diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index ce91c28518..364a69808d 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -16,7 +16,7 @@ pipeline {
           ]
 
           def armhf_builds = [
-            target: ["aerotenna_ocpoc_default", "beaglebone_blue_cross", "emlid_navio2_cross", "parrot_bebop_default", "px4_raspberrypi_cross"],
+            target: ["aerotenna_ocpoc_default", "beaglebone_blue_default", "emlid_navio2_default", "parrot_bebop_default", "px4_raspberrypi_default"],
             image: docker_images.armhf,
             archive: false
           ]
diff --git a/.ci/Jenkinsfile-hardware_linux b/.ci/Jenkinsfile-hardware_linux
index 1dd5236eaa..49869916de 100644
--- a/.ci/Jenkinsfile-hardware_linux
+++ b/.ci/Jenkinsfile-hardware_linux
@@ -13,10 +13,10 @@ pipeline {
         sh 'make distclean'
         sh 'ccache -s'
         sh 'git fetch --tags'
-        sh 'CCACHE_BASEDIR=${WORKSPACE} make emlid_navio2_native'
+        sh 'CCACHE_BASEDIR=${WORKSPACE} make emlid_navio2_default'
         sh 'ccache -s'
         // sanity check
-        sh 'cd build/emlid_navio2_native/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
+        sh 'cd build/emlid_navio2_default/ && ./bin/px4 -s ../../posix-configs/rpi/px4_test.config'
       }
       post {
         always {
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1f00ed873b..c8ce5e25fb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -298,8 +298,8 @@ px4_os_add_flags()
 #=============================================================================
 # board cmake init (optional)
 #
-if(EXISTS ${PX4_BOARD_DIR}/init.cmake)
-	include(${PX4_BOARD_DIR}/init.cmake)
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
 endif()
 
 #=============================================================================
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index 1283499212..876fd1c142 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -6,7 +6,7 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2019-10-24"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
+		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, parrot_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2019-10-24"
 	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
 		# eagle, excelsior
diff --git a/boards/atlflight/eagle/CMakeLists.txt b/boards/atlflight/eagle/CMakeLists.txt
index eaa46f8baf..2055ef2eae 100644
--- a/boards/atlflight/eagle/CMakeLists.txt
+++ b/boards/atlflight/eagle/CMakeLists.txt
@@ -30,44 +30,3 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
-
-
-
-
-############################################################################
-# Upload
-############################################################################
-
-if("${PX4_PLATFORM}" MATCHES "qurt")
-
-	add_custom_target(upload
-		COMMAND
-			${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload.sh
-				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config	# source
-				/usr/share/data/adsp	# destination
-		DEPENDS px4 px4muorb_skel
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-else()
-
-	add_custom_target(upload
-		COMMAND
-			${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload.sh
-				${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/bin ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config # source
-				/home/linaro	# destination
-		DEPENDS px4
-		COMMENT "uploading px4"
-		USES_TERMINAL
-		)
-
-	add_custom_target(sanity
-		COMMAND ./px4_snapflight_sanitytest.sh -i -t
-		DEPENDS px4
-		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/scripts
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
-endif()
diff --git a/boards/atlflight/eagle/cmake/upload.cmake b/boards/atlflight/eagle/cmake/upload.cmake
new file mode 100644
index 0000000000..f56d3cd3fb
--- /dev/null
+++ b/boards/atlflight/eagle/cmake/upload.cmake
@@ -0,0 +1,64 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+if("${PX4_PLATFORM}" MATCHES "qurt")
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
+				/usr/share/data/adsp # destination
+		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+else()
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_SOURCE_DIR}/ROMFS # source
+				/home/linaro # destination
+		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+	add_custom_target(sanity
+		COMMAND ./px4_snapflight_sanitytest.sh -i -t
+		DEPENDS px4
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+endif()
diff --git a/boards/beaglebone/blue/CMakeLists.txt b/boards/beaglebone/blue/CMakeLists.txt
index af45ca77f5..9345f95845 100644
--- a/boards/beaglebone/blue/CMakeLists.txt
+++ b/boards/beaglebone/blue/CMakeLists.txt
@@ -32,14 +32,3 @@
 ############################################################################
 
 add_subdirectory(bbblue_adc)
-
-############################################################################
-# Upload
-############################################################################
-
-add_custom_target(upload
-	COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS debian@BBBluePX4:/home/debian/px4
-	DEPENDS px4
-	COMMENT "uploading px4 and data files"
-	USES_TERMINAL
-	)
diff --git a/boards/beaglebone/blue/init.cmake b/boards/beaglebone/blue/cmake/init.cmake
similarity index 100%
rename from boards/beaglebone/blue/init.cmake
rename to boards/beaglebone/blue/cmake/init.cmake
diff --git a/boards/beaglebone/blue/cmake/upload.cmake b/boards/beaglebone/blue/cmake/upload.cmake
new file mode 100644
index 0000000000..d7fea26b7d
--- /dev/null
+++ b/boards/beaglebone/blue/cmake/upload.cmake
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			debian@beaglebone.lan:/home/debian/px4 # destination
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/default.cmake
similarity index 97%
rename from boards/beaglebone/blue/cross.cmake
rename to boards/beaglebone/blue/default.cmake
index 29e4c37b4c..f0bfc260a1 100644
--- a/boards/beaglebone/blue/cross.cmake
+++ b/boards/beaglebone/blue/default.cmake
@@ -2,7 +2,7 @@
 px4_add_board(
 	VENDOR beaglebone
 	MODEL blue
-	LABEL cross
+	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a8
 	TOOLCHAIN arm-linux-gnueabihf
@@ -46,6 +46,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
@@ -82,4 +83,5 @@ px4_add_board(
 		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
 	)
diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
deleted file mode 100644
index f043f4c969..0000000000
--- a/boards/beaglebone/blue/native.cmake
+++ /dev/null
@@ -1,83 +0,0 @@
-
-px4_add_board(
-	VENDOR beaglebone
-	MODEL blue
-	LABEL native
-	PLATFORM posix
-	TESTING
-	DRIVERS
-		#barometer # all available barometer drivers
-		barometer/bmp280
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		imu/mpu9250
-		linux_pwm_out
-		linux_sbus
-		#magnetometer # all available magnetometer drivers
-		magnetometer/hmc5883
-		pwm_out_sim
-		#telemetry # all available telemetry drivers
-	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_pos_control
-		mc_rate_control
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		#simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		dyn
-		esc_calib
-		led_control
-		mixer
-		motor_ramp
-		param
-		perf
-		pwm
-		reboot
-		sd_bench
-		shutdown
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		ver
-		work_queue
-	EXAMPLES
-		bottle_drop # OBC challenge
-		dyn_hello # dynamically loading modules example
-		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
-	)
diff --git a/boards/emlid/navio2/CMakeLists.txt b/boards/emlid/navio2/CMakeLists.txt
index 2245838e0a..b347a5e825 100644
--- a/boards/emlid/navio2/CMakeLists.txt
+++ b/boards/emlid/navio2/CMakeLists.txt
@@ -34,15 +34,3 @@
 add_subdirectory(navio_adc)
 add_subdirectory(navio_rgbled)
 add_subdirectory(navio_sysfs_rc_in)
-
-
-############################################################################
-# Upload
-############################################################################
-
-add_custom_target(upload
-	COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
-	DEPENDS px4
-	COMMENT "uploading px4"
-	USES_TERMINAL
-	)
diff --git a/boards/emlid/navio2/cmake/upload.cmake b/boards/emlid/navio2/cmake/upload.cmake
new file mode 100644
index 0000000000..faf5f9df1d
--- /dev/null
+++ b/boards/emlid/navio2/cmake/upload.cmake
@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+if($ENV{AUTOPILOT_HOST})
+	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
+else()
+	set(AUTOPILOT_HOST "navio")
+endif()
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/default.cmake
similarity index 97%
rename from boards/emlid/navio2/cross.cmake
rename to boards/emlid/navio2/default.cmake
index 84893898e9..bb444850a6 100644
--- a/boards/emlid/navio2/cross.cmake
+++ b/boards/emlid/navio2/default.cmake
@@ -2,7 +2,7 @@
 px4_add_board(
 	VENDOR emlid
 	MODEL navio2
-	LABEL cross
+	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
@@ -50,6 +50,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
@@ -86,4 +87,5 @@ px4_add_board(
 		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
 	)
diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
deleted file mode 100644
index 43ce85f01c..0000000000
--- a/boards/emlid/navio2/native.cmake
+++ /dev/null
@@ -1,87 +0,0 @@
-
-px4_add_board(
-	VENDOR emlid
-	MODEL navio2
-	LABEL native
-	PLATFORM posix
-	TESTING
-	DRIVERS
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		imu/mpu9250
-		linux_pwm_out
-		linux_sbus
-		#magnetometer # all available magnetometer drivers
-		magnetometer/hmc5883
-		pwm_out_sim
-		#telemetry # all available telemetry drivers
-	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		hmc5883
-		isl29501
-		lsm9ds1
-		mpu9250
-		trone
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_pos_control
-		mc_rate_control
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		#simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		dyn
-		esc_calib
-		led_control
-		mixer
-		motor_ramp
-		param
-		perf
-		pwm
-		reboot
-		sd_bench
-		shutdown
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		ver
-		work_queue
-	EXAMPLES
-		bottle_drop # OBC challenge
-		dyn_hello # dynamically loading modules example
-		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
-	)
diff --git a/boards/intel/aerofc-v1/CMakeLists.txt b/boards/intel/aerofc-v1/CMakeLists.txt
index 342bbda02c..d5a0096ec6 100644
--- a/boards/intel/aerofc-v1/CMakeLists.txt
+++ b/boards/intel/aerofc-v1/CMakeLists.txt
@@ -32,16 +32,3 @@
 ############################################################################
 
 add_subdirectory(aerofc_adc)
-
-
-
-############################################################################
-# Upload
-############################################################################
-
-add_custom_target(upload
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/aero_upload.sh $<TARGET_FILE:px4>
-	DEPENDS px4
-	COMMENT "uploading px4"
-	USES_TERMINAL
-)
diff --git a/boards/intel/aerofc-v1/cmake/upload.cmake b/boards/intel/aerofc-v1/cmake/upload.cmake
new file mode 100644
index 0000000000..1f8eeba6a9
--- /dev/null
+++ b/boards/intel/aerofc-v1/cmake/upload.cmake
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_custom_target(upload
+	COMMAND ${PX4_BOARD_DIR}/scripts/aero_upload.sh $<TARGET_FILE:px4>
+	DEPENDS px4 ${PX4_BOARD_DIR}/scripts/aero_upload.sh
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
diff --git a/boards/parrot/bebop/CMakeLists.txt b/boards/parrot/bebop/CMakeLists.txt
index 12dee52dc2..650c1b615e 100644
--- a/boards/parrot/bebop/CMakeLists.txt
+++ b/boards/parrot/bebop/CMakeLists.txt
@@ -32,15 +32,3 @@
 ############################################################################
 
 add_subdirectory(flow)
-
-
-############################################################################
-# Upload
-############################################################################
-
-add_custom_target(upload
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload_to_bebop.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/bin/. /data/ftp/internal_000/px4
-	DEPENDS px4
-	COMMENT "uploading px4"
-	USES_TERMINAL
-	)
diff --git a/boards/parrot/bebop/cmake/upload.cmake b/boards/parrot/bebop/cmake/upload.cmake
new file mode 100644
index 0000000000..6804464fb0
--- /dev/null
+++ b/boards/parrot/bebop/cmake/upload.cmake
@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+add_custom_target(upload
+	COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload_to_bebop.sh
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
+			/data/ftp/internal_000/px4
+	DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload_to_bebop.sh
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
diff --git a/boards/px4/raspberrypi/cmake/upload.cmake b/boards/px4/raspberrypi/cmake/upload.cmake
index 74cea1b4f5..f0ee765a62 100644
--- a/boards/px4/raspberrypi/cmake/upload.cmake
+++ b/boards/px4/raspberrypi/cmake/upload.cmake
@@ -1,6 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2020 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.
+#
+############################################################################
+
+if($ENV{AUTOPILOT_HOST})
+	set(AUTOPILOT_HOST $ENV{AUTOPILOT_HOST})
+else()
+	set(AUTOPILOT_HOST "raspberrypi")
+endif()
+
 add_custom_target(upload
-        COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi/px4
+	COMMAND rsync -arh --progress
+			${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS # source
+			pi@${AUTOPILOT_HOST}:/home/pi/px4 # destination
 	DEPENDS px4
 	COMMENT "uploading px4"
 	USES_TERMINAL
-	)
+)
diff --git a/boards/px4/raspberrypi/cross.cmake b/boards/px4/raspberrypi/default.cmake
similarity index 96%
rename from boards/px4/raspberrypi/cross.cmake
rename to boards/px4/raspberrypi/default.cmake
index a7fe039486..2fabad960f 100644
--- a/boards/px4/raspberrypi/cross.cmake
+++ b/boards/px4/raspberrypi/default.cmake
@@ -2,7 +2,7 @@
 px4_add_board(
 	VENDOR px4
 	MODEL raspberrypi
-	LABEL cross
+	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a53
 	TOOLCHAIN arm-linux-gnueabihf
@@ -45,6 +45,7 @@ px4_add_board(
 		mc_att_control
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
@@ -81,4 +82,5 @@ px4_add_board(
 		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
 	)
diff --git a/boards/px4/raspberrypi/native.cmake b/boards/px4/raspberrypi/native.cmake
deleted file mode 100644
index ebc3c48bd4..0000000000
--- a/boards/px4/raspberrypi/native.cmake
+++ /dev/null
@@ -1,82 +0,0 @@
-
-px4_add_board(
-	VENDOR px4
-	MODEL raspberrypi
-	LABEL native
-	PLATFORM posix
-	TESTING
-	DRIVERS
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#imu # all available imu drivers
-		imu/mpu9250
-		linux_pwm_out
-		linux_sbus
-		#magnetometer # all available magnetometer drivers
-		magnetometer/hmc5883
-		pwm_out_sim
-		rpi_rc_in
-		#telemetry # all available telemetry drivers
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_pos_control
-		mc_rate_control
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		#simulator
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		dyn
-		esc_calib
-		led_control
-		mixer
-		motor_ramp
-		param
-		perf
-		pwm
-		reboot
-		sd_bench
-		shutdown
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		ver
-		work_queue
-	EXAMPLES
-		bottle_drop # OBC challenge
-		dyn_hello # dynamically loading modules example
-		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
-	)