diff --git a/CMakeLists.txt b/CMakeLists.txt
index 346383d1ff..d0e3fcfe69 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -144,12 +144,10 @@ include(px4_add_module)
 set(config_module_list)
 
 include(px4_config)
-include(px4_add_board)
-include(${PX4_CONFIG_FILE})
+include(kconfig)
 message(STATUS "PX4 config: ${PX4_CONFIG}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
-include(kconfig)
 
 if(${PX4_PLATFORM} STREQUAL "posix")
 	if(ENABLE_LOCKSTEP_SCHEDULER)
diff --git a/Makefile b/Makefile
index 5ea7149c20..61107208e9 100644
--- a/Makefile
+++ b/Makefile
@@ -213,8 +213,8 @@ define colorecho
 +@echo -e '${COLOR_BLUE}${1} ${NO_COLOR}'
 endef
 
-# Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+# Get a list of all config targets boards/*/*.px4board
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.px4board' -print | sed -e 's|boards\/||' | sed -e 's|\.px4board||' | sed -e 's|\/|_|g' | sort)
 
 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
diff --git a/boards/nxp/fmuk66-v3/socketcan.cmake b/boards/nxp/fmuk66-v3/socketcan.cmake
deleted file mode 100644
index 84451ecf1a..0000000000
--- a/boards/nxp/fmuk66-v3/socketcan.cmake
+++ /dev/null
@@ -1,131 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS4
-		TEL2:/dev/ttyS1
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		barometer/mpl3115a2
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		distance_sensor/srf05 # Specific driver
-		gps
-		#imu # all available imu drivers
-		imu/fxas21002c
-		imu/fxos8701cq
-		imu/invensense/icm20948 # required for ak09916 mag
-		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		smart_battery/batmon
-		telemetry # all available telemetry drivers
-		tone_alarm
-		uavcan_v1
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mag_bias_estimator
-		mavlink
-		mc_att_control
-		mc_autotune_attitude_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		#gpio
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		sd_stress
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_imu
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
diff --git a/boards/nxp/fmuk66-v3/socketcan.px4board b/boards/nxp/fmuk66-v3/socketcan.px4board
new file mode 100644
index 0000000000..b3efd82e53
--- /dev/null
+++ b/boards/nxp/fmuk66-v3/socketcan.px4board
@@ -0,0 +1,101 @@
+CONFIG_ARCHITECTURE_CORTEX_M4=y
+CONFIG_BOARD_BUILD_BOOTLOADER=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER=y
+CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_FXAS21002C=y
+CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_LIGHTS_RGBLED=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+CONFIG_DRIVERS_MAGNETOMETER=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PCA9685=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_DRIVERS_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 79a96cae5b..cecb4a5067 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -1,4 +1,4 @@
-set(BOARD_DEFCONFIG ${PX4_BOARD_DIR}/${PX4_BOARD_LABEL}.px4board CACHE FILEPATH "path to defconfig" FORCE)
+set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
 
 find_program(MENUCONFIG_PATH menuconfig)
@@ -10,6 +10,8 @@ if(NOT MENUCONFIG_PATH OR NOT GUICONFIG_PATH OR NOT DEFCONFIG_PATH OR NOT SAVEDE
                         "please install using \"pip3 install kconfiglib\"\n")
 endif()
 
+
+
 set(COMMON_KCONFIG_ENV_SETTINGS
 	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
@@ -24,29 +26,7 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	ROMFSROOT=${config_romfs_root}
 )
 
-add_custom_target(boardconfig
-	${CMAKE_COMMAND} -E env
-	${COMMON_KCONFIG_ENV_SETTINGS}
-	${MENUCONFIG_PATH} Kconfig
-	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
-	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	USES_TERMINAL
-	COMMAND_EXPAND_LISTS
-)
-
-add_custom_target(boardguiconfig
-	${CMAKE_COMMAND} -E env
-	${COMMON_KCONFIG_ENV_SETTINGS}
-	${GUICONFIG_PATH} Kconfig
-	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
-	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	USES_TERMINAL
-	COMMAND_EXPAND_LISTS
-)
+message(STATUS ${PX4_BINARY_DIR})
 
 if(EXISTS ${BOARD_DEFCONFIG})
 
@@ -309,3 +289,27 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	set(config_module_list ${config_module_list})
 
 endif()
+
+add_custom_target(boardconfig
+	${CMAKE_COMMAND} -E env
+	${COMMON_KCONFIG_ENV_SETTINGS}
+	${MENUCONFIG_PATH} Kconfig
+	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
+	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	USES_TERMINAL
+	COMMAND_EXPAND_LISTS
+)
+
+add_custom_target(boardguiconfig
+	${CMAKE_COMMAND} -E env
+	${COMMON_KCONFIG_ENV_SETTINGS}
+	${GUICONFIG_PATH} Kconfig
+	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
+	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
+	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
+	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+	USES_TERMINAL
+	COMMAND_EXPAND_LISTS
+)
diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
deleted file mode 100644
index 9fdb5dbbf4..0000000000
--- a/cmake/px4_add_board.cmake
+++ /dev/null
@@ -1,195 +0,0 @@
-############################################################################
-#
-# Copyright (c) 2018 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#=============================================================================
-#
-#	px4_add_board
-#
-#	This function creates a PX4 board.
-#
-#	Usage:
-#		px4_add_board(
-#			PLATFORM <string>
-#			[ TOOLCHAIN <string> ]
-#			[ ARCHITECTURE <string> ]
-#			[ ROMFSROOT <string> ]
-#			[ BUILD_BOOTLOADER ]
-#			[ IO <string> ]
-#			[ UAVCAN_INTERFACES <string> ]
-#			[ UAVCAN_PERIPHERALS <list> ]
-#			[ DRIVERS <list> ]
-#			[ MODULES <list> ]
-#			[ SYSTEMCMDS <list> ]
-#			[ EXAMPLES <list> ]
-#			[ SERIAL_PORTS <list> ]
-#			[ CONSTRAINED_FLASH ]
-#			[   NO_HELP ]
-#			[ CONSTRAINED_MEMORY ]
-#			[ EXTERNAL_METADATA ]
-#			[ TESTING ]
-#			[ LINKER_PREFIX <string> ]
-#			[ ETHERNET ]
-#			[ CRYPTO <string> ]
-#			[ KEYSTORE <string> ]
-#			)
-#
-#	Input:
-#		PLATFORM		: PX4 platform name (posix, nuttx, qurt)
-#		TOOLCHAIN		: cmake toolchain
-#		ARCHITECTURE		: name of the CPU CMake is building for (used by the toolchain)
-#		ROMFSROOT		: relative path to the ROMFS root directory
-#		BUILD_BOOTLOADER	: flag to enable building and including the bootloader config
-#		IO			: name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
-#		UAVCAN_INTERFACES	: number of interfaces for UAVCAN
-#		UAVCAN_PERIPHERALS      : list of UAVCAN peripheral firmware to build and embed
-#		DRIVERS			: list of drivers to build for this board (relative to src/drivers)
-#		MODULES			: list of modules to build for this board (relative to src/modules)
-#		SYSTEMCMDS		: list of system commands to build for this board (relative to src/systemcmds)
-#		EXAMPLES		: list of example modules to build for this board (relative to src/examples)
-#		SERIAL_PORTS		: mapping of user configurable serial ports and param facing name
-#		CONSTRAINED_FLASH 	: flag to enable constrained flash options (eg limit init script status text)
-#		  NO_HELP 	 	: optional condition flag to disable help text on constrained flash systems
-#		CONSTRAINED_MEMORY	: flag to enable constrained memory options (eg limit maximum number of uORB publications)
-#		EXTERNAL_METADATA	: flag to exclude metadata to reduce flash
-#		TESTING			: flag to enable automatic inclusion of PX4 testing modules
-#		LINKER_PREFIX	: optional to prefix on the Linker script.
-#		ETHERNET		: flag to indicate that ethernet is enabled
-#		CRYPTO			: Crypto implementation selection
-#		KEYSTORE		: Keystore implememntation selection
-#
-#
-#	Example:
-#		px4_add_board(
-#			PLATFORM nuttx
-#			TOOLCHAIN arm-none-eabi
-#			ARCHITECTURE cortex-m7
-#			ROMFSROOT px4fmu_common
-#			IO px4_io-v2_default
-#			SERIAL_PORTS
-#				GPS1:/dev/ttyS0
-#				TEL1:/dev/ttyS1
-#				TEL2:/dev/ttyS2
-#				TEL4:/dev/ttyS3
-#			DRIVERS
-#				barometer/ms5611
-#				gps
-#				imu/bosch/bmi055
-#				imu/invensense/mpu6000
-#				magnetometer/isentek/ist8310
-#				pwm_out
-#				px4io
-#				rgbled
-#			MODULES
-#				commander
-#				ekf2
-#				land_detector
-#				mavlink
-#				mc_att_control
-#				mc_pos_control
-#				navigator
-#				sensors
-#			MODULES
-#				mixer
-#				mtd
-#				param
-#				perf
-#				pwm
-#				reboot
-#				shutdown
-#				top
-#				topic_listener
-#				tune_control
-#			)
-#
-function(px4_add_board)
-
-	px4_parse_function_args(
-		NAME px4_add_board
-		ONE_VALUE
-			PLATFORM
-			TOOLCHAIN
-			ARCHITECTURE
-			ROMFSROOT
-			IO
-			UAVCAN_INTERFACES
-			UAVCAN_TIMER_OVERRIDE
-			LINKER_PREFIX
-			CRYPTO
-			KEYSTORE
-		MULTI_VALUE
-			DRIVERS
-			MODULES
-			SYSTEMCMDS
-			EXAMPLES
-			SERIAL_PORTS
-			UAVCAN_PERIPHERALS
-		OPTIONS
-			BUILD_BOOTLOADER
-			CONSTRAINED_FLASH
-			NO_HELP
-			CONSTRAINED_MEMORY
-			EXTERNAL_METADATA
-			TESTING
-			ETHERNET
-		REQUIRED
-			PLATFORM
-		ARGN ${ARGN})
-
-	set(PX4_BOARD_DIR ${CMAKE_CURRENT_LIST_DIR} CACHE STRING "PX4 board directory" FORCE)
-	include_directories(${PX4_BOARD_DIR}/src)
-
-	# get the VENDOR & MODEL from the caller's directory names
-	get_filename_component(base_dir "${CMAKE_CURRENT_LIST_FILE}" DIRECTORY)
-	get_filename_component(MODEL "${base_dir}" NAME)
-	get_filename_component(base_dir "${base_dir}" DIRECTORY)
-	get_filename_component(VENDOR "${base_dir}" NAME)
-
-	set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
-
-	# board name is uppercase with no underscores when used as a define
-	string(TOUPPER ${PX4_BOARD} PX4_BOARD_NAME)
-	string(REPLACE "-" "_" PX4_BOARD_NAME ${PX4_BOARD_NAME})
-	set(PX4_BOARD_NAME ${PX4_BOARD_NAME} CACHE STRING "PX4 board define" FORCE)
-
-	set(PX4_BOARD_VENDOR ${VENDOR} CACHE STRING "PX4 board vendor" FORCE)
-	set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
-
-	if(NOT LABEL)
-		get_filename_component(LABEL "${CMAKE_CURRENT_LIST_FILE}" NAME_WE)
-	endif()
-	set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
-
-	set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)
-
-
-endfunction()
diff --git a/cmake/px4_config.cmake b/cmake/px4_config.cmake
index 58e3db8e6a..a834cd04ce 100644
--- a/cmake/px4_config.cmake
+++ b/cmake/px4_config.cmake
@@ -37,7 +37,7 @@ if(NOT PX4_CONFIG_FILE)
 
 	file(GLOB_RECURSE board_configs
 		RELATIVE "${PX4_SOURCE_DIR}/boards"
-		"boards/*.cmake"
+		"boards/*.px4board"
 		)
 
 	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
@@ -45,7 +45,7 @@ if(NOT PX4_CONFIG_FILE)
 	foreach(filename ${board_configs})
 		# parse input CONFIG into components to match with existing in tree configs
 		#  the platform prefix (eg nuttx_) is historical, and removed if present
-		string(REPLACE ".cmake" "" filename_stripped ${filename})
+		string(REPLACE ".px4board" "" filename_stripped ${filename})
 		string(REPLACE "/" ";" config ${filename_stripped})
 		list(LENGTH config config_len)
 
@@ -62,6 +62,10 @@ if(NOT PX4_CONFIG_FILE)
 			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
+                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 
@@ -71,6 +75,10 @@ if(NOT PX4_CONFIG_FILE)
 			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
+                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 		endif()
@@ -82,3 +90,24 @@ if(NOT PX4_CONFIG_FILE)
 endif()
 
 message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+
+
+include_directories(${PX4_BOARD_DIR}/src)
+
+set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
+
+# board name is uppercase with no underscores when used as a define
+string(TOUPPER ${PX4_BOARD} PX4_BOARD_NAME)
+string(REPLACE "-" "_" PX4_BOARD_NAME ${PX4_BOARD_NAME})
+set(PX4_BOARD_NAME ${PX4_BOARD_NAME} CACHE STRING "PX4 board define" FORCE)
+
+set(PX4_BOARD_VENDOR ${VENDOR} CACHE STRING "PX4 board vendor" FORCE)
+set(PX4_BOARD_MODEL ${MODEL} CACHE STRING "PX4 board model" FORCE)
+
+message(STATUS "PX4 vendor: ${PX4_BOARD_VENDOR}")
+message(STATUS "PX4 vendor: ${vendor}")
+message(STATUS "PX4 label: ${LABEL}")
+
+set(PX4_BOARD_LABEL ${LABEL} CACHE STRING "PX4 board label" FORCE)
+
+set(PX4_CONFIG "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}" CACHE STRING "PX4 config" FORCE)