diff --git a/Makefile b/Makefile
index 9804923431..7b541949ef 100644
--- a/Makefile
+++ b/Makefile
@@ -120,10 +120,11 @@ endif
 # --------------------------------------------------------------------
 # describe how to build a cmake config
 define cmake-build
-+@$(eval BUILD_DIR = $(SRC_DIR)/build/$@$(BUILD_DIR_SUFFIX))
++@$(eval PX4_CONFIG = $(1))
++@$(eval BUILD_DIR = $(SRC_DIR)/build/$(PX4_CONFIG)$(BUILD_DIR_SUFFIX))
 +@if [ $(PX4_CMAKE_GENERATOR) = "Ninja" ] && [ -e $(BUILD_DIR)/Makefile ]; then rm -rf $(BUILD_DIR); fi
-+@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(2) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(1) || (rm -rf $(BUILD_DIR)); fi
-+@(cd $(BUILD_DIR) && $(PX4_MAKE) $(PX4_MAKE_ARGS) $(ARGS))
++@if [ ! -e $(BUILD_DIR)/CMakeCache.txt ]; then mkdir -p $(BUILD_DIR) && cd $(BUILD_DIR) && cmake $(SRC_DIR) -G"$(PX4_CMAKE_GENERATOR)" $(CMAKE_ARGS) -DCONFIG=$(PX4_CONFIG) || (rm -rf $(BUILD_DIR)); fi
++@$(PX4_MAKE) -C $(BUILD_DIR) $(PX4_MAKE_ARGS) $(ARGS)
 endef
 
 COLOR_BLUE = \033[0;94m
@@ -144,13 +145,13 @@ NUTTX_CONFIG_TARGETS := $(patsubst nuttx_%,%,$(filter nuttx_%,$(ALL_CONFIG_TARGE
 
 # All targets.
 $(ALL_CONFIG_TARGETS):
-	$(call cmake-build,$@,$(SRC_DIR))
+	$(call cmake-build,$@)
 
 # Abbreviated config targets.
 
 # nuttx_ is left off by default; provide a rule to allow that.
 $(NUTTX_CONFIG_TARGETS):
-	$(call cmake-build,nuttx_$@,$(SRC_DIR))
+	$(call cmake-build,nuttx_$@)
 
 all_nuttx_targets: $(NUTTX_CONFIG_TARGETS)
 
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 5498be0634..60cc96bfff 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -115,9 +115,12 @@ if (config_romfs_root)
 endif()
 
 # create px4 file (combined firmware and metadata)
+# for historical reasons we name the final output binary without nuttx_
+set(fw_name_short)
+string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME})
+
 set(fw_file ${PX4_BINARY_DIR}/${FW_NAME})
 string(REPLACE ".elf" ".px4" fw_file ${fw_file})
-string(REPLACE "nuttx_" "" fw_file ${fw_file})
 
 add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${BOARD}.bin
 	COMMAND ${OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${BOARD}.bin
@@ -135,7 +138,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 			--git_identity ${PX4_SOURCE_DIR}
 			--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
 			--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
-			--image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_file}
+			--image ${PX4_BINARY_DIR}/${BOARD}.bin > ${fw_name_short}
 		DEPENDS ${PX4_BINARY_DIR}/${BOARD}.bin parameters_xml airframes_xml
 		COMMENT "Creating ${fw_file}"
 		)