diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 8b0de17814..081acb4d82 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -30,6 +30,8 @@ add_custom_target(boardconfig
 	${MENUCONFIG_PATH} Kconfig
 	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
 	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
+	COMMENT "Reconfiguring ${PX4_BINARY_DIR}"
+	COMMAND ${CMAKE_COMMAND} -E env make clean ${PX4_BINARY_DIR}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	USES_TERMINAL
 	COMMAND_EXPAND_LISTS
@@ -41,6 +43,8 @@ add_custom_target(boardguiconfig
 	${GUICONFIG_PATH} Kconfig
 	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
 	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
+	COMMENT "Reconfiguring ${PX4_BINARY_DIR}"
+	COMMAND ${CMAKE_COMMAND} -E env make clean ${PX4_BINARY_DIR}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	USES_TERMINAL
 	COMMAND_EXPAND_LISTS