diff --git a/.ci/Jenkinsfile-SITL_tests b/.ci/Jenkinsfile-SITL_tests
index 2d092fec86..a31e670cd2 100644
--- a/.ci/Jenkinsfile-SITL_tests
+++ b/.ci/Jenkinsfile-SITL_tests
@@ -30,7 +30,7 @@ pipeline {
             sh('make distclean')
             sh "ccache -z"
             sh "git fetch --tags"
-            sh('make px4sitl_default')
+            sh('make px4_sitl_default')
             sh "ccache -s"
           }
         }
@@ -47,8 +47,8 @@ pipeline {
         stage('unit tests') {
           steps {
             sh 'export'
-            sh 'make px4sitl_default test_results_junit'
-            junit 'build/px4sitl_default/JUnitTestResults.xml'
+            sh 'make px4_sitl_default test_results_junit'
+            junit 'build/px4_sitl_default/JUnitTestResults.xml'
           }
         }
 
@@ -56,7 +56,7 @@ pipeline {
           steps {
             sh 'export'
             sh "ccache -z"
-            sh('make px4sitl_default sitl_gazebo')
+            sh('make px4_sitl_default sitl_gazebo')
             sh "ccache -s"
           }
         }
@@ -64,8 +64,8 @@ pipeline {
         stage('package') {
           steps {
             sh 'export'
-            sh('make px4sitl_default package')
-            stash(name: "px4_sitl_package", includes: "build/px4sitl_default/*.bz2")
+            sh('make px4_sitl_default package')
+            stash(name: "px4_sitl_package", includes: "build/px4_sitl_default/*.bz2")
           }
         }
 
@@ -176,7 +176,7 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean'
-            sh 'make px4sitl_default test_results_junit'
+            sh 'make px4_sitl_default test_results_junit'
             withCredentials([string(credentialsId: 'FIRMWARE_CODECOV_TOKEN', variable: 'CODECOV_TOKEN')]) {
               sh 'curl -s https://codecov.io/bash | bash -s - -F unittest'
             }
@@ -221,11 +221,11 @@ def createTestNode(Map test_def) {
           }
 
           unstash('px4_sitl_package')
-          sh('tar -xjpvf build/px4sitl_default/px4-px4sitl_default*.bz2')
+          sh('tar -xjpvf build/px4_sitl_default/px4-px4_sitl_default*.bz2')
 
           // run test
           try {
-            sh('px4-px4sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
+            sh('px4-px4_sitl_default*/px4/test/rostest_px4_run.sh ' + test_def.test + ' mission:=' + test_def.mission + ' vehicle:=' + test_def.vehicle)
 
           } catch (exc) {
             // save all test artifacts for debugging
@@ -240,7 +240,7 @@ def createTestNode(Map test_def) {
 
               // process log data (with python code coverage)
               try {
-                sh('coverage run -p px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+                sh('coverage run -p px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
               } catch (exc) {
                 // save log analysis artifacts for debugging
                 archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -249,7 +249,7 @@ def createTestNode(Map test_def) {
               }
 
               // upload log to flight review (https://logs.px4.io/) with python code coverage
-              sh('coverage run -p px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+              sh('coverage run -p px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
 
               // upload python code coverage to codecov.io
               sh 'curl -s https://codecov.io/bash | bash -s - -X gcov -F sitl_python_${STAGE_NAME}'
@@ -257,7 +257,7 @@ def createTestNode(Map test_def) {
           } else { // non code coverage
             // process ekf log data
             try {
-              sh('px4-px4sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
+              sh('px4-px4_sitl_default*/px4/Tools/ecl_ekf/process_logdata_ekf.py .ros/log/*/*.ulg')
             } catch (exc) {
               // save log analysis artifacts for debugging
               archiveArtifacts(allowEmptyArchive: false, artifacts: '.ros/**/*.pdf, .ros/**/*.csv')
@@ -266,7 +266,7 @@ def createTestNode(Map test_def) {
             }
 
             // upload log to flight review (https://logs.px4.io/)
-            sh('px4-px4sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
+            sh('px4-px4_sitl_default*/px4/Tools/upload_log.py -q --description "${JOB_NAME}: ${STAGE_NAME}" --feedback "${JOB_NAME} ${CHANGE_TITLE} ${CHANGE_URL}" --source CI .ros/log/*/*.ulg')
           }
 
           if (!test_ok) {
diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index 63d86451a3..18cfaa65ab 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -18,8 +18,8 @@ pipeline {
             snapdragon: "lorenzmeier/px4-dev-snapdragon:2018-09-12"
           ]
 
-          // MAC OSX px4sitl_default
-          build_nodes["px4sitl_default (OSX)"] = {
+          // MAC OSX px4_sitl_default
+          build_nodes["px4_sitl_default (OSX)"] = {
             node("mac") {
               withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
                 stage("sitl (OSX)") {
@@ -28,7 +28,7 @@ pipeline {
                     sh('export')
                     sh('make distclean')
                     sh('ccache -z')
-                    sh('make px4sitl_default')
+                    sh('make px4_sitl_default')
                     sh('ccache -s')
                     sh('make tests')
                   }
@@ -43,17 +43,17 @@ pipeline {
             }
           }
 
-          // MAC OSX px4fmu-v4pro_default
-          build_nodes["px4fmu-v4pro_default (OSX)"] = {
+          // MAC OSX px4_fmu-v4pro_default
+          build_nodes["px4_fmu-v4pro_default (OSX)"] = {
             node("mac") {
               withEnv(["CCACHE_BASEDIR=${pwd()}"]) {
-                stage("px4fmu-v4pro (OSX)") {
+                stage("px4_fmu-v4pro (OSX)") {
                   try {
                     checkout(scm)
                     sh('export')
                     sh('make distclean')
                     sh('ccache -z')
-                    sh('make px4fmu-v4pro_default')
+                    sh('make px4_fmu-v4pro_default')
                     sh('ccache -s')
                   }
                   catch (exc) {
@@ -69,46 +69,46 @@ pipeline {
 
           // docker builds:
           def arch_builds = [
-            target: ["px4sitl_default"],
+            target: ["px4_sitl_default"],
             image: docker_images.arch,
             archive: false
           ]
 
           def armhf_builds = [
-            target: ["aerotennaocpoc_ubuntu"],
+            target: ["aerotenna_ocpoc_ubuntu"],
             image: docker_images.armhf,
             archive: false
           ]
 
           def base_builds = [
-            target: ["px4sitl_rtps"],
+            target: ["px4_sitl_rtps"],
             image: docker_images.base,
             archive: false
           ]
 
           def nuttx_builds_archive = [
-            target: ["px4fmu-v2_default", "px4fmu-v3_default", "px4fmu-v4_default", "px4fmu-v4pro_default", "px4fmu-v5_default", "px4fmu-v5_rtps", "px4fmu-v5_stackcheck",
-                     "intelaerofc-v1_default", "gumstixaerocore2_default", "auavx21_default", "avx-v1_default", "bitcrazecrazyflie_default", "airmindmindpx-v2_default",
-                     "nxphlite-v3_default", "omnibusf4sd_default"],
+            target: ["px4_fmu-v2_default", "px4_fmu-v3_default", "px4_fmu-v4_default", "px4_fmu-v4pro_default", "px4_fmu-v5_default", "px4_fmu-v5_rtps", "px4_fmu-v5_stackcheck",
+                     "intel_aerofc-v1_default", "gumstix_aerocore2_default", "auav_x21_default", "av_x-v1_default", "bitcraze_crazyflie_default", "airmind_mindpx-v2_default",
+                     "nxp_hlite-v3_default", "omnibus_f4sd_default"],
             image: docker_images.nuttx,
             archive: true
           ]
 
           def nuttx_builds_other = [
-            target: ["atmelsame70xplained_default", "stm32f4discovery_default", "px4cannode-v1_default",
-                     "px4esc-v1_default", "stmnucleo-F767ZI_default", "thiemars2740vc-v1_default"],
+            target: ["atmel_same70xplained_default", "stm_32f4discovery_default", "px4_cannode-v1_default",
+                     "px4_esc-v1_default", "stm_nucleo-F767ZI_default", "thiemar_s2740vc-v1_default"],
             image: docker_images.nuttx,
             archive: false
           ]
 
           def rpi_builds = [
-            target: ["emlidnavio2_cross", "parrotbebop_default"],
+            target: ["emlid_navio2_cross", "parrot_bebop_default"],
             image: docker_images.rpi,
             archive: false
           ]
 
           def snapdragon_builds = [
-            target: ["atlflighteagle_qurt-default", "atlflighteagle_default"],
+            target: ["atlflight_eagle_qurt-default", "atlflight_eagle_default"],
             image: docker_images.snapdragon,
             archive: false
           ]
diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index e95c743d4b..3c20937232 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -6,7 +6,7 @@ pipeline {
 
       parallel {
 
-        stage('px4fmu-v2') {
+        stage('px4_fmu-v2') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2018-11-22'
@@ -18,11 +18,11 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make px4fmu-v2_test'
+            sh 'make px4_fmu-v2_test'
             sh 'make sizes'
             sh 'ccache -s'
-            stash includes: 'build/px4fmu-v2_test/px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
-            stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v2'
+            stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+            stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4_fmu-v2'
           }
           post {
             always {
@@ -31,7 +31,7 @@ pipeline {
           }
         }
 
-        stage('px4fmu-v4 (stackcheck)') {
+        stage('px4_fmu-v4 (stackcheck)') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2018-11-22'
@@ -43,11 +43,11 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make px4fmu-v4_stackcheck'
+            sh 'make px4_fmu-v4_stackcheck'
             sh 'make sizes'
             sh 'ccache -s'
-            stash includes: 'build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf', name: 'px4fmu-v4_stackcheck'
-            stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
+            stash includes: 'build/px4_fmu-v4_stackcheck/px4_fmu-v4_stackcheck.elf', name: 'px4_fmu-v4_stackcheck'
+            stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4_fmu-v4'
           }
           post {
             always {
@@ -63,7 +63,7 @@ pipeline {
 
       parallel {
 
-        stage('px4fmu-v2') {
+        stage('px4_fmu-v2') {
           agent {
             label 'px4fmu-v2'
           }
@@ -72,8 +72,8 @@ pipeline {
               try {
                 sh 'export'
                 sh 'find /dev/serial'
-                unstash 'scripts-px4fmu-v2'
-                unstash 'px4fmu-v2_test'
+                unstash 'scripts-px4_fmu-v2'
+                unstash 'px4_fmu-v2_test'
                 sh ''' gdb -nx --batch \
                       -ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \
                       -ex "monitor version" \
@@ -82,7 +82,7 @@ pipeline {
                       -ex "attach 1" \
                       -ex "load" \
                       -ex "kill" \
-                      build/px4fmu-v2_test/px4fmu-v2_test.elf
+                      build/px4_fmu-v2_test/px4_fmu-v2_test.elf
                 '''
                 sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
                 sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
@@ -97,7 +97,7 @@ pipeline {
           }
         }
 
-        stage('px4fmu-v4') {
+        stage('px4_fmu-v4') {
           agent {
             label 'px4fmu-v4'
           }
@@ -106,8 +106,8 @@ pipeline {
               try {
                 sh 'export'
                 sh 'find /dev/serial'
-                unstash 'scripts-px4fmu-v4'
-                unstash 'px4fmu-v4_stackcheck'
+                unstash 'scripts-px4_fmu-v4'
+                unstash 'px4_fmu-v4_stackcheck'
                 sh ''' gdb -nx --batch \
                       -ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \
                       -ex "monitor version" \
@@ -116,7 +116,7 @@ pipeline {
                       -ex "attach 1" \
                       -ex "load" \
                       -ex "kill" \
-                      build/px4fmu-v4_stackcheck/px4fmu-v4_stackcheck.elf
+                      build/px4_fmu-v4_stackcheck/px4_fmu-v4_stackcheck.elf
                 '''
                 sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
                 sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
diff --git a/.travis.yml b/.travis.yml
index 53399ae06e..00b8e1a88e 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -28,5 +28,5 @@ addons:
       description: "Build submitted via Travis CI"
     notification_email: ci@px4.io
     build_command_prepend: "make distclean"
-    build_command: "make px4sitl_default"
+    build_command: "make px4_sitl_default"
     branch_pattern: coverity_scan
diff --git a/.ycm_extra_conf.py b/.ycm_extra_conf.py
index ce7bd3b756..83086da9e4 100644
--- a/.ycm_extra_conf.py
+++ b/.ycm_extra_conf.py
@@ -61,7 +61,7 @@ flags = [
 'c++',
 '-undef', # get rid of standard definitions to allow us to include arm math header
 '-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
-'-I', 'Build/px4io-v2_default.build/nuttx-export/include/',
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
 '-I', './NuttX/nuttx/arch/arm/include',
 '-include', './src/include/visibility.h',
 '-I', './src',
diff --git a/CMakeLists.txt b/CMakeLists.txt
index fce4003d0d..8213d4cd6a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,7 +132,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
 # configuration
 #
 
-set(CONFIG "px4sitl_default" CACHE STRING "desired configuration")
+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
 
 set(config_module_list)
 set(config_df_driver_list)
@@ -173,8 +173,8 @@ if(NOT PX4_CONFIG_FILE)
 				break()
 			endif()
 
-			# <BOARD>_<LABEL> (eg px4fmu-v2_default)
-			# <BOARD>_default (eg px4fmu-v2) # allow skipping label if "default"
+			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
+			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
 			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
 			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
 			)
@@ -184,7 +184,7 @@ if(NOT PX4_CONFIG_FILE)
 
 
 			# LEGACY form
-			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4fmu-v2_default)
+			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
 			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
 
 			if ((${config_no_os} MATCHES "${board}_${label}"))
@@ -212,7 +212,7 @@ endif()
 message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
 include(px4_add_board)
 include(${PX4_CONFIG_FILE})
-message(STATUS "PX4 config: ${PX4_BOARD_VENDOR} ${PX4_BOARD_MODEL} ${PX4_BOARD_LABEL}")
+message(STATUS "PX4 config: ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}")
 message(STATUS "PX4 platform: ${PX4_PLATFORM}")
 
 # external modules
diff --git a/Firmware.sublime-project b/Firmware.sublime-project
index 5e97ff8b25..d89a58de3f 100644
--- a/Firmware.sublime-project
+++ b/Firmware.sublime-project
@@ -62,7 +62,7 @@
 			"name": "PX4: make and upload",
 			"working_dir": "${project_path}",
 			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
-			"cmd": ["make upload px4fmu-v2_default -j8"],
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
 			"shell": true
 		},
 		{
diff --git a/Jenkinsfile b/Jenkinsfile
index ca6342f4ec..2bd8ee9dd8 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -50,7 +50,7 @@ pipeline {
           }
         }
 
-        stage('Bloaty px4fmu-v2') {
+        stage('Bloaty px4_fmu-v2') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2018-11-22'
@@ -62,12 +62,12 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make px4fmu-v2_default'
-            sh 'make px4fmu-v2_default bloaty_symbols'
-            sh 'make px4fmu-v2_default bloaty_compileunits'
-            sh 'make px4fmu-v2_default bloaty_inlines'
-            sh 'make px4fmu-v2_default bloaty_templates'
-            sh 'make px4fmu-v2_default bloaty_compare_master'
+            sh 'make px4_fmu-v2_default'
+            sh 'make px4_fmu-v2_default bloaty_symbols'
+            sh 'make px4_fmu-v2_default bloaty_compileunits'
+            sh 'make px4_fmu-v2_default bloaty_inlines'
+            sh 'make px4_fmu-v2_default bloaty_templates'
+            sh 'make px4_fmu-v2_default bloaty_compare_master'
             sh 'make sizes'
             sh 'ccache -s'
           }
@@ -78,7 +78,7 @@ pipeline {
           }
         }
 
-        stage('Bloaty px4fmu-v5') {
+        stage('Bloaty px4_fmu-v5') {
           agent {
             docker {
               image 'px4io/px4-dev-nuttx:2018-11-22'
@@ -90,12 +90,12 @@ pipeline {
             sh 'make distclean'
             sh 'ccache -z'
             sh 'git fetch --tags'
-            sh 'make px4fmu-v5_default'
-            sh 'make px4fmu-v5_default bloaty_symbols'
-            sh 'make px4fmu-v5_default bloaty_compileunits'
-            sh 'make px4fmu-v5_default bloaty_inlines'
-            sh 'make px4fmu-v5_default bloaty_templates'
-            sh 'make px4fmu-v5_default bloaty_compare_master'
+            sh 'make px4_fmu-v5_default'
+            sh 'make px4_fmu-v5_default bloaty_symbols'
+            sh 'make px4_fmu-v5_default bloaty_compileunits'
+            sh 'make px4_fmu-v5_default bloaty_inlines'
+            sh 'make px4_fmu-v5_default bloaty_templates'
+            sh 'make px4_fmu-v5_default bloaty_compare_master'
             sh 'make sizes'
             sh 'ccache -s'
           }
@@ -211,7 +211,7 @@ pipeline {
           steps {
             sh 'export'
             sh 'make distclean'
-            sh 'make px4fmu-v2_default stack_check'
+            sh 'make px4_fmu-v2_default stack_check'
           }
           post {
             always {
@@ -272,7 +272,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make airframe_metadata'
-            dir('build/px4sitl_default/docs') {
+            dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
               stash includes: 'airframes.md, airframes.xml', name: 'metadata_airframes'
             }
@@ -291,7 +291,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make parameters_metadata'
-            dir('build/px4sitl_default/docs') {
+            dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'parameters.md, parameters.xml')
               stash includes: 'parameters.md, parameters.xml', name: 'metadata_parameters'
             }
@@ -310,7 +310,7 @@ pipeline {
           steps {
             sh 'make distclean'
             sh 'make module_documentation'
-            dir('build/px4sitl_default/docs') {
+            dir('build/px4_sitl_default/docs') {
               archiveArtifacts(artifacts: 'modules/*.md')
               stash includes: 'modules/*.md', name: 'metadata_module_documentation'
             }
@@ -334,8 +334,8 @@ pipeline {
             sh 'make distclean'
             sh 'make uorb_graphs'
             dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4sitl.json')
-              stash includes: 'graph_px4sitl.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
             }
           }
           post {
diff --git a/Makefile b/Makefile
index 437d952abb..b9b6566446 100644
--- a/Makefile
+++ b/Makefile
@@ -48,16 +48,16 @@ endif
 #
 # Example usage:
 #
-# make px4fmu-v2_default 			(builds)
-# make px4fmu-v2_default upload 	(builds and uploads)
-# make px4fmu-v2_default test 		(builds and tests)
+# make px4_fmu-v2_default 			(builds)
+# make px4_fmu-v2_default upload 	(builds and uploads)
+# make px4_fmu-v2_default test 		(builds and tests)
 #
-# This tells cmake to build the nuttx px4fmu-v2 default config in the
-# directory build/px4fmu-v2_default and then call make
+# This tells cmake to build the nuttx px4_fmu-v2 default config in the
+# directory build/px4_fmu-v2_default and then call make
 # in that directory with the target upload.
 
 #  explicity set default build target
-all: px4sitl_default
+all: px4_sitl_default
 
 # Parsing
 # --------------------------------------------------------------------
@@ -157,7 +157,7 @@ define colorecho
 endef
 
 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\///' | sed -e 's/\//_/g'  | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's/boards\///' | sed -e 's/\.cmake//' | sed -e 's/\//_/g' | sort)
 
 # Strip off default
 CONFIG_TARGETS_DEFAULT := $(patsubst %_default,%,$(filter %_default,$(ALL_CONFIG_TARGETS)))
@@ -183,18 +183,18 @@ $(CONFIG_TARGETS_DEFAULT):
 
 all_default_targets: $(CONFIG_TARGETS_DEFAULT)
 
-posix: px4sitl_default
-posix_sitl_default: px4sitl_default
+posix: px4_sitl_default
+posix_sitl_default: px4_sitl_default
 
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
-.PHONY: all posix posix_sitl_default all_nuttx_targets all_default_targets
+.PHONY: all posix px4_sitl_default all_nuttx_targets all_default_targets
 
 # Multi- config targets.
-eagle_default: atlflighteagle_default atlflighteagle_qurt-default
-eagle_rtps: atlflighteagle_rtps atlflighteagle_qurt-rtps
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt-default
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
 
-excelsior_default: atlflightexcelsior_default atlflightexcelsior_qurt-default
-excelsior_rtps: atlflightexcelsior_rtps atlflightexcelsior_qurt-rtps
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt-default
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
 
 .PHONY: eagle_default eagle_rtps
 .PHONY: excelsior_default excelsior_rtps
@@ -209,40 +209,40 @@ qgc_firmware: px4fmu_firmware misc_qgc_extra_firmware
 
 # px4fmu NuttX firmware
 px4fmu_firmware: \
-	check_px4io-v2_default \
-	check_px4fmu-v2_default \
-	check_px4fmu-v3_default \
-	check_px4fmu-v4_default \
-	check_px4fmu-v4pro_default \
-	check_px4fmu-v5_default \
+	check_px4_io-v2_default \
+	check_px4_fmu-v2_default \
+	check_px4_fmu-v3_default \
+	check_px4_fmu-v4_default \
+	check_px4_fmu-v4pro_default \
+	check_px4_fmu-v5_default \
 	sizes
 
 misc_qgc_extra_firmware: \
-	check_gumstixaerocore2_default \
-	check_intelaerofc-v1_default \
-	check_auavx21_default \
-	check_bitcrazecrazyflie_default \
-	check_airmindmindpx-v2_default \
-	check_px4fmu-v2_lpe \
+	check_gumstix_aerocore2_default \
+	check_intel_aerofc-v1_default \
+	check_auav_x21_default \
+	check_bitcraze_crazyflie_default \
+	check_airmind_mindpx-v2_default \
+	check_px4_fmu-v2_lpe \
 	sizes
 
 # Other NuttX firmware
 alt_firmware: \
-	check_nxphlite-v3_default \
-	check_atmelsame70xplained_default \
-	check_stm32f4discovery_default \
-	check_px4cannode-v1_default \
-	check_px4esc-v1_default \
-	check_stmnucleo-F767ZI_default \
-	check_thiemars2740vc-v1_default \
+	check_nxp_hlite-v3_default \
+	check_atmel_same70xplained_default \
+	check_stm_32f4discovery_default \
+	check_px4_cannode-v1_default \
+	check_px4_esc-v1_default \
+	check_stm_nucleo-F767ZI_default \
+	check_thiemar_s2740vc-v1_default \
 	sizes
 
 # builds with RTPS
 check_rtps: \
-	check_px4fmu-v3_rtps \
-	check_px4fmu-v4_rtps \
-	check_px4fmu-v4pro_rtps \
-	check_px4sitl_rtps \
+	check_px4_fmu-v3_rtps \
+	check_px4_fmu-v4_rtps \
+	check_px4_fmu-v4pro_rtps \
+	check_px4_sitl_rtps \
 	sizes
 
 .PHONY: sizes check quick_check check_rtps uorb_graphs
@@ -251,10 +251,10 @@ sizes:
 	@-find build -name *.elf -type f | xargs size 2> /dev/null || :
 
 # All default targets that don't require a special build environment
-check: check_posix_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
+check: check_px4_sitl_default px4fmu_firmware misc_qgc_extra_firmware alt_firmware tests check_format
 
 # quick_check builds a single nuttx and posix target, runs testing, and checks the style
-quick_check: check_posix_sitl_default check_px4fmu-v4pro_default tests check_format
+quick_check: check_px4_sitl_default check_px4_fmu-v4pro_default tests check_format
 
 check_%:
 	@echo
@@ -265,33 +265,33 @@ check_%:
 uorb_graphs:
 	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
-	@$(MAKE) --no-print-directory px4fmu-v2_default uorb_graph
-	@$(MAKE) --no-print-directory px4fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory posix_sitl_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 
 .PHONY: coverity_scan
 
-coverity_scan: posix_sitl_default
+coverity_scan: px4_sitl_default
 
 # Documentation
 # --------------------------------------------------------------------
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen
 
 parameters_metadata:
-	@$(MAKE) --no-print-directory posix_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
 
 airframe_metadata:
-	@$(MAKE) --no-print-directory posix_sitl_default metadata_airframes
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
 
 module_documentation:
-	@$(MAKE) --no-print-directory posix_sitl_default metadata_module_documentation
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_module_documentation
 
 px4_metadata: parameters_metadata airframe_metadata module_documentation
 
 doxygen:
 	@mkdir -p "$(SRC_DIR)"/build/doxygen
-	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DBUILD_DOXYGEN=ON
+	@cd "$(SRC_DIR)"/build/doxygen && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DBUILD_DOXYGEN=ON
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/doxygen
 	@touch "$(SRC_DIR)"/build/doxygen/Documentation/.nojekyll
 
@@ -313,27 +313,27 @@ format:
 .PHONY: tests tests_coverage tests_mission tests_mission_coverage tests_offboard rostest python_coverage
 
 tests:
-	@$(MAKE) --no-print-directory posix_sitl_default test_results \
+	@$(MAKE) --no-print-directory px4_sitl_default test_results \
 	ASAN_OPTIONS="color=always:check_initialization_order=1:detect_stack_use_after_return=1" \
 	UBSAN_OPTIONS="color=always"
 
 tests_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
-	@echo "Open "$(SRC_DIR)"/build/posix_sitl_default/coverage-html/index.html to see coverage"
+	@$(MAKE) --no-print-directory px4_sitl_default test_coverage_genhtml PX4_CMAKE_BUILD_TYPE=Coverage
+	@echo "Open "$(SRC_DIR)"/build/px4_sitl_default/coverage-html/index.html to see coverage"
 
-rostest: posix_sitl_default
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo
+rostest: px4_sitl_default
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
 
 tests_mission: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
 
 tests_mission_coverage:
 	@$(MAKE) clean
-	@$(MAKE) --no-print-directory posix_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
-	@$(MAKE) --no-print-directory posix_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
+	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
-	@$(MAKE) --no-print-directory posix_sitl_default generate_coverage
+	@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
 
 tests_offboard: rostest
 	@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_offboard_attctl.test
@@ -341,7 +341,7 @@ tests_offboard: rostest
 
 python_coverage:
 	@mkdir -p "$(SRC_DIR)"/build/python_coverage
-	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DPYTHON_COVERAGE=ON
+	@cd "$(SRC_DIR)"/build/python_coverage && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DPYTHON_COVERAGE=ON
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_airframes
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/python_coverage metadata_parameters
@@ -351,45 +351,45 @@ python_coverage:
 
 # static analyzers (scan-build, clang-tidy, cppcheck)
 # --------------------------------------------------------------------
-.PHONY: scan-build posix_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
+.PHONY: scan-build px4_sitl_default-clang clang-tidy clang-tidy-fix clang-tidy-quiet
 .PHONY: cppcheck shellcheck_all validate_module_configs
 
 scan-build:
 	@export CCC_CC=clang
 	@export CCC_CXX=clang++
-	@rm -rf "$(SRC_DIR)"/build/posix_sitl_default-scan-build
+	@rm -rf "$(SRC_DIR)"/build/px4_sitl_default-scan-build
 	@rm -rf "$(SRC_DIR)"/build/scan-build/report_latest
-	@mkdir -p "$(SRC_DIR)"/build/posix_sitl_default-scan-build
-	@cd "$(SRC_DIR)"/build/posix_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=posix_sitl_default
-	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/posix_sitl_default-scan-build
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-scan-build
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-scan-build && scan-build cmake "$(SRC_DIR)" -GNinja -DCONFIG=px4_sitl_default
+	@scan-build -o "$(SRC_DIR)"/build/scan-build cmake --build "$(SRC_DIR)"/build/px4_sitl_default-scan-build
 	@find "$(SRC_DIR)"/build/scan-build -maxdepth 1 -mindepth 1 -type d -exec cp -r "{}" "$(SRC_DIR)"/build/scan-build/report_latest \;
 
-posix_sitl_default-clang:
-	@mkdir -p "$(SRC_DIR)"/build/posix_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/posix_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=posix_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
-	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/posix_sitl_default-clang
+px4_sitl_default-clang:
+	@mkdir -p "$(SRC_DIR)"/build/px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
+	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-clang-tidy: posix_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/posix_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
-clang-tidy-fix: posix_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/posix_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
+clang-tidy-fix: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -fix -p .
 
 # modified version of run-clang-tidy.py to return error codes and only output relevant results
-clang-tidy-quiet: posix_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/posix_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
+clang-tidy-quiet: px4_sitl_default-clang
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j) -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
-cppcheck: posix_sitl_default
+cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/posix_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++11 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/
 
 shellcheck_all:
 	@"$(SRC_DIR)"/Tools/run-shellcheck.sh "$(SRC_DIR)"/ROMFS/px4fmu_common/
-	@make px4fmu-v2_default shellcheck
+	@make px4_fmu-v2_default shellcheck
 
 validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
diff --git a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
index cebe3c8a49..b1833db25a 100644
--- a/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
+++ b/ROMFS/px4fmu_common/init.d/13004_quad+_tailsitter
@@ -16,7 +16,7 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.vtol_defaults
diff --git a/ROMFS/px4fmu_common/init.d/13010_claire b/ROMFS/px4fmu_common/init.d/13010_claire
index 981d7b8666..f132dfe38d 100644
--- a/ROMFS/px4fmu_common/init.d/13010_claire
+++ b/ROMFS/px4fmu_common/init.d/13010_claire
@@ -7,7 +7,7 @@
 #
 # @maintainer Samay Siga <samay_s@icloud.com>
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.vtol_defaults
diff --git a/ROMFS/px4fmu_common/init.d/4003_qavr5 b/ROMFS/px4fmu_common/init.d/4003_qavr5
index 5da6d7fe8b..2e36578a5a 100644
--- a/ROMFS/px4fmu_common/init.d/4003_qavr5
+++ b/ROMFS/px4fmu_common/init.d/4003_qavr5
@@ -5,7 +5,7 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 # @maintainer James Goppert <james.goppert@gmail.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/4013_bebop b/ROMFS/px4fmu_common/init.d/4013_bebop
index 37669463b2..f883237096 100644
--- a/ROMFS/px4fmu_common/init.d/4013_bebop
+++ b/ROMFS/px4fmu_common/init.d/4013_bebop
@@ -5,11 +5,11 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 # @maintainer Michael Schaeuble
diff --git a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
index ce9e7fb596..f0011d2f62 100644
--- a/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
+++ b/ROMFS/px4fmu_common/init.d/4020_hk_micro_pcb
@@ -5,11 +5,11 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 # @maintainer Thomas Gubler <thomas@px4.io>
diff --git a/ROMFS/px4fmu_common/init.d/4030_3dr_solo b/ROMFS/px4fmu_common/init.d/4030_3dr_solo
index 089245826d..41a227471d 100644
--- a/ROMFS/px4fmu_common/init.d/4030_3dr_solo
+++ b/ROMFS/px4fmu_common/init.d/4030_3dr_solo
@@ -5,10 +5,10 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
diff --git a/ROMFS/px4fmu_common/init.d/4051_s250aq b/ROMFS/px4fmu_common/init.d/4051_s250aq
index e861fa637c..5a2e7389d8 100644
--- a/ROMFS/px4fmu_common/init.d/4051_s250aq
+++ b/ROMFS/px4fmu_common/init.d/4051_s250aq
@@ -3,7 +3,7 @@
 # @name Spedix S250AQ
 # @url https://docs.px4.io/en/framebuild_multicopter/spedix_s250_pixracer.html
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 # @type Quadrotor asymmetric
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/4070_aerofc b/ROMFS/px4fmu_common/init.d/4070_aerofc
index 84d81fcada..6956500f44 100644
--- a/ROMFS/px4fmu_common/init.d/4070_aerofc
+++ b/ROMFS/px4fmu_common/init.d/4070_aerofc
@@ -2,11 +2,11 @@
 #
 # @name Intel Aero Ready to Fly Drone
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 #
 # @type Quadrotor x
 # @class Copter
diff --git a/ROMFS/px4fmu_common/init.d/4080_zmr250 b/ROMFS/px4fmu_common/init.d/4080_zmr250
index f2d85a8982..14266101d2 100644
--- a/ROMFS/px4fmu_common/init.d/4080_zmr250
+++ b/ROMFS/px4fmu_common/init.d/4080_zmr250
@@ -5,7 +5,7 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 # @maintainer Anton Matosov <anton.matosov@gmail.com>
 #
diff --git a/ROMFS/px4fmu_common/init.d/4090_nanomind b/ROMFS/px4fmu_common/init.d/4090_nanomind
index e4a47d0d22..50ca9fb895 100644
--- a/ROMFS/px4fmu_common/init.d/4090_nanomind
+++ b/ROMFS/px4fmu_common/init.d/4090_nanomind
@@ -5,11 +5,11 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 # @maintainer Henry Zhang <zhanghui629@gmail.com>
diff --git a/ROMFS/px4fmu_common/init.d/4250_teal b/ROMFS/px4fmu_common/init.d/4250_teal
index 881bc8084d..233491db05 100644
--- a/ROMFS/px4fmu_common/init.d/4250_teal
+++ b/ROMFS/px4fmu_common/init.d/4250_teal
@@ -5,10 +5,10 @@
 # @type Quadrotor x
 # @class Copter
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
diff --git a/ROMFS/px4fmu_common/init.d/4900_crazyflie b/ROMFS/px4fmu_common/init.d/4900_crazyflie
index 0dcc99af84..b95cbbd93e 100644
--- a/ROMFS/px4fmu_common/init.d/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/4900_crazyflie
@@ -2,11 +2,11 @@
 #
 # @name Crazyflie 2.0
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 # @type Quadrotor x
diff --git a/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
index dc23d35d90..67c9d96ae6 100644
--- a/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/50000_generic_ground_vehicle
@@ -10,7 +10,7 @@
 #
 # @maintainer
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.ugv_defaults
diff --git a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10 b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
index 7a89a94833..8d3c4b0306 100644
--- a/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
+++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
@@ -14,7 +14,7 @@
 # @output MAIN7 pass-through of control group 0, channel 6
 # @output MAIN8 pass-through of control group 0, channel 7
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.ugv_defaults
diff --git a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
index c7166b291a..73e41aded3 100644
--- a/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
+++ b/ROMFS/px4fmu_common/init.d/50002_traxxas_stampede_2wd
@@ -12,7 +12,7 @@
 #
 # @maintainer Marco Zorzi
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 
 sh /etc/init.d/rc.ugv_defaults
diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index f8c27b1880..fafdc4ea24 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -25,7 +25,7 @@ then
         fi
 fi
 
-if ver hwcmp AEROFC_V1 AV_X_V1 CRAZYFLIE MINDPX_V2 NXPHLITE_V3 PX4FMU_V4 OMNIBUS_F4SD SITL
+if ver hwcmp INTEL_AEROFC_V1 AV_X_V1 BITCRAZE_CRAZYFLIE AIRMIND_MINDPX_V2 NXP_HLITE_V3 PX4_FMU_V4 OMNIBUS_F4SD PX4_SITL
 then
 	set MIXER_AUX none
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 364eb965ef..cc3a11283c 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -17,7 +17,7 @@ fi
 #               Begin Setup for board specific configurations.                #
 ###############################################################################
 
-if ver hwcmp PX4FMU_V5 AV_X_V1
+if ver hwcmp PX4_FMU_V5 AV_X_V1
 then
 	set LOGGER_BUF 64
 fi
@@ -36,7 +36,7 @@ then
 	set LOGGER_ARGS "-f"
 fi
 
-if ver hwcmp AEROFC_V1
+if ver hwcmp INTEL_AEROFC_V1
 then
 	set LOGGER_ARGS "-m mavlink"
 fi
diff --git a/ROMFS/px4fmu_common/init.d/rc.mavlink b/ROMFS/px4fmu_common/init.d/rc.mavlink
index 9985aded5b..1a8141ec8a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mavlink
+++ b/ROMFS/px4fmu_common/init.d/rc.mavlink
@@ -5,13 +5,13 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #
 
-if ! ver hwcmp AEROFC_V1
+if ! ver hwcmp INTEL_AEROFC_V1
 then
 	# Start MAVLink on the USB port
 	mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
 fi
 
-if ver hwcmp PX4FMU_V4
+if ver hwcmp PX4_FMU_V4
 then
 	# Pixracer: start MAVLink on Wifi (ESP8266 port)
 	mavlink start -r 20000 -b 921600 -d /dev/ttyS0
diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_apps b/ROMFS/px4fmu_common/init.d/rc.mc_apps
index b48fa3f4cb..1f2f03bcf5 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_apps
@@ -26,7 +26,7 @@ if param compare SYS_MC_EST_GROUP 1
 then
 	#
 	# Try to start LPE. If it fails, start EKF2 as a default.
-	# Unfortunately we do not build it on px4fmu-v2 due to a limited flash.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
 	#
 	if attitude_estimator_q start
 	then
diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 1b81685021..668a066c8b 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -14,7 +14,7 @@ set BOARD_FMUV3 0
 
 if ! ver hwcmp AEROFC_V1 OMNIBUS_F4SD
 then
-	if ! ver hwcmp CRAZYFLIE
+	if ! ver hwcmp BITCRAZE_CRAZYFLIE
 	then
 		# Configure all I2C buses to 100 KHz as they
 		# are all external or slow
@@ -22,7 +22,7 @@ then
 		fmu i2c 2 100000
 	fi
 
-	if ver hwcmp PX4FMU_V4
+	if ver hwcmp PX4_FMU_V4
 	then
 		# We know there are sketchy boards out there
 		# as chinese companies produce Pixracers without
@@ -45,7 +45,7 @@ then
 	adc start
 fi
 
-if ver hwcmp AEROFC_V1
+if ver hwcmp INTEL_AEROFC_V1
 then
 	ms5611 -T 0 start
 	mpu9250 -s -R 14 start
@@ -58,7 +58,7 @@ then
 	ll40ls start i2c
 fi
 
-if ver hwcmp AEROCORE2
+if ver hwcmp GUMSTIX_AEROCORE2
 then
 	l3gd20 -R 12 start
 	lsm303d start
@@ -94,7 +94,7 @@ then
 
 fi
 
-if ver hwcmp CRAZYFLIE
+if ver hwcmp BITCRAZE_CRAZYFLIE
 then
 	# Onboard I2C
 	mpu9250 -R 12 start
@@ -108,7 +108,7 @@ then
 
 fi
 
-if ver hwcmp MINDPX_V2
+if ver hwcmp AIRMIND_MINDPX_V2
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
@@ -122,7 +122,7 @@ then
 	l3gd20 -R 14 start
 fi
 
-if ver hwcmp NXPHLITE_V3
+if ver hwcmp NXP_HLITE_V3
 then
 	# External I2C bus
 	hmc5883 -C -X start
@@ -159,7 +159,7 @@ then
 	adc start
 fi
 
-if ver hwcmp PX4FMU_V2
+if ver hwcmp PX4_FMU_V2
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
@@ -255,7 +255,7 @@ then
 	fi
 fi
 
-if ver hwcmp PX4FMU_V4
+if ver hwcmp PX4_FMU_V4
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
@@ -303,7 +303,7 @@ then
 	fi
 fi
 
-if ver hwcmp PX4FMU_V4PRO
+if ver hwcmp PX4_FMU_V4PRO
 then
 	# Internal SPI bus ICM-20608-G
 	mpu6000 -R 2 -T 20608 start
@@ -324,7 +324,7 @@ then
 	rm3100 start
 fi
 
-if ver hwcmp PX4FMU_V5
+if ver hwcmp PX4_FMU_V5
 then
 
 	# Internal SPI bus ICM-20602
@@ -353,7 +353,7 @@ then
 	pmw3901 start
 fi
 
-if ver hwcmp PX4_SAME70XPLAINED_V1
+if ver hwcmp ATMEL_SAME70XPLAINED_V1
 then
 	# External I2C bus
 	hmc5883 -C -T -X start
diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_apps b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
index 6cfa7179c9..f53c7f9ff0 100644
--- a/ROMFS/px4fmu_common/init.d/rc.vtol_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.vtol_apps
@@ -21,7 +21,7 @@ fi
 if param compare SYS_MC_EST_GROUP 1
 then
 	# Try to start LPE. If it fails, start EKF2 as a default
-	# Unfortunately we do not build it on px4fmu-v2 due to a limited flash.
+	# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
 	if attitude_estimator_q start
 	then
 		local_position_estimator start
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index f5fd17848f..e010b3e79a 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -71,7 +71,7 @@ set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
 set FMU_ARGS ""
 set FMU_MODE pwm
-set IOFW "/etc/extras/px4io-v2_default.bin"
+set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOG_FILE /fs/microsd/bootlog.txt
 set MAV_TYPE none
@@ -160,7 +160,7 @@ else
 fi
 
 # AEROCORE2 shouldn't have an sd card and CF2 may optionally have an sd card.
-if ! ver hwcmp CRAZYFLIE AEROCORE2
+if ! ver hwcmp BITCRAZE_CRAZYFLIE GUMSTIX_AEROCORE2
 then
 	# Run no SD alarm.
 	if [ $LOG_FILE = /dev/null ]
@@ -214,7 +214,7 @@ else
 	#
 	# Bootloader upgrade
 	#
-	if ver hwcmp PX4FMU_V2
+	if ver hwcmp PX4_FMU_V2
 	then
 		set BL_FILE /etc/extras/px4fmuv3_bl.bin
 		if [ -f $BL_FILE ]
@@ -275,12 +275,12 @@ else
 	#               Begin setup for board specific configurations.                #
 	###############################################################################
 
-	if ver hwcmp AEROCORE2
+	if ver hwcmp GUMSTIX_AEROCORE2
 	then
 		set DATAMAN_OPT "-f /fs/mtd_dataman"
 	fi
 
-	if ver hwcmp AEROFC_V1
+	if ver hwcmp INTEL_AEROFC_V1
 	then
 		if param compare SYS_AUTOSTART 0
 		then
@@ -294,7 +294,7 @@ else
 		set DATAMAN_OPT -i
 	fi
 
-	if ver hwcmp CRAZYFLIE
+	if ver hwcmp BITCRAZE_CRAZYFLIE
 	then
 		if param compare SYS_AUTOSTART 0
 		then
@@ -303,7 +303,7 @@ else
 		fi
 	fi
 
-	if ver hwcmp NXPHLITE_V3
+	if ver hwcmp NXP_HLITE_V3
 	then
 		param set SYS_FMU_TASK 1
 	fi
@@ -340,13 +340,13 @@ else
 	if [ $AUTOCNF = yes ]
 	then
 		# Run FMU as task on Pixracer and on boards with enough RAM.
-		if ver hwcmp PX4FMU_V4 PX4FMU_V4PRO PX4FMU_V5
+		if ver hwcmp PX4_FMU_V4 PX4_FMU_V4PRO PX4_FMU_V5
 		then
 			param set SYS_FMU_TASK 1
 		fi
 
 		# Disable safety switch by default on Pixracer and OmnibusF4SD.
-		if ver hwcmp PX4FMU_V4 OMNIBUS_F4SD
+		if ver hwcmp PX4_FMU_V4 OMNIBUS_F4SD
 		then
 			param set CBRK_IO_SAFETY 22027
 		fi
@@ -515,7 +515,7 @@ else
 	#
 	sh /etc/init.d/rc.serial
 
-	if ver hwcmp PX4FMU_V4
+	if ver hwcmp PX4_FMU_V4
 	then
 		# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
 		if param compare TEL_FRSKY_CONFIG 0
@@ -565,7 +565,7 @@ else
 	#
 	# Launch the flow sensor as a background task.
 	#
-	if ver hwcmp PX4FMU_V2 PX4FMU_V4 PX4FMU_V4PRO MINDPX_V2 PX4FMU_V5 OMNIBUS_F4SD
+	if ver hwcmp PX4_FMU_V2 PX4_FMU_V4 PX4_FMU_V4PRO AIRMIND_MINDPX_V2 PX4_FMU_V5 OMNIBUS_F4SD
 	then
 		px4flow start &
 	fi
diff --git a/ROMFS/px4fmu_common/mixers/bebop.main.mix b/ROMFS/px4fmu_common/mixers/bebop.main.mix
index 70d8b6f2c0..6e89966caf 100644
--- a/ROMFS/px4fmu_common/mixers/bebop.main.mix
+++ b/ROMFS/px4fmu_common/mixers/bebop.main.mix
@@ -1,9 +1,9 @@
 #
-# @board px4fmu-v2 exclude
-# @board px4fmu-v3 exclude
-# @board px4fmu-v4 exclude
-# @board px4fmu-v4pro exclude
-# @board px4fmu-v5 exclude
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
 # @board aerofc-v1 exclude
 #
 
diff --git a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix b/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
index 29ecd93e26..263a90d691 100644
--- a/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
+++ b/ROMFS/px4fmu_common/mixers/standard_vtol_hitl.main.mix
@@ -1,7 +1,7 @@
 Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
 =============================================================================
 
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 
 R: 4x 10000 10000 10000 0
 
diff --git a/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix b/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix
index f16992f4e8..eda24a96d9 100644
--- a/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix
+++ b/ROMFS/px4fmu_common/mixers/uuv_quad_x.mix
@@ -1,4 +1,4 @@
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 
 M: 4
 S: 0 0  -10000  -10000     0 -10000  10000
diff --git a/ROMFS/px4fmu_common/mixers/zmr250.main.mix b/ROMFS/px4fmu_common/mixers/zmr250.main.mix
index c94b1670ed..80bebea24a 100644
--- a/ROMFS/px4fmu_common/mixers/zmr250.main.mix
+++ b/ROMFS/px4fmu_common/mixers/zmr250.main.mix
@@ -1,5 +1,5 @@
 #
-# @board px4fmu-v2 exclude
+# @board px4_fmu-v2 exclude
 #
 # R: <geometry> <roll scale> <pitch scale> <yaw scale> <deadband>
 R: 4x 7654 10000 10000 0
diff --git a/ROMFS/px4fmu_test/init.d/rc.sensors b/ROMFS/px4fmu_test/init.d/rc.sensors
index 0ac92f72f0..3a47199dac 100644
--- a/ROMFS/px4fmu_test/init.d/rc.sensors
+++ b/ROMFS/px4fmu_test/init.d/rc.sensors
@@ -21,7 +21,7 @@ if adc start
 then
 fi
 
-if ver hwcmp PX4FMU_V2
+if ver hwcmp PX4_FMU_V2
 then
 	# External I2C bus
 	if hmc5883 -C -T -X start
@@ -82,7 +82,7 @@ then
 	fi
 fi
 
-if ver hwcmp PX4FMU_V4
+if ver hwcmp PX4_FMU_V4
 then
 	# External I2C bus
 	if hmc5883 -C -T -X start
@@ -109,7 +109,7 @@ then
 	fi
 fi
 
-if ver hwcmp MINDPX_V2
+if ver hwcmp AIRMIND_MINDPX_V2
 then
 	# External I2C bus
 	if hmc5883 -C -T -X start
diff --git a/Tools/docker_run.sh b/Tools/docker_run.sh
index 8b09932ae5..50f18ad2e6 100755
--- a/Tools/docker_run.sh
+++ b/Tools/docker_run.sh
@@ -2,7 +2,7 @@
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4fmu.* ]]; then
+	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
 		PX4_DOCKER_REPO="px4io/px4-dev-nuttx:2018-11-22"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index e95e82f5d4..2782c91430 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -642,14 +642,14 @@ class uploader(object):
                                        % (self.fw_maxsize, fw.property('image_maxsize')))
         else:
             # If we're still on bootloader v4 on a Pixhawk, we don't know if we
-            # have the silicon errata and therefore need to flash px4fmu-v2
-            # with 1MB flash or if it supports px4fmu-v3 with 2MB flash.
+            # have the silicon errata and therefore need to flash px4_fmu-v2
+            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
             if fw.property('board_id') == 9 \
                     and fw.property('image_size') > 1032192 \
                     and not force:
                 raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
-                                   "if flashing more than 1 MB (px4fmu-v3_default) is safe, chances are\n"
-                                   "high that it is not safe! If unsure, use px4fmu-v2_default.\n"
+                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
+                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
                                    "\n"
                                    "If you know you that the board does not have the silicon errata, use\n"
                                    "this script with --force, or update the bootloader. If you are invoking\n"
diff --git a/Tools/sitl_multiple_run.sh b/Tools/sitl_multiple_run.sh
index 317b8f87d7..abd125661a 100755
--- a/Tools/sitl_multiple_run.sh
+++ b/Tools/sitl_multiple_run.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 # run multiple instances of the 'px4' binary, but w/o starting the simulator.
-# It assumes px4 is already built, with 'make px4sitl_default'
+# It assumes px4 is already built, with 'make px4_sitl_default'
 
 # The simulator is expected to send to UDP port 14560+i for i in [0, N-1]
 # For example jmavsim can be run like this:
@@ -12,7 +12,7 @@ sitl_num=2
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 src_path="$SCRIPT_DIR/.."
 
-build_path=${src_path}/build/px4sitl_default
+build_path=${src_path}/build/px4_sitl_default
 
 echo "killing running instances"
 pkill -x px4 || true
diff --git a/appveyor.yml b/appveyor.yml
index c9a6725e5e..fb755a90b2 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -43,7 +43,7 @@ build_script:
 # make SITL
 - call bash --login -c "cd $repopath && make posix"
 # make pixracer to check NuttX build
-- call bash --login -c "cd $repopath && make px4fmu-v4_default"
+- call bash --login -c "cd $repopath && make px4_fmu-v4_default"
 # run tests
 - call bash --login -c "cd $repopath && make tests"
 
diff --git a/boards/aerotenna/ocpoc/src/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h
index 573aaa9c63..57fe354671 100644
--- a/boards/aerotenna/ocpoc/src/board_config.h
+++ b/boards/aerotenna/ocpoc/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "OCPOC00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_OCPOC
 
-#define BOARD_NAME "OCPOC"
+#define BOARD_NAME "AEROTENNA_OCPOC"
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
index 6fd95f2263..878f01fad1 100644
--- a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
+++ b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_MINDPX_V2=y
-CONFIG_ARCH_BOARD="airmindmindpx-v2"
+CONFIG_ARCH_BOARD_AIRMIND_MINDPX_V2=y
+CONFIG_ARCH_BOARD="airmind_mindpx-v2"
 
 #
 # Custom Board Configuration
diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
index a046456a90..cb3e2b2f1d 100644
--- a/boards/airmind/mindpx-v2/src/board_config.h
+++ b/boards/airmind/mindpx-v2/src/board_config.h
@@ -293,7 +293,7 @@
 #define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
 #define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
-#define BOARD_NAME "MINDPX_V2"
+#define BOARD_NAME "AIRMIND_MINDPX_V2"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/atlflight/eagle/src/board_config.h b/boards/atlflight/eagle/src/board_config.h
index c52a8a473e..493d12b8bd 100644
--- a/boards/atlflight/eagle/src/board_config.h
+++ b/boards/atlflight/eagle/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
 
-#define BOARD_NAME "EAGLE"
+#define BOARD_NAME "ATLFLIGHT_EAGLE"
 
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
diff --git a/boards/atlflight/excelsior/src/board_config.h b/boards/atlflight/excelsior/src/board_config.h
index 2b0646b700..30dbf4bff4 100644
--- a/boards/atlflight/excelsior/src/board_config.h
+++ b/boards/atlflight/excelsior/src/board_config.h
@@ -38,7 +38,7 @@
  */
 
 #pragma once
-#define BOARD_NAME "EXCELSIOR"
+#define BOARD_NAME "ATLFLIGHT_EXCELSIOR"
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
 #define BOARD_HAS_NO_RESET
diff --git a/boards/atmel/same70xplained/nuttx-config/nsh/defconfig b/boards/atmel/same70xplained/nuttx-config/nsh/defconfig
index b080131854..14b6ab4ca6 100644
--- a/boards/atmel/same70xplained/nuttx-config/nsh/defconfig
+++ b/boards/atmel/same70xplained/nuttx-config/nsh/defconfig
@@ -427,9 +427,9 @@ CONFIG_RAM_SIZE=393216
 # Board Selection
 #
 # CONFIG_ARCH_BOARD_SAME70_XPLAINED is not set
-CONFIG_ARCH_BOARD_ATMELSAME70XPLAINED=y
+CONFIG_ARCH_BOARD_ATMEL_SAME70XPLAINED=y
 # CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="atmelsame70xplained"
+CONFIG_ARCH_BOARD="atmel_same70xplained"
 
 #
 # Common Board Options
diff --git a/boards/atmel/same70xplained/src/board_config.h b/boards/atmel/same70xplained/src/board_config.h
index 46dc3b8967..072e0c0787 100644
--- a/boards/atmel/same70xplained/src/board_config.h
+++ b/boards/atmel/same70xplained/src/board_config.h
@@ -300,7 +300,7 @@ __BEGIN_DECLS
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2
 #endif
 
-#define BOARD_NAME "PX4_SAME70XPLAINED_V1"
+#define BOARD_NAME "ATMEL_SAME70XPLAINED"
 
 /*
  * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
diff --git a/boards/auav/esc35-v1/nuttx-config/nsh/defconfig b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
index f9b2beffe9..1c4a0a4373 100644
--- a/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
+++ b/boards/auav/esc35-v1/nuttx-config/nsh/defconfig
@@ -559,8 +559,8 @@ CONFIG_RAM_SIZE=131072
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_AUAVESC35_V1=y
-CONFIG_ARCH_BOARD="auavesc35-v1"
+CONFIG_ARCH_BOARD_AUAV_ESC35_V1=y
+CONFIG_ARCH_BOARD="auav_esc35-v1"
 
 #
 # Custom Board Configuration
diff --git a/boards/auav/esc35-v1/src/board_config.h b/boards/auav/esc35-v1/src/board_config.h
index 5776c41f59..376fa5402b 100644
--- a/boards/auav/esc35-v1/src/board_config.h
+++ b/boards/auav/esc35-v1/src/board_config.h
@@ -134,7 +134,7 @@
 			 GPIO_PORTA | GPIO_PIN1 | GPIO_OUTPUT_CLEAR)
 #define GPIO_LED_BLUE  GPIO_LED3
 
-#define BOARD_NAME "ESC35_V1"
+#define BOARD_NAME "AUAV_ESC35_V1"
 
 __BEGIN_DECLS
 
diff --git a/boards/auav/x21/default.cmake b/boards/auav/x21/default.cmake
index 01d545775e..75878f4218 100644
--- a/boards/auav/x21/default.cmake
+++ b/boards/auav/x21/default.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 1
 
diff --git a/boards/auav/x21/nuttx-config/nsh/defconfig b/boards/auav/x21/nuttx-config/nsh/defconfig
index b25df9dc59..98a81af3ac 100644
--- a/boards/auav/x21/nuttx-config/nsh/defconfig
+++ b/boards/auav/x21/nuttx-config/nsh/defconfig
@@ -688,7 +688,7 @@ CONFIG_RAM_SIZE=262144
 # Board Selection
 #
 CONFIG_ARCH_BOARD_AUAV_X21=y
-CONFIG_ARCH_BOARD="auavx21"
+CONFIG_ARCH_BOARD="auav_x21"
 
 #
 # Custom Board Configuration
diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
index 9f8ce9c53e..206f0c5159 100644
--- a/boards/av/x-v1/nuttx-config/nsh/defconfig
+++ b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -533,8 +533,8 @@ CONFIG_RAM_SIZE=376832
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_AVX_V1=y
-CONFIG_ARCH_BOARD="avx-v1"
+CONFIG_ARCH_BOARD_AV_X_V1=y
+CONFIG_ARCH_BOARD="av_x-v1"
 
 #
 # Common Board Options
diff --git a/boards/beaglebone/blue/src/board_config.h b/boards/beaglebone/blue/src/board_config.h
index efa670c83a..6154811c40 100644
--- a/boards/beaglebone/blue/src/board_config.h
+++ b/boards/beaglebone/blue/src/board_config.h
@@ -45,7 +45,7 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE
 
-#define BOARD_NAME "BBBLUE"
+#define BOARD_NAME "BEAGLEBONE_BLUE"
 
 #define BOARD_BATTERY1_V_DIV   (11.0f)
 //#define BOARD_BATTERY1_A_PER_V (15.391030303f)
diff --git a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
index a236d585e3..897dd16d56 100644
--- a/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
+++ b/boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig
@@ -652,8 +652,8 @@ CONFIG_RAM_SIZE=196608
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_CRAZYFLIE=y
-CONFIG_ARCH_BOARD="bitcrazecrazyflie"
+CONFIG_ARCH_BOARD_BITCRAZE_CRAZYFLIE=y
+CONFIG_ARCH_BOARD="bitcraze_crazyflie"
 
 #
 # Custom Board Configuration
diff --git a/boards/bitcraze/crazyflie/src/board_config.h b/boards/bitcraze/crazyflie/src/board_config.h
index 0b675b83ae..cefc135d90 100644
--- a/boards/bitcraze/crazyflie/src/board_config.h
+++ b/boards/bitcraze/crazyflie/src/board_config.h
@@ -215,13 +215,10 @@
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
-#define	BOARD_NAME "CRAZYFLIE"
-
+#define	BOARD_NAME "BITCRAZE_CRAZYFLIE"
 
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
 
-#define BOARD_NAME "CRAZYFLIE"
-
 __BEGIN_DECLS
 
 /****************************************************************************************************
diff --git a/boards/emlid/navio2/src/board_config.h b/boards/emlid/navio2/src/board_config.h
index 2cd6af040f..5569edddb4 100644
--- a/boards/emlid/navio2/src/board_config.h
+++ b/boards/emlid/navio2/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-#define BOARD_NAME "EMLIDNAVIO2"
+#define BOARD_NAME "EMLID_NAVIO2"
 
 #define ADC_BATTERY_VOLTAGE_CHANNEL 2
 #define ADC_BATTERY_CURRENT_CHANNEL 3
diff --git a/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig b/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
index 1a9dd2d0b3..8b18a34baf 100644
--- a/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
+++ b/boards/gumstix/aerocore2/nuttx-config/nsh/defconfig
@@ -673,8 +673,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_AEROCORE2=y
-CONFIG_ARCH_BOARD="gumstixaerocore2"
+CONFIG_ARCH_BOARD_GUMSTIX_AEROCORE2=y
+CONFIG_ARCH_BOARD="gumstix_aerocore2"
 
 #
 # Custom Board Configuration
diff --git a/boards/gumstix/aerocore2/src/board_config.h b/boards/gumstix/aerocore2/src/board_config.h
index 2ec3de378e..d171663a06 100644
--- a/boards/gumstix/aerocore2/src/board_config.h
+++ b/boards/gumstix/aerocore2/src/board_config.h
@@ -200,7 +200,7 @@
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
-#define BOARD_NAME "AEROCORE2"
+#define BOARD_NAME "GUMSTIX_AEROCORE2"
 
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
 
diff --git a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
index ee254cb3e4..d55ed2858b 100644
--- a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
+++ b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
@@ -670,8 +670,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_AEROFC_V1=y
-CONFIG_ARCH_BOARD="intelaerofc-v1"
+CONFIG_ARCH_BOARD_INTEL_AEROFC_V1=y
+CONFIG_ARCH_BOARD="intel_aerofc-v1"
 
 #
 # Common Board Options
diff --git a/boards/intel/aerofc-v1/src/board_config.h b/boards/intel/aerofc-v1/src/board_config.h
index c008a8a1ce..0bb57e55d7 100644
--- a/boards/intel/aerofc-v1/src/board_config.h
+++ b/boards/intel/aerofc-v1/src/board_config.h
@@ -129,7 +129,7 @@
 #define HRT_TIMER		3	/* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL	4	/* use capture/compare channel */
 
-#define	BOARD_NAME "AEROFC_V1"
+#define	BOARD_NAME "INTEL_AEROFC_V1"
 
 #define  FLASH_BASED_PARAMS
 #define  FLASH_BASED_DATAMAN
diff --git a/boards/nxp/hlite-v3/nuttx-config/nsh/defconfig b/boards/nxp/hlite-v3/nuttx-config/nsh/defconfig
index c67bafe990..1182c03a74 100644
--- a/boards/nxp/hlite-v3/nuttx-config/nsh/defconfig
+++ b/boards/nxp/hlite-v3/nuttx-config/nsh/defconfig
@@ -389,8 +389,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_NXPHLITE_V3=y
-CONFIG_ARCH_BOARD="nxphlite-v3"
+CONFIG_ARCH_BOARD_NXP_HLITE_V3=y
+CONFIG_ARCH_BOARD="nxp_hlite-v3"
 CONFIG_BOARD_HAS_PROBES=y
 # CONFIG_BOARD_USE_PROBES is not set
 
diff --git a/boards/nxp/hlite-v3/src/board_config.h b/boards/nxp/hlite-v3/src/board_config.h
index 648f8c0e31..d1b1c5c4d2 100644
--- a/boards/nxp/hlite-v3/src/board_config.h
+++ b/boards/nxp/hlite-v3/src/board_config.h
@@ -391,7 +391,7 @@ __BEGIN_DECLS
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_FTM0_CH2IN
 
-#define BOARD_NAME "NXPHLITE_V3"
+#define BOARD_NAME "NXP_HLITE_V3"
 
 
 /* Define True logic Power Control in arch agnostic form */
diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
index e5b0d61a8c..aa5353295f 100644
--- a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
+++ b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -662,8 +662,8 @@ CONFIG_RAM_SIZE=196608
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_OMNIBUSF4SD=y
-CONFIG_ARCH_BOARD="omnibusf4sd"
+CONFIG_ARCH_BOARD_OMNIBUS_F4SD=y
+CONFIG_ARCH_BOARD="omnibus_f4sd"
 
 #
 # Custom Board Configuration
diff --git a/boards/parrot/bebop/src/board_config.h b/boards/parrot/bebop/src/board_config.h
index 07d6177114..5b1f892dd0 100644
--- a/boards/parrot/bebop/src/board_config.h
+++ b/boards/parrot/bebop/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "BEBOPID000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_BEBOP
 
-#define BOARD_NAME "BEBOP"
+#define BOARD_NAME "PARROT_BEBOP"
 
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
diff --git a/boards/px4/cannode-v1/default.cmake b/boards/px4/cannode-v1/default.cmake
index a139189188..31874d98b9 100644
--- a/boards/px4/cannode-v1/default.cmake
+++ b/boards/px4/cannode-v1/default.cmake
@@ -25,8 +25,8 @@ add_definitions(
 
 include(px4_make_uavcan_bootloader)
 px4_make_uavcan_bootloadable(
-	BOARD px4cannode-v1
-	BIN ${PX4_BINARY_DIR}/px4cannode-v1.bin
+	BOARD px4_cannode-v1
+	BIN ${PX4_BINARY_DIR}/px4_cannode-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
diff --git a/boards/px4/cannode-v1/nuttx-config/Kconfig b/boards/px4/cannode-v1/nuttx-config/Kconfig
index 35fbcdbd65..10ff1f1640 100644
--- a/boards/px4/cannode-v1/nuttx-config/Kconfig
+++ b/boards/px4/cannode-v1/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if CONFIG_ARCH_BOARD_PX4CANNODE_V1
+if CONFIG_ARCH_BOARD_PX4_CANNODE_V1
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/cannode-v1/nuttx-config/include/board.h b/boards/px4/cannode-v1/nuttx-config/include/board.h
index 9cd4614eb2..714f111e06 100644
--- a/boards/px4/cannode-v1/nuttx-config/include/board.h
+++ b/boards/px4/cannode-v1/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/px4cannode-v1/include/board.h
+ * nuttx-configs/px4_cannode-v1/include/board.h
  *
  *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
index fb45757c71..4f70399861 100644
--- a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
+++ b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig
@@ -574,8 +574,8 @@ CONFIG_RAM_SIZE=20480
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4CANNODE_V1=y
-CONFIG_ARCH_BOARD="px4cannode-v1"
+CONFIG_ARCH_BOARD_PX4_CANNODE_V1=y
+CONFIG_ARCH_BOARD="px4_cannode-v1"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh
index 64a3e9fd42..0f659fffd1 100644
--- a/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh
+++ b/boards/px4/cannode-v1/nuttx-config/nsh/defconfig.nsh
@@ -478,9 +478,9 @@ CONFIG_RAM_SIZE=20480
 # Board Selection
 #
 # CONFIG_ARCH_BOARD_MAPLE is not set
-CONFIG_ARCH_BOARD_PX4CANNODE_V1=y
+CONFIG_ARCH_BOARD_PX4_CANNODE_V1=y
 # CONFIG_ARCH_BOARD_CUSTOM is not set
-CONFIG_ARCH_BOARD="px4cannode-v1"
+CONFIG_ARCH_BOARD="px4_cannode-v1"
 
 #
 # Common Board Options
diff --git a/boards/px4/cannode-v1/nuttx-config/scripts/ld.script b/boards/px4/cannode-v1/nuttx-config/scripts/ld.script
index a2d942b8ab..91e245b9fc 100644
--- a/boards/px4/cannode-v1/nuttx-config/scripts/ld.script
+++ b/boards/px4/cannode-v1/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
 /****************************************************************************
- * nuttx-configs/px4cannode-v1/scripts/ld.script
+ * nuttx-configs/px4_cannode-v1/scripts/ld.script
  *
  *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/boards/px4/cannode-v1/src/board_config.h b/boards/px4/cannode-v1/src/board_config.h
index 4b777416a6..e4e1643ee9 100644
--- a/boards/px4/cannode-v1/src/board_config.h
+++ b/boards/px4/cannode-v1/src/board_config.h
@@ -143,7 +143,7 @@
 #define GPIO_CAN_CTRL (GPIO_OUTPUT | GPIO_CNF_OUTPP | GPIO_MODE_50MHz | \
 		       GPIO_PORTC | GPIO_PIN13 | GPIO_OUTPUT_CLEAR)
 
-#define BOARD_NAME "PX4CANNODE_V1"
+#define BOARD_NAME "PX4_CANNODE_V1"
 
 __BEGIN_DECLS
 
diff --git a/boards/px4/cannode-v1/src/buttons.c b/boards/px4/cannode-v1/src/buttons.c
index 0d57465e7b..87108edd8d 100644
--- a/boards/px4/cannode-v1/src/buttons.c
+++ b/boards/px4/cannode-v1/src/buttons.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4cannode_buttons.c
+ * @file px4_cannode_buttons.c
  *
  * PX4CANNODE- Buttons
  */
diff --git a/boards/px4/cannode-v1/src/init.c b/boards/px4/cannode-v1/src/init.c
index 22ff7ac5df..e0fa4070e1 100644
--- a/boards/px4/cannode-v1/src/init.c
+++ b/boards/px4/cannode-v1/src/init.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4cannode_init.c
+ * @file px4_cannode_init.c
  *
  * PX4CANNODE-specific early startup code.  This file implements the
  * board_app_initialize() function that is called early by nsh during startup.
diff --git a/boards/px4/cannode-v1/src/led.c b/boards/px4/cannode-v1/src/led.c
index 40530daded..6efd20a01e 100644
--- a/boards/px4/cannode-v1/src/led.c
+++ b/boards/px4/cannode-v1/src/led.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4cannode_led.c
+ * @file px4_cannode_led.c
  *
  * PX4ESC LED backend.
  */
diff --git a/boards/px4/cannode-v1/src/spi.c b/boards/px4/cannode-v1/src/spi.c
index 7fae36e84e..6f7c763ca1 100644
--- a/boards/px4/cannode-v1/src/spi.c
+++ b/boards/px4/cannode-v1/src/spi.c
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4cannode_led.c
+ * @file px4_cannode_led.c
  *
  * PX4FMU SPI backend.
  */
diff --git a/boards/px4/esc-v1/default.cmake b/boards/px4/esc-v1/default.cmake
index 8694b3f275..416f635424 100644
--- a/boards/px4/esc-v1/default.cmake
+++ b/boards/px4/esc-v1/default.cmake
@@ -27,8 +27,8 @@ add_definitions(
 
 include(px4_make_uavcan_bootloader)
 px4_make_uavcan_bootloadable(
-	BOARD px4esc-v1
-	BIN ${PX4_BINARY_DIR}/px4esc-v1.bin
+	BOARD px4_esc-v1
+	BIN ${PX4_BINARY_DIR}/px4_esc-v1.bin
 	HWNAME ${uavcanblid_name}
 	HW_MAJOR ${uavcanblid_hw_version_major}
 	HW_MINOR ${uavcanblid_hw_version_minor}
diff --git a/boards/px4/esc-v1/nuttx-config/Kconfig b/boards/px4/esc-v1/nuttx-config/Kconfig
index 163ed89aaf..83f92b2b93 100644
--- a/boards/px4/esc-v1/nuttx-config/Kconfig
+++ b/boards/px4/esc-v1/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if CONFIG_ARCH_BOARD_PX4ESC_V1
+if CONFIG_ARCH_BOARD_PX4_ESC_V1
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/esc-v1/nuttx-config/nsh/defconfig b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
index 68ddf71ff5..226d69f991 100644
--- a/boards/px4/esc-v1/nuttx-config/nsh/defconfig
+++ b/boards/px4/esc-v1/nuttx-config/nsh/defconfig
@@ -606,8 +606,8 @@ CONFIG_RAM_SIZE=131072
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4ESC_V1=y
-CONFIG_ARCH_BOARD="px4esc-v1"
+CONFIG_ARCH_BOARD_PX4_ESC_V1=y
+CONFIG_ARCH_BOARD="px4_esc-v1"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/esc-v1/src/board_config.h b/boards/px4/esc-v1/src/board_config.h
index 33cc7875c7..f0bf854b81 100644
--- a/boards/px4/esc-v1/src/board_config.h
+++ b/boards/px4/esc-v1/src/board_config.h
@@ -216,7 +216,7 @@
 #define GPIO_TEST1   (GPIO_OUTPUT | GPIO_PUSHPULL | GPIO_SPEED_50MHz | \
 		      GPIO_PORTD | GPIO_PIN2 | GPIO_OUTPUT_CLEAR)
 
-#define BOARD_NAME "PX4ESC_V1"
+#define BOARD_NAME "PX4_ESC_V1"
 
 __BEGIN_DECLS
 
diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake
index 0331448acb..d437b560f3 100644
--- a/boards/px4/fmu-v2/default.cmake
+++ b/boards/px4/fmu-v2/default.cmake
@@ -8,7 +8,7 @@ px4_add_board(
 	ROMFS
 	ROMFSROOT px4fmu_common
 	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	#TESTING
 	CONSTRAINED_FLASH
 	#UAVCAN_INTERFACES 2
diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake
index 0877a4a327..9bb6134251 100644
--- a/boards/px4/fmu-v2/lpe.cmake
+++ b/boards/px4/fmu-v2/lpe.cmake
@@ -8,7 +8,7 @@ px4_add_board(
 	ROMFS
 	ROMFSROOT px4fmu_common
 	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	#TESTING
 	#UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v2/nuttx-config/Kconfig b/boards/px4/fmu-v2/nuttx-config/Kconfig
index f9f0c5e6a8..6ce42aecf4 100644
--- a/boards/px4/fmu-v2/nuttx-config/Kconfig
+++ b/boards/px4/fmu-v2/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMU_V2
+if ARCH_BOARD_PX4_FMU_V2
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/fmu-v2/nuttx-config/include/board.h b/boards/px4/fmu-v2/nuttx-config/include/board.h
index ba906c4bbd..6930f4412b 100644
--- a/boards/px4/fmu-v2/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v2/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/px4fmu-v2/include/board.h
+ * nuttx-configs/px4_fmu-v2/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
index 31984e9069..532695283b 100644
--- a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V2=y
-CONFIG_ARCH_BOARD="px4fmu-v2"
+CONFIG_ARCH_BOARD_PX4_FMU_V2=y
+CONFIG_ARCH_BOARD="px4_fmu-v2"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v2/nuttx-config/scripts/ld.script b/boards/px4/fmu-v2/nuttx-config/scripts/ld.script
index b80c0c23bd..c4e1cc90e7 100644
--- a/boards/px4/fmu-v2/nuttx-config/scripts/ld.script
+++ b/boards/px4/fmu-v2/nuttx-config/scripts/ld.script
@@ -1,5 +1,5 @@
 /****************************************************************************
- * nuttx-configs/px4fmu-v2/scripts/ld.script
+ * nuttx-configs/px4_fmu-v2/scripts/ld.script
  *
  *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
  *   Author: Gregory Nutt <gnutt@nuttx.org>
diff --git a/boards/px4/fmu-v2/src/board_config.h b/boards/px4/fmu-v2/src/board_config.h
index bce4f8f6e4..4a1cd206f8 100644
--- a/boards/px4/fmu-v2/src/board_config.h
+++ b/boards/px4/fmu-v2/src/board_config.h
@@ -450,7 +450,7 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2
 
-#define BOARD_NAME "PX4FMU_V2"
+#define BOARD_NAME "PX4_FMU_V2"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/px4/fmu-v2/src/init.c b/boards/px4/fmu-v2/src/init.c
index a031f8dbfa..49c37cc398 100644
--- a/boards/px4/fmu-v2/src/init.c
+++ b/boards/px4/fmu-v2/src/init.c
@@ -440,7 +440,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 		default:
 
-			/* questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
+			/* questionable px4_fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
 
 			message("\nbad version detected, forcing to fmu-v2");
 			hw_version = HW_VER_FMUV2_STATE;
diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake
index 5c032c3e01..fb5af393bc 100644
--- a/boards/px4/fmu-v2/test.cmake
+++ b/boards/px4/fmu-v2/test.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_test
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	#UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
index b2646ad6d0..7bb815c8b6 100644
--- a/boards/px4/fmu-v3/default.cmake
+++ b/boards/px4/fmu-v3/default.cmake
@@ -9,7 +9,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v3/nuttx-config/Kconfig b/boards/px4/fmu-v3/nuttx-config/Kconfig
index f9f0c5e6a8..6ce42aecf4 100644
--- a/boards/px4/fmu-v3/nuttx-config/Kconfig
+++ b/boards/px4/fmu-v3/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMU_V2
+if ARCH_BOARD_PX4_FMU_V2
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/fmu-v3/nuttx-config/include/board.h b/boards/px4/fmu-v3/nuttx-config/include/board.h
index 827d4f1221..9d180ab981 100644
--- a/boards/px4/fmu-v3/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v3/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/px4fmu-v3/include/board.h
+ * nuttx-configs/px4_fmu-v3/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
index 629b05cbfe..39e07adbba 100644
--- a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V3=y
-CONFIG_ARCH_BOARD="px4fmu-v3"
+CONFIG_ARCH_BOARD_PX4_FMU_V3=y
+CONFIG_ARCH_BOARD="px4_fmu-v3"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
index 4773d2b3e7..c936c3a89b 100644
--- a/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V3=y
-CONFIG_ARCH_BOARD="px4fmu-v3"
+CONFIG_ARCH_BOARD_PX4_FMU_V3=y
+CONFIG_ARCH_BOARD="px4_fmu-v3"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake
index 21ddccc054..aa5e1da25f 100644
--- a/boards/px4/fmu-v3/rtps.cmake
+++ b/boards/px4/fmu-v3/rtps.cmake
@@ -9,7 +9,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v3/src/board_config.h b/boards/px4/fmu-v3/src/board_config.h
index bce4f8f6e4..4a1cd206f8 100644
--- a/boards/px4/fmu-v3/src/board_config.h
+++ b/boards/px4/fmu-v3/src/board_config.h
@@ -450,7 +450,7 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2
 
-#define BOARD_NAME "PX4FMU_V2"
+#define BOARD_NAME "PX4_FMU_V2"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/px4/fmu-v3/src/init.c b/boards/px4/fmu-v3/src/init.c
index a031f8dbfa..49c37cc398 100644
--- a/boards/px4/fmu-v3/src/init.c
+++ b/boards/px4/fmu-v3/src/init.c
@@ -440,7 +440,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 		default:
 
-			/* questionable px4fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
+			/* questionable px4_fmu-v2 hardware, try forcing regular FMUv2 (not much else we can do) */
 
 			message("\nbad version detected, forcing to fmu-v2");
 			hw_version = HW_VER_FMUV2_STATE;
diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake
index e0034ddbd0..6de1839325 100644
--- a/boards/px4/fmu-v3/stackcheck.cmake
+++ b/boards/px4/fmu-v3/stackcheck.cmake
@@ -9,7 +9,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	#UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
index 8c7c3ae2a5..a4f6689709 100644
--- a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V4=y
-CONFIG_ARCH_BOARD="px4fmu-v4"
+CONFIG_ARCH_BOARD_PX4_FMU_V4=y
+CONFIG_ARCH_BOARD="px4_fmu-v4"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
index 3d4ad4271c..e6b3bf1f6a 100644
--- a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
@@ -687,8 +687,8 @@ CONFIG_RAM_SIZE=262144
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V4=y
-CONFIG_ARCH_BOARD="px4fmu-v4"
+CONFIG_ARCH_BOARD_PX4_FMU_V4=y
+CONFIG_ARCH_BOARD="px4_fmu-v4"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
index bcfffe64d8..52bd98fd43 100644
--- a/boards/px4/fmu-v4/src/board_config.h
+++ b/boards/px4/fmu-v4/src/board_config.h
@@ -306,7 +306,7 @@
 #define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
 
-#define    BOARD_NAME "PX4FMU_V4"
+#define    BOARD_NAME "PX4_FMU_V4"
 
 /**
  * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
index 25a0f58517..be45096474 100644
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v4pro/nuttx-config/Kconfig b/boards/px4/fmu-v4pro/nuttx-config/Kconfig
index 9af3690362..90db796740 100644
--- a/boards/px4/fmu-v4pro/nuttx-config/Kconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMU_V4PRO
+if ARCH_BOARD_PX4_FMU_V4PRO
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/fmu-v4pro/nuttx-config/include/board.h b/boards/px4/fmu-v4pro/nuttx-config/include/board.h
index 18b3239f1a..59585d700a 100644
--- a/boards/px4/fmu-v4pro/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v4pro/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * configs/px4fmu-v4pro/include/board.h
+ * configs/px4_fmu-v4pro/include/board.h
  * include/arch/board/board.h
  *
  *   Copyright (C) 2009, 2016 Gregory Nutt. All rights reserved.
@@ -261,7 +261,7 @@
 #define BOARD_FLASH_WAITSTATES 5
 
 /* LED definitions ******************************************************************/
-/* The px4fmu-v4pro board has numerous LEDs.
+/* The px4_fmu-v4pro board has numerous LEDs.
  *  FMU_LED_RED, FMU_LED_GREEN & FMU_LED_BLUE are directly connected and
  * can be controlled by software.
  *
diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
index c51929df1c..09e2cb0e0a 100644
--- a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -691,8 +691,8 @@ CONFIG_RAM_SIZE=393216
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V4PRO=y
-CONFIG_ARCH_BOARD="px4fmu-v4pro"
+CONFIG_ARCH_BOARD_PX4_FMU_V4PRO=y
+CONFIG_ARCH_BOARD="px4_fmu-v4pro"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake
index c03492ba11..ac57d4debf 100644
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m4
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v4pro/src/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
index 745440d696..7b37d07c0b 100644
--- a/boards/px4/fmu-v4pro/src/board_config.h
+++ b/boards/px4/fmu-v4pro/src/board_config.h
@@ -318,7 +318,7 @@
  * the connector interface and Spektrum requires VDD 3v3 to be controllable
  */
 
-#define	BOARD_NAME "PX4FMU_V4PRO"
+#define	BOARD_NAME "PX4_FMU_V4PRO"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
index 8ede289eab..e0a56347ab 100644
--- a/boards/px4/fmu-v5/default.cmake
+++ b/boards/px4/fmu-v5/default.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m7
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v5/nuttx-config/Kconfig b/boards/px4/fmu-v5/nuttx-config/Kconfig
index de411fc4d0..7aeca6fc44 100644
--- a/boards/px4/fmu-v5/nuttx-config/Kconfig
+++ b/boards/px4/fmu-v5/nuttx-config/Kconfig
@@ -3,7 +3,7 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if ARCH_BOARD_PX4FMU_V5
+if ARCH_BOARD_PX4_FMU_V5
 
 config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
diff --git a/boards/px4/fmu-v5/nuttx-config/include/board.h b/boards/px4/fmu-v5/nuttx-config/include/board.h
index 79b2ee955e..c31dedcd20 100644
--- a/boards/px4/fmu-v5/nuttx-config/include/board.h
+++ b/boards/px4/fmu-v5/nuttx-config/include/board.h
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/px4fmu-v5/include/board.h
+ * nuttx-configs/px4_fmu-v5/include/board.h
  *
  *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
  *   Authors: David Sidrane <david_s5@nscdg.com>
@@ -32,8 +32,8 @@
  * POSSIBILITY OF SUCH DAMAGE.
  *
  ************************************************************************************/
-#ifndef __NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H
+#ifndef __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
 
 /************************************************************************************
  * Included Files
@@ -53,7 +53,7 @@
  ************************************************************************************/
 
 /* Clocking *************************************************************************/
-/* The px4fmu-v5  board provides the following clock sources:
+/* The px4_fmu-v5  board provides the following clock sources:
  *
  *   X301: 16 MHz crystal for HSE
  *
@@ -271,7 +271,7 @@
 #define BOARD_FLASH_WAITSTATES 7
 
 /* LED definitions ******************************************************************/
-/* The px4fmu-v5 board has numerous LEDs but only three, LED_GREEN a Green LED, LED_BLUE
+/* The px4_fmu-v5 board has numerous LEDs but only three, LED_GREEN a Green LED, LED_BLUE
  * a Blue LED and LED_RED a Red LED, that can be controlled by software.
  *
  * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
@@ -570,4 +570,4 @@ void stm32_boardinitialize(void);
 #endif
 
 #endif /* __ASSEMBLY__ */
-#endif  /*__NUTTX_CONFIG_PX4FMU_V5_INCLUDE_BOARD_H  */
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H  */
diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
index 1b9ff698c0..43abf8fb4d 100644
--- a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -504,8 +504,8 @@ CONFIG_RAM_SIZE=245760
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V5=y
-CONFIG_ARCH_BOARD="px4fmu-v5"
+CONFIG_ARCH_BOARD_PX4_FMU_V5=y
+CONFIG_ARCH_BOARD="px4_fmu-v5"
 
 #
 # Common Board Options
diff --git a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
index 0f21bb753e..ba7b68308c 100644
--- a/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
+++ b/boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig
@@ -504,8 +504,8 @@ CONFIG_RAM_SIZE=245760
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4FMU_V5=y
-CONFIG_ARCH_BOARD="px4fmu-v5"
+CONFIG_ARCH_BOARD_PX4_FMU_V5=y
+CONFIG_ARCH_BOARD="px4_fmu-v5"
 
 #
 # Common Board Options
diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake
index a4500fb1db..5bc0dd8ea5 100644
--- a/boards/px4/fmu-v5/rtps.cmake
+++ b/boards/px4/fmu-v5/rtps.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m7
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
index ebc37ac2ef..fb75b6108b 100644
--- a/boards/px4/fmu-v5/src/board_config.h
+++ b/boards/px4/fmu-v5/src/board_config.h
@@ -602,7 +602,7 @@
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
 
-#define  BOARD_NAME "PX4FMU_V5"
+#define  BOARD_NAME "PX4_FMU_V5"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake
index e0c2955a95..b9907fadb2 100644
--- a/boards/px4/fmu-v5/stackcheck.cmake
+++ b/boards/px4/fmu-v5/stackcheck.cmake
@@ -7,7 +7,7 @@ px4_add_board(
 	ARCH cortex-m7
 	ROMFS
 	ROMFSROOT px4fmu_common
-	IO px4io-v2_default
+	IO px4_io-v2_default
 	TESTING
 	#UAVCAN_INTERFACES 2
 
diff --git a/boards/px4/io-v2/nuttx-config/nsh/defconfig b/boards/px4/io-v2/nuttx-config/nsh/defconfig
index 6d9cb2a8ea..6e976d004b 100644
--- a/boards/px4/io-v2/nuttx-config/nsh/defconfig
+++ b/boards/px4/io-v2/nuttx-config/nsh/defconfig
@@ -567,8 +567,8 @@ CONFIG_RAM_SIZE=8192
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_PX4IO_V2=y
-CONFIG_ARCH_BOARD="px4io-v2"
+CONFIG_ARCH_BOARD_PX4_IO_V2=y
+CONFIG_ARCH_BOARD="px4_io-v2"
 
 #
 # Custom Board Configuration
diff --git a/boards/px4/raspberrypi/src/board_config.h b/boards/px4/raspberrypi/src/board_config.h
index d43354ba45..39c1c1f211 100644
--- a/boards/px4/raspberrypi/src/board_config.h
+++ b/boards/px4/raspberrypi/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI
 
-#define BOARD_NAME "RPI"
+#define BOARD_NAME "RASPBERRYPI"
 
 #define BOARD_HAS_NO_RESET
 #define BOARD_HAS_NO_BOOTLOADER
diff --git a/boards/px4/sitl/src/board_config.h b/boards/px4/sitl/src/board_config.h
index b20098427a..81f84878fc 100644
--- a/boards/px4/sitl/src/board_config.h
+++ b/boards/px4/sitl/src/board_config.h
@@ -42,7 +42,7 @@
 #define BOARD_OVERRIDE_UUID "SIMULATIONID0000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_SITL
 
-#define BOARD_NAME "SITL"
+#define BOARD_NAME "PX4_SITL"
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)
 #define BOARD_HAS_NO_RESET
diff --git a/boards/stm/32f4discovery/nuttx-config/nsh/defconfig b/boards/stm/32f4discovery/nuttx-config/nsh/defconfig
index f9cc94f9cf..99d90ab01f 100644
--- a/boards/stm/32f4discovery/nuttx-config/nsh/defconfig
+++ b/boards/stm/32f4discovery/nuttx-config/nsh/defconfig
@@ -649,8 +649,8 @@ CONFIG_RAM_SIZE=196608
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_STM32F4DISCOVERY=y
-CONFIG_ARCH_BOARD="stm32f4discovery"
+CONFIG_ARCH_BOARD_STM_32F4DISCOVERY=y
+CONFIG_ARCH_BOARD="stm_32f4discovery"
 
 #
 # Custom Board Configuration
diff --git a/boards/stm/32f4discovery/src/board_config.h b/boards/stm/32f4discovery/src/board_config.h
index f83aca7a74..d3a4e85cf9 100644
--- a/boards/stm/32f4discovery/src/board_config.h
+++ b/boards/stm/32f4discovery/src/board_config.h
@@ -81,7 +81,7 @@
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
 
-#define BOARD_NAME "PX4_STM32F4DISCOVERY"
+#define BOARD_NAME "STM_32F4DISCOVERY"
 
 __BEGIN_DECLS
 
diff --git a/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig b/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
index 5c6526596e..fdcdf433e4 100644
--- a/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
+++ b/boards/stm/nucleo-F767ZI/nuttx-config/nsh/defconfig
@@ -503,8 +503,8 @@ CONFIG_RAM_SIZE=245760
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_STMNUCLEO-F767ZI=y
-CONFIG_ARCH_BOARD="stmnucleo-F767ZI"
+CONFIG_ARCH_BOARD_STM_NUCLEO-F767ZI=y
+CONFIG_ARCH_BOARD="stm_nucleo-F767ZI"
 
 #
 # Common Board Options
diff --git a/boards/stm/nucleo-F767ZI/src/board_config.h b/boards/stm/nucleo-F767ZI/src/board_config.h
index 50279f79e9..b8ebe1e0a5 100644
--- a/boards/stm/nucleo-F767ZI/src/board_config.h
+++ b/boards/stm/nucleo-F767ZI/src/board_config.h
@@ -312,7 +312,7 @@ __BEGIN_DECLS
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
 
-#define	BOARD_NAME "PX4NUCLEOF767ZI_V1"
+#define	BOARD_NAME "STM_NUCLEOF767ZI"
 
 /* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
  * this board support the ADC system_power interface, and therefore
diff --git a/boards/thiemar/s2740vc-v1/nuttx-config/Kconfig b/boards/thiemar/s2740vc-v1/nuttx-config/Kconfig
index e35ca2f922..b29c11cb7c 100644
--- a/boards/thiemar/s2740vc-v1/nuttx-config/Kconfig
+++ b/boards/thiemar/s2740vc-v1/nuttx-config/Kconfig
@@ -3,6 +3,6 @@
 # see misc/tools/kconfig-language.txt.
 #
 
-if CONFIG_ARCH_BOARD_S2740VC_V1
+if CONFIG_ARCH_BOARD_THIEMAR_S2740VC_V1
 
 endif
diff --git a/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
index d89ea0a892..ed68dc3480 100644
--- a/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
+++ b/boards/thiemar/s2740vc-v1/nuttx-config/nsh/defconfig
@@ -567,8 +567,8 @@ CONFIG_RAM_SIZE=16384
 #
 # Board Selection
 #
-CONFIG_ARCH_BOARD_S2740VC_V1=y
-CONFIG_ARCH_BOARD="thiemars2740vc-v1"
+CONFIG_ARCH_BOARD_THIEMAR_S2740VC_V1=y
+CONFIG_ARCH_BOARD="thiemar_s2740vc-v1"
 
 #
 # Custom Board Configuration
diff --git a/boards/thiemar/s2740vc-v1/src/board_config.h b/boards/thiemar/s2740vc-v1/src/board_config.h
index 24b3e49664..379b52a556 100644
--- a/boards/thiemar/s2740vc-v1/src/board_config.h
+++ b/boards/thiemar/s2740vc-v1/src/board_config.h
@@ -80,7 +80,7 @@
 			 GPIO_PORTB | GPIO_PIN6 | GPIO_OUTPUT_CLEAR)
 
 
-#define BOARD_NAME "S2740VC_V1"
+#define BOARD_NAME "THIEMAR_S2740VC_V1"
 
 __BEGIN_DECLS
 
diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
index df30166b45..02f0e94958 100644
--- a/cmake/px4_add_board.cmake
+++ b/cmake/px4_add_board.cmake
@@ -62,7 +62,7 @@ include(px4_base)
 #
 #	Example:
 #		px4_add_board(
-#			BOARD px4fmu-v2_default
+#			BOARD px4_fmu-v2_default
 #			OS nuttx
 #			)
 #
@@ -107,7 +107,7 @@ function(px4_add_board)
 	if(BOARD_OVERRIDE)
 		set(PX4_BOARD ${BOARD_OVERRIDE} CACHE STRING "PX4 board" FORCE)
 	else()
-		set(PX4_BOARD ${VENDOR}${MODEL} CACHE STRING "PX4 board" FORCE)
+		set(PX4_BOARD ${VENDOR}_${MODEL} CACHE STRING "PX4 board" FORCE)
 	endif()
 
 	if(LABEL)
diff --git a/cmake/px4_base.cmake b/cmake/px4_base.cmake
index d6fdbcf866..ec5e5d7799 100644
--- a/cmake/px4_base.cmake
+++ b/cmake/px4_base.cmake
@@ -364,7 +364,7 @@ endfunction()
 #
 #	Example:
 #		px4_add_common_flags(
-#			BOARD px4fmu-v2
+#			BOARD px4_fmu-v2
 #			C_FLAGS CMAKE_C_FLAGS
 #			CXX_FLAGS CMAKE_CXX_FLAGS
 #			OPTIMIZATION_FLAGS optimization_flags
diff --git a/eclipse.cproject b/eclipse.cproject
index dfd1ee0065..711a641270 100644
--- a/eclipse.cproject
+++ b/eclipse.cproject
@@ -34,8 +34,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -55,8 +55,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
@@ -83,8 +83,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4sitl_default/src/modules/systemlib/param&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 							</tool>
@@ -110,17 +110,17 @@
 	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
 	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 		<buildTargets>
-			<target name="px4fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="px4_fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildTarget>px4fmu-v2_default</buildTarget>
+				<buildTarget>px4_fmu-v2_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="px4fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="px4_fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments/>
-				<buildTarget>px4fmu-v4_default</buildTarget>
+				<buildTarget>px4_fmu-v4_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -132,10 +132,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="px4sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="px4_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments/>
-				<buildTarget>px4sitl_default</buildTarget>
+				<buildTarget>px4_sitl_default</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
diff --git a/eclipse.project b/eclipse.project
index c9dc730213..0172fa8ceb 100644
--- a/eclipse.project
+++ b/eclipse.project
@@ -59,11 +59,11 @@
 	<variableList>
 		<variable>
 			<name>uORB_LOC</name>
-			<value>$%7BPROJECT_LOC%7D/build/px4sitl_default/uORB</value>
+			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/uORB</value>
 		</variable>
 		<variable>
 			<name>uORB_SRC</name>
-			<value>$%7BPROJECT_LOC%7D/build/px4sitl_default/msg/topics_sources</value>
+			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/msg/topics_sources</value>
 		</variable>
 	</variableList>
 </projectDescription>
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 8c514ddba2..a38813bc8e 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -35,7 +35,7 @@ include(cygwin_cygpath)
 
 add_subdirectory(src)
 
-set(FW_NAME ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
+set(FW_NAME ${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf)
 
 add_executable(${FW_NAME} ${PX4_SOURCE_DIR}/src/platforms/empty.c)
 add_dependencies(${FW_NAME} git_nuttx nuttx_build)
@@ -281,7 +281,8 @@ if (BLOATY_PROGRAM)
 
 	# bloaty compare with last master build
 	add_custom_target(bloaty_compare_master
-		COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_${FW_NAME} -O master_${FW_NAME}
+		#COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME}
+		COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf -O master_${FW_NAME}
 		COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME}
 		DEPENDS ${FW_NAME}
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
diff --git a/platforms/nuttx/Debug/poor-mans-profiler.sh b/platforms/nuttx/Debug/poor-mans-profiler.sh
index c5efc21c73..a96db837d6 100755
--- a/platforms/nuttx/Debug/poor-mans-profiler.sh
+++ b/platforms/nuttx/Debug/poor-mans-profiler.sh
@@ -77,7 +77,7 @@ do
     shift
 done
 
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/px4fmu-v4_default.elf"
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4_fmu-v4_default/px4_fmu-v4_default.elf"
 
 #
 # Temporary files
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index ffa4312f2d..71c17fa763 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -4,7 +4,7 @@ px4_add_git_submodule(TARGET git_nuttx PATH "nuttx")
 px4_add_git_submodule(TARGET git_nuttx_apps PATH "apps")
 
 if(NOT PX4_BOARD)
-	message(FATAL_ERROR "PX4_BOARD must be set (eg px4fmu-v2)")
+	message(FATAL_ERROR "PX4_BOARD must be set (eg px4_fmu-v2)")
 endif()
 
 project(NuttX_${PX4_BOARD} LANGUAGES ASM C CXX)
diff --git a/platforms/nuttx/cmake/px4_add_board_os.cmake b/platforms/nuttx/cmake/px4_add_board_os.cmake
index 052a4912c9..f38c027b70 100644
--- a/platforms/nuttx/cmake/px4_add_board_os.cmake
+++ b/platforms/nuttx/cmake/px4_add_board_os.cmake
@@ -62,7 +62,7 @@ include(px4_base)
 #
 #	Example:
 #		px4_add_board_os(
-#			BOARD px4fmu-v2_default
+#			BOARD px4_fmu-v2_default
 #			OS nuttx
 #			)
 #
diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake
index 9472ac7704..5210465a20 100644
--- a/platforms/nuttx/cmake/px4_impl_os.cmake
+++ b/platforms/nuttx/cmake/px4_impl_os.cmake
@@ -159,7 +159,7 @@ endfunction()
 #		OUT	: the target list
 #
 #	Example:
-#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#		px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
 #
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
diff --git a/platforms/nuttx/src/px4_layer/CMakeLists.txt b/platforms/nuttx/src/px4_layer/CMakeLists.txt
index 19dd2da806..f78535ba01 100644
--- a/platforms/nuttx/src/px4_layer/CMakeLists.txt
+++ b/platforms/nuttx/src/px4_layer/CMakeLists.txt
@@ -32,7 +32,7 @@
 ############################################################################
 
 # skip for px4_layer support on an IO board
-if (NOT ${PX4_BOARD} MATCHES "px4io")
+if (NOT ${PX4_BOARD} MATCHES "px4_io")
 
 	add_library(px4_layer
 		px4_nuttx_tasks.c
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index c8d56e7c27..c4eff411f2 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -21,7 +21,7 @@ px4_posix_generate_alias(
 	PREFIX ${PX4_SHELL_COMMAND_PREFIX}
 )
 
-if (("${PX4_BOARD}" STREQUAL "atlflighteagle") OR ("${PX4_BOARD}" STREQUAL "atlflightexcelsior"))
+if (("${PX4_BOARD}" STREQUAL "atlflight_eagle") OR ("${PX4_BOARD}" STREQUAL "atlflight_excelsior"))
 	include(fastrpc)
 	include(linux_app)
 
@@ -109,7 +109,7 @@ if (("${PX4_BOARD}" MATCHES "raspberrypi") OR ("${PX4_BOARD}" MATCHES "navio2"))
 		USES_TERMINAL
 		)
 
-elseif ("${PX4_BOARD}" MATCHES "bbblue")
+elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotcontrol)
 
 	add_custom_target(upload
@@ -178,9 +178,9 @@ elseif ("${PX4_BOARD}" MATCHES "sitl")
 	# sitl_gazebo built plugins
 	install(
 		DIRECTORY
-			${PROJECT_SOURCE_DIR}/build/px4sitl_default/build_gazebo
+			${PROJECT_SOURCE_DIR}/build/px4_sitl_default/build_gazebo
 		DESTINATION
-			${PROJECT_NAME}/build/px4sitl_default
+			${PROJECT_NAME}/build/px4_sitl_default
 		FILES_MATCHING
 			PATTERN "CMakeFiles" EXCLUDE
 			PATTERN "*.so"
diff --git a/platforms/posix/cmake/px4_add_board_os.cmake b/platforms/posix/cmake/px4_add_board_os.cmake
index 90d4acca8a..90f06f5ce2 100644
--- a/platforms/posix/cmake/px4_add_board_os.cmake
+++ b/platforms/posix/cmake/px4_add_board_os.cmake
@@ -62,7 +62,7 @@ include(px4_base)
 #
 #	Example:
 #		px4_add_board_os(
-#			BOARD px4fmu-v2_default
+#			BOARD px4_fmu-v2_default
 #			OS nuttx
 #			)
 #
diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
index acbc0d2937..8c1d3b6f16 100644
--- a/platforms/posix/cmake/px4_impl_os.cmake
+++ b/platforms/posix/cmake/px4_impl_os.cmake
@@ -403,7 +403,7 @@ function(px4_os_add_flags)
 		# TODO: Wmissing-field-initializers ignored on older toolchain, can be removed eventually
 		list(APPEND added_cxx_flags -Wno-missing-field-initializers)
 
-	elseif ("${PX4_BOARD}" MATCHES "ocpoc")
+	elseif ("${PX4_BOARD}" MATCHES "aerotenna_ocpoc")
 
 		add_definitions(
 			-D__PX4_POSIX_OCPOC
@@ -412,7 +412,7 @@ function(px4_os_add_flags)
 			-D__PX4_POSIX
 		)
 
-	elseif ("${PX4_BOARD}" STREQUAL "bbblue")
+	elseif ("${PX4_BOARD}" STREQUAL "beaglebone_blue")
 
 		add_definitions(
 			-D__PX4_POSIX_BBBLUE
@@ -473,7 +473,7 @@ endfunction()
 #		OUT	: the target list
 #
 #	Example:
-#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#		px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
 #
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
diff --git a/platforms/qurt/cmake/px4_add_board_os.cmake b/platforms/qurt/cmake/px4_add_board_os.cmake
index 975aec42dd..f9db97ce3b 100644
--- a/platforms/qurt/cmake/px4_add_board_os.cmake
+++ b/platforms/qurt/cmake/px4_add_board_os.cmake
@@ -62,7 +62,7 @@ include(px4_base)
 #
 #	Example:
 #		px4_add_board_os(
-#			BOARD px4fmu-v2_default
+#			BOARD px4_fmu-v2_default
 #			OS nuttx
 #			)
 #
diff --git a/platforms/qurt/cmake/px4_impl_os.cmake b/platforms/qurt/cmake/px4_impl_os.cmake
index 8e4db781e3..2652ee92ee 100644
--- a/platforms/qurt/cmake/px4_impl_os.cmake
+++ b/platforms/qurt/cmake/px4_impl_os.cmake
@@ -227,7 +227,7 @@ endfunction()
 #		OUT	: the target list
 #
 #	Example:
-#		px4_os_prebuild_targets(OUT target_list BOARD px4fmu-v2)
+#		px4_os_prebuild_targets(OUT target_list BOARD px4_fmu-v2)
 #
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
diff --git a/src/drivers/boards/common/board_common.h b/src/drivers/boards/common/board_common.h
index 1e4afa8623..8fdf2208da 100644
--- a/src/drivers/boards/common/board_common.h
+++ b/src/drivers/boards/common/board_common.h
@@ -255,7 +255,7 @@
 #  else
 /*  Use PX4IO FW search paths defaults based on version */
 #    if BOARD_USES_PX4IO_VERSION == 2
-#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4io-v2_default.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
+#      define PX4IO_FW_SEARCH_PATHS {"/etc/extras/px4_io-v2_default.bin", "/fs/microsd/px4io2.bin", "/fs/microsd/px4io.bin", nullptr }
 #    endif
 #  endif
 #endif
diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c
index e6f6f018bd..3b17756f0f 100644
--- a/src/drivers/camera_trigger/camera_trigger_params.c
+++ b/src/drivers/camera_trigger/camera_trigger_params.c
@@ -112,8 +112,8 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
 /**
  * Camera trigger pin
  *
- * Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail
- * pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay
+ * Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4_fmu-v2 and the rail
+ * pins on px4_fmu-v4). The PWM interface takes two pins per camera, while relay
  * triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
  * For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
  * be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 2a65cf0215..5cd47fe69f 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -2008,7 +2008,7 @@ PX4IO::io_reg_modify(uint8_t page, uint8_t offset, uint16_t clearbits, uint16_t
 int
 PX4IO::print_debug()
 {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#ifdef CONFIG_ARCH_BOARD_PX4_FMU_V2
 	int io_fd = -1;
 
 	if (io_fd <= 0) {
diff --git a/src/drivers/samv7/adc/adc.cpp b/src/drivers/samv7/adc/adc.cpp
index 834dce06d8..bf20e8e161 100644
--- a/src/drivers/samv7/adc/adc.cpp
+++ b/src/drivers/samv7/adc/adc.cpp
@@ -315,7 +315,7 @@ ADC::_tick()
 void
 ADC::update_system_power(void)
 {
-#ifdef CONFIG_ARCH_BOARD_PX4FMU_V2
+#ifdef CONFIG_ARCH_BOARD_PX4_FMU_V2
 	system_power_s system_power;
 	system_power.timestamp = hrt_absolute_time();
 
@@ -348,7 +348,7 @@ ADC::update_system_power(void)
 		_to_system_power = orb_advertise(ORB_ID(system_power), &system_power);
 	}
 
-#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
+#endif // CONFIG_ARCH_BOARD_PX4_FMU_V2
 }
 
 uint16_t
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index bfac359edb..81502e8b9f 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -125,7 +125,7 @@ if(${PX4_PLATFORM} STREQUAL "nuttx")
 endif()
 
 # TODO: find a better way to do this
-if (NOT "${PX4_BOARD}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4_io")
 	add_library(parameters
 		${SRCS}
 		px4_parameters.c
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 486739caf2..a10475c42d 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -279,7 +279,6 @@ int led_init()
 	led_control.timestamp = hrt_absolute_time();
 	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, LED_UORB_QUEUE_LENGTH);
 
-#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	/* first open normal LEDs */
 	DevMgr::getHandle(LED0_DEVICE_PATH, h_leds);
 
@@ -305,7 +304,6 @@ int led_init()
 
 	/* switch amber off */
 	led_off(LED_AMBER);
-#endif
 
 	return 0;
 }
@@ -313,9 +311,7 @@ int led_init()
 void led_deinit()
 {
 	orb_unadvertise(led_control_pub);
-#if !defined(CONFIG_ARCH_BOARD_RPI) && !defined(CONFIG_ARCH_BOARD_BBBLUE)
 	DevMgr::releaseHandle(h_leds);
-#endif
 }
 
 int led_toggle(int led)
diff --git a/src/modules/systemlib/CMakeLists.txt b/src/modules/systemlib/CMakeLists.txt
index 1dccad1454..0a61c6455b 100644
--- a/src/modules/systemlib/CMakeLists.txt
+++ b/src/modules/systemlib/CMakeLists.txt
@@ -51,7 +51,7 @@ else()
 endif()
 
 # TODO: find a better way to do this
-if (NOT "${PX4_BOARD}" MATCHES "px4io")
+if (NOT "${PX4_BOARD}" MATCHES "px4_io")
 	px4_add_library(systemlib ${SRCS})
 else()
 	add_library(systemlib ${PX4_SOURCE_DIR}/src/platforms/empty.c)
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index f0d0cf768c..478027765c 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -173,7 +173,7 @@ int UavcanNode::getHardwareVersion(uavcan::protocol::HardwareVersion &hwver)
 	int rv = -1;
 
 	if (UavcanNode::instance()) {
-		if (!std::strncmp(px4_board_name(), "PX4FMU_V2", 9)) {
+		if (!std::strncmp(px4_board_name(), "PX4_FMU_V2", 9)) {
 			hwver.major = 2;
 
 		} else {
diff --git a/src/systemcmds/ver/ver.c b/src/systemcmds/ver/ver.c
index 0baca8bd17..eee12123c1 100644
--- a/src/systemcmds/ver/ver.c
+++ b/src/systemcmds/ver/ver.c
@@ -80,7 +80,7 @@ static void usage(const char *reason)
 	PRINT_MODULE_USAGE_COMMAND_DESCR("all", "Print all versions");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("hwcmp", "Compare hardware version (returns 0 on match)");
 	PRINT_MODULE_USAGE_ARG("<hw> [<hw2>]",
-			       "Hardware to compare against (eg. PX4FMU_V4). An OR comparison is used if multiple are specified", false);
+			       "Hardware to compare against (eg. PX4_FMU_V4). An OR comparison is used if multiple are specified", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("hwtypecmp", "Compare hardware type (returns 0 on match)");
 	PRINT_MODULE_USAGE_ARG("<hwtype> [<hwtype2>]",
 			       "Hardware type to compare against (eg. V2). An OR comparison is used if multiple are specified", false);
@@ -108,7 +108,7 @@ int ver_main(int argc, char *argv[])
 					}
 
 				} else {
-					PX4_ERR("Not enough arguments, try 'ver hwcmp PX4FMU_V2'");
+					PX4_ERR("Not enough arguments, try 'ver hwcmp PX4_FMU_V2'");
 				}
 
 				return 1;
diff --git a/test/rostest_px4_run.sh b/test/rostest_px4_run.sh
index 44f4f8b882..ea638f70b7 100755
--- a/test/rostest_px4_run.sh
+++ b/test/rostest_px4_run.sh
@@ -4,7 +4,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 PX4_SRC_DIR=${DIR}/..
 
 source /opt/ros/kinetic/setup.bash
-source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4sitl_default
+source ${PX4_SRC_DIR}/Tools/setup_gazebo.bash ${PX4_SRC_DIR} ${PX4_SRC_DIR}/build/px4_sitl_default
 
 export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:${PX4_SRC_DIR}:${PX4_SRC_DIR}/Tools/sitl_gazebo