diff --git a/Makefile b/Makefile
index 287fffcb14..798ef7cbf4 100644
--- a/Makefile
+++ b/Makefile
@@ -554,6 +554,14 @@ check_px4: $(call make_list,nuttx,"px4") \
 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
 
+# helpers for running olddefconfig (nuttx) and px4_savedefconfig on all boards
+.PHONY: all_oldconfig all_px4_savedefconfig
+all_oldconfig:
+	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ oldconfig; done
+
+all_px4_savedefconfig:
+	@for targ in $(ALL_CONFIG_TARGETS); do $(MAKE) $$targ px4_savedefconfig; done
+
 .PHONY: failsafe_web run_failsafe_web_server
 failsafe_web:
 	@if ! command -v emcc; then echo -e "Install emscripten first: https://emscripten.org/docs/getting_started/downloads.html\nAnd source the env: source <path>/emsdk_env.sh"; exit 1; fi
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index c5f09082e4..be1a54cca5 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -417,6 +417,17 @@ if(${LABEL} MATCHES "default" OR ${LABEL} MATCHES "bootloader" OR ${LABEL} MATCH
         USES_TERMINAL
         COMMAND_EXPAND_LISTS
     )
+
+    add_custom_target(px4_savedefconfig
+        COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
+        COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
+        COMMAND ${CMAKE_COMMAND} -E remove defconfig
+        COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+        USES_TERMINAL
+        COMMAND_EXPAND_LISTS
+    )
+
 else()
     add_custom_target(boardconfig
         ${CMAKE_COMMAND} -E env
@@ -443,4 +454,15 @@ else()
         USES_TERMINAL
         COMMAND_EXPAND_LISTS
     )
+
+    add_custom_target(px4_savedefconfig
+        COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
+        COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+        COMMAND ${CMAKE_COMMAND} -E remove defconfig
+        COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+        USES_TERMINAL
+        COMMAND_EXPAND_LISTS
+    )
+
 endif()