diff --git a/Kconfig b/Kconfig
index cc6b9e95ac..2b8ef70f7f 100644
--- a/Kconfig
+++ b/Kconfig
@@ -7,6 +7,12 @@ comment "Vendor: $(VENDOR)"
 comment "Model: $(MODEL)"
 comment "Label: $(LABEL)"
 
+if $(HAS_CUSTOM_BOARD_KCONFIG)
+    menu "Custom board config"
+        osource "$(CUSTOM_BOARD_KCONFIG)"
+    endmenu
+endif
+
 menu "Toolchain"
     choice
         prompt "Platform"
diff --git a/boards/nxp/ucans32k146/default.px4board b/boards/nxp/ucans32k146/default.px4board
index e13f8628d7..1cdac3e899 100644
--- a/boards/nxp/ucans32k146/default.px4board
+++ b/boards/nxp/ucans32k146/default.px4board
@@ -7,6 +7,7 @@ CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
diff --git a/boards/px4/sitl/Kconfig b/boards/px4/sitl/Kconfig
new file mode 100644
index 0000000000..4d1465c6b5
--- /dev/null
+++ b/boards/px4/sitl/Kconfig
@@ -0,0 +1,9 @@
+config BOARD_LOCKSTEP
+    bool "Force enable lockstep"
+    help
+        forces lockstep behaviour, despite REPLAY env variable
+
+config BOARD_NOLOCKSTEP
+    bool "Force disable lockstep"
+    help
+        forces nolockstep behaviour, despite REPLAY env variable
diff --git a/boards/px4/sitl/nolockstep.px4board b/boards/px4/sitl/nolockstep.px4board
index e69de29bb2..61671c9a77 100644
--- a/boards/px4/sitl/nolockstep.px4board
+++ b/boards/px4/sitl/nolockstep.px4board
@@ -0,0 +1 @@
+CONFIG_BOARD_NOLOCKSTEP=y
diff --git a/boards/px4/sitl/replay.px4board b/boards/px4/sitl/replay.px4board
index e69de29bb2..aab3a2793d 100644
--- a/boards/px4/sitl/replay.px4board
+++ b/boards/px4/sitl/replay.px4board
@@ -0,0 +1,2 @@
+CONFIG_BOARD_COMPILE_DEFINITIONS="-DORB_USE_PUBLISHER_RULES"
+CONFIG_BOARD_LOCKSTEP=y
diff --git a/boards/px4/sitl/sitl.cmake b/boards/px4/sitl/sitl.cmake
new file mode 100644
index 0000000000..abbedac2fd
--- /dev/null
+++ b/boards/px4/sitl/sitl.cmake
@@ -0,0 +1,18 @@
+set(config_sitl_viewer jmavsim CACHE STRING "viewer for sitl")
+set_property(CACHE config_sitl_viewer PROPERTY STRINGS "jmavsim;none")
+
+set(config_sitl_debugger disable CACHE STRING "debugger for sitl")
+set_property(CACHE config_sitl_debugger PROPERTY STRINGS "disable;gdb;lldb")
+
+# If the environment variable 'replay' is defined, we are building with replay
+# support. In this case, we enable the orb publisher rules.
+set(REPLAY_FILE "$ENV{replay}")
+if(REPLAY_FILE)
+	message(STATUS "Building with uorb publisher rules support")
+	add_definitions(-DORB_USE_PUBLISHER_RULES)
+
+	message(STATUS "Building without lockstep for replay")
+	set(ENABLE_LOCKSTEP_SCHEDULER no)
+else()
+	set(ENABLE_LOCKSTEP_SCHEDULER yes)
+endif()
diff --git a/boards/px4/sitl/test.px4board b/boards/px4/sitl/test.px4board
index 37f8b40f5a..13c824e409 100644
--- a/boards/px4/sitl/test.px4board
+++ b/boards/px4/sitl/test.px4board
@@ -1 +1,2 @@
+CONFIG_BOARD_NOLOCKSTEP=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 5a61545e34..393b4e2dae 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -23,6 +23,8 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	TOOLCHAIN=${CMAKE_TOOLCHAIN_FILE}
 	ARCHITECTURE=${CMAKE_SYSTEM_PROCESSOR}
 	ROMFSROOT=${config_romfs_root}
+	HAS_CUSTOM_BOARD_KCONFIG=${HAS_CUSTOM_BOARD_KCONFIG}
+	CUSTOM_BOARD_KCONFIG=${CUSTOM_BOARD_KCONFIG}
 )
 
 if(EXISTS ${BOARD_DEFCONFIG})
@@ -299,6 +301,14 @@ if(EXISTS ${BOARD_DEFCONFIG})
         add_definitions( "-D__PX4_LINUX" )
 	endif()
 
+	if(LOCKSTEP)
+        set(ENABLE_LOCKSTEP_SCHEDULER yes)
+	endif()
+
+	if(NOLOCKSTEP)
+        set(ENABLE_LOCKSTEP_SCHEDULER no)
+	endif()
+
 	include(px4_impl_os)
 	px4_os_prebuild_targets(OUT prebuild_targets BOARD ${PX4_BOARD})
 
diff --git a/cmake/px4_config.cmake b/cmake/px4_config.cmake
index 6cf8b8039f..07baafa4fc 100644
--- a/cmake/px4_config.cmake
+++ b/cmake/px4_config.cmake
@@ -111,3 +111,15 @@ set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE
 if(EXISTS "${PX4_BOARD_DIR}/uavcan_board_identity")
 include ("${PX4_BOARD_DIR}/uavcan_board_identity")
 endif()
+
+if(EXISTS "${PX4_BOARD_DIR}/sitl.cmake")
+include ("${PX4_BOARD_DIR}/sitl.cmake")
+endif()
+
+set(CUSTOM_BOARD_KCONFIG "${PX4_BOARD_DIR}/Kconfig" CACHE STRING "PX4 board custom config" FORCE)
+
+if(EXISTS ${CUSTOM_BOARD_KCONFIG})
+    set(HAS_CUSTOM_BOARD_KCONFIG "y" CACHE STRING "PX4 board custom config" FORCE)
+else()
+    set(HAS_CUSTOM_BOARD_KCONFIG "n" CACHE STRING "PX4 board custom config" FORCE)
+endif()