diff --git a/appveyor.yml b/appveyor.yml
index 6c9966edfe..86e201b6cc 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -20,6 +20,11 @@ platform:
 init:
 - ver
 
+environment:
+  matrix:
+    - PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests
+    - PX4_CONFIG: px4_fmu-v5_default
+
 install:
 # if the toolchain wasn't restored from build cache download and install it
 - ps: >-
@@ -38,14 +43,10 @@ build_script:
 - call C:\PX4\toolchain\scripts\setup-environment.bat x
 # safe the repopath for switching to it in cygwin bash
 - for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i
-# fetch all submodules in parallel
-- call bash --login -c "cd $repopath && git submodule -q update --init --recursive --jobs=10"
-# make SITL
-- call bash --login -c "cd $repopath && make px4_sitl_test"
-# make pixracer to check NuttX build
-- call bash --login -c "cd $repopath && make px4_fmu-v4_default"
-# run tests
-- call bash --login -c "cd $repopath && make tests"
+# fetch all submodules in parallel with limited depth
+#- call bash --login -c "cd $repopath && git submodule -q update --init --recursive --jobs=10 --depth 200"
+# build the make target
+- call bash --login -c "cd $repopath && make $PX4_CONFIG"
 
 # Note: using bash --login is important
 # because otherwise certain things (like python; import numpy) do not work