./packages.nix -A nvidia-oot-cross.src
+  # mkdir source
+  # cp -r result/* source
+  # chmod -R +w source
+  # cd source
+  # git init .
+  # git add .
+  # git commit -m "Initial commit"
+  # <make changes>
+  # git diff > ../0001-build-fixes.patch
+  patches = [ ./0001-build-fixes.patch ];
 
-  #setSourceRoot = "sourceRoot=$(echo /build/linux-nv-oot-*)";
-  sourceRoot="linux-nv-oot-564ce2a";
+  postUnpack = ''
+    # make kernel headers readable for the nvidia build system.
+    cp -r ${kernel.dev} linux-dev
+    chmod -R u+w linux-dev
+    export KERNEL_HEADERS=$(pwd)/linux-dev/lib/modules/${kernel.modDirVersion}/build
 
-  nativeBuildInputs = kernel.moduleBuildDependencies;
+  '';
 
-  # makeFlags = kernel.makeFlags ++ [
-  makeFlags = [
-    "SYSSRC=${kernel.dev}/lib/modules/${kernel.modDirVersion}/source"
-    "SYSOUT=${kernel.dev}/lib/modules/${kernel.modDirVersion}/build"
-    "MODLIB=$(out)/lib/modules/${kernel.modDirVersion}"
-    "O=${kernel.dev}/lib/modules/${kernel.modDirVersion}/source"
-  ] ++ lib.optionals ((stdenv.buildPlatform != stdenv.hostPlatform) && stdenv.hostPlatform.isAarch64) [
-    "TARGET_ARCH=aarch64"
-  ];
+  nativeBuildInputs = kernel.moduleBuildDependencies ++ [ ];
 
-  # Avoid an error in modpost: "__stack_chk_guard" [.../nvidia.ko] undefined
-  # NIX_CFLAGS_COMPILE = "-fno-stack-protector";
+  # some calls still go to `gcc` in the build
+  depsBuildBuild = [ buildPackages.stdenv.cc ];
 
-    postUnpack = ''
-    cd linux-nv-oot-564ce2a
-    sourceRoot=$(pwd -P)
-    
-    cat >> Makefile  <<EOF
+  makeFlags =
+    [
+      "ARCH=${stdenv.hostPlatform.linuxArch}"
+      "INSTALL_MOD_PATH=${placeholder "out"}"
+      "modules"
+    ]
+    ++ lib.optionals (stdenv.hostPlatform != stdenv.buildPlatform) [
+      "CROSS_COMPILE=${stdenv.cc}/bin/${stdenv.cc.targetPrefix}"
+    ];
 
-all:
-	env > /dev/stdout
-	make -C $SYSOUT  
+  CROSS_COMPILE = lib.optionalString (
+    stdenv.hostPlatform != stdenv.buildPlatform
+  ) "${stdenv.cc}/bin/${stdenv.cc.targetPrefix}";
 
-clean:
-	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean
+  hardeningDisable = [ "pic" ];
 
-EOF
-    '';
-    preBuildPhase = ''
-    echo prebuildphase 
-    '';   
+  # unclear why we need to add nvidia-oot/sound/soc/tegra-virt-alt/include
+  # this only happens in the nix-sandbox and not in the nix-shell
+  NIX_CFLAGS_COMPILE = "-fno-stack-protector -Wno-error=attribute-warning -I ${source}/nvidia-oot/sound/soc/tegra-virt-alt/include ${
+    lib.concatMapStrings (x: "-isystem ${x} ") (kernelIncludes kernel.dev)
+  }";
 
   installTargets = [ "modules_install" ];
-  enableParallelBuilding = true;
-
-  passthru.meta = {
-    license = with lib.licenses; [ mit /* OR */ gpl2Only ];
-  };
 }
diff --git a/modules/default.nix b/modules/default.nix
index 4a2cd1d..ba79e3d 100644
--- a/modules/default.nix
+++ b/modules/default.nix
@@ -207,15 +207,11 @@ in
     '';
 
     # For Orin. Unsupported with PREEMPT_RT.
-    # boot.extraModulePackages = lib.optional
-    #   (
-    #     !cfg.kernel.realtime
-    #   )
-    #    config.boot.kernelPackages.nvidia-oot ;
-    #   # FIXME
-    #   # config.boot.kernelPackages.nvgpu
-    #   #config.boot.kernelPackages.nvidia-display-driver
-
+     boot.extraModulePackages = lib.optional
+       (
+         !cfg.kernel.realtime
+       )
+        config.boot.kernelPackages.nvidia-oot ;
 
     hardware.firmware = with pkgs.nvidia-jetpack; [
       l4t-firmware
diff --git a/overlay.nix b/overlay.nix
index 32e3e3e..f4f0112 100644
--- a/overlay.nix
+++ b/overlay.nix
@@ -98,9 +98,7 @@ in
     tests = prev.callPackages ./pkgs/tests { inherit l4tVersion; };
 
     kernelPackagesOverlay = final: prev: {
-      # nvidia-display-driver = self.callPackage ./kernel/display-driver.nix { };
-      #nvgpu = self.callPackage ./kernel/nvgpu.nix { };
-      # nvidia-oot = self.callPackage ./kernel/nvidia-oot.nix { };
+      nvidia-oot = self.callPackage ./kernel/nvidia-oot.nix { };
     };
 
     kernel = self.callPackage ./kernel { kernelPatches = [ ]; };