diff --git a/boards/atlflight/eagle/CMakeLists.txt b/boards/atlflight/eagle/CMakeLists.txt
new file mode 100644
index 0000000000..5739c31245
--- /dev/null
+++ b/boards/atlflight/eagle/CMakeLists.txt
@@ -0,0 +1,65 @@
+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(bbblue_adc)
+
+
+############################################################################
+# Upload
+############################################################################
+
+if("${PX4_PLATFORM}" MATCHES "qurt")
+
+	add_custom_target(upload
+		COMMAND
+			${PX4_SOURCE_DIR}/Tools/adb_upload.sh
+				${CMAKE_CURRENT_BINARY_DIR}/libpx4.so ${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config	# source
+				/usr/share/data/adsp	# destination
+		DEPENDS px4 px4muorb_skel
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+else()
+
+	add_custom_target(upload
+		COMMAND
+			${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload.sh
+				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config # source
+				/home/linaro	# destination
+		DEPENDS px4
+		COMMENT "uploading px4"
+		USES_TERMINAL
+		)
+
+endif()
diff --git a/Tools/adb_upload.sh b/boards/atlflight/eagle/scripts/adb_upload.sh
similarity index 100%
rename from Tools/adb_upload.sh
rename to boards/atlflight/eagle/scripts/adb_upload.sh
diff --git a/boards/beaglebone/blue/CMakeLists.txt b/boards/beaglebone/blue/CMakeLists.txt
index 4d64c03d75..479f6d55c4 100644
--- a/boards/beaglebone/blue/CMakeLists.txt
+++ b/boards/beaglebone/blue/CMakeLists.txt
@@ -32,3 +32,15 @@
 ############################################################################
 
 add_subdirectory(bbblue_adc)
+
+
+############################################################################
+# Upload
+############################################################################
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS debian@BBBluePX4:/home/debian/px4
+	DEPENDS px4
+	COMMENT "uploading px4 and data files"
+	USES_TERMINAL
+	)
diff --git a/boards/emlid/navio2/CMakeLists.txt b/boards/emlid/navio2/CMakeLists.txt
index b347a5e825..2245838e0a 100644
--- a/boards/emlid/navio2/CMakeLists.txt
+++ b/boards/emlid/navio2/CMakeLists.txt
@@ -34,3 +34,15 @@
 add_subdirectory(navio_adc)
 add_subdirectory(navio_rgbled)
 add_subdirectory(navio_sysfs_rc_in)
+
+
+############################################################################
+# Upload
+############################################################################
+
+add_custom_target(upload
+	COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+	)
diff --git a/boards/intel/aerofc-v1/CMakeLists.txt b/boards/intel/aerofc-v1/CMakeLists.txt
index d5a0096ec6..342bbda02c 100644
--- a/boards/intel/aerofc-v1/CMakeLists.txt
+++ b/boards/intel/aerofc-v1/CMakeLists.txt
@@ -32,3 +32,16 @@
 ############################################################################
 
 add_subdirectory(aerofc_adc)
+
+
+
+############################################################################
+# Upload
+############################################################################
+
+add_custom_target(upload
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/aero_upload.sh $<TARGET_FILE:px4>
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+)
diff --git a/Tools/aero_upload.sh b/boards/intel/aerofc-v1/scripts/aero_upload.sh
similarity index 100%
rename from Tools/aero_upload.sh
rename to boards/intel/aerofc-v1/scripts/aero_upload.sh
diff --git a/boards/parrot/bebop/CMakeLists.txt b/boards/parrot/bebop/CMakeLists.txt
index 650c1b615e..542377683c 100644
--- a/boards/parrot/bebop/CMakeLists.txt
+++ b/boards/parrot/bebop/CMakeLists.txt
@@ -32,3 +32,15 @@
 ############################################################################
 
 add_subdirectory(flow)
+
+
+############################################################################
+# Upload
+############################################################################
+
+add_custom_target(upload
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/adb_upload_to_bebop.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/. /data/ftp/internal_000
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+	)
diff --git a/Tools/adb_upload_to_bebop.sh b/boards/parrot/bebop/scripts/adb_upload_to_bebop.sh
similarity index 100%
rename from Tools/adb_upload_to_bebop.sh
rename to boards/parrot/bebop/scripts/adb_upload_to_bebop.sh
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 1d614a0c32..4eb10a1bcf 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -35,10 +35,10 @@ include(cygwin_cygpath)
 
 add_subdirectory(src)
 
+add_executable(px4 ${PX4_SOURCE_DIR}/src/platforms/empty.c)
 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)
+set_target_properties(px4 PROPERTIES OUTPUT_NAME ${FW_NAME})
+add_dependencies(px4 git_nuttx nuttx_build)
 
 get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
 
@@ -81,7 +81,7 @@ target_link_libraries(nuttx_arch
 target_link_libraries(nuttx_c INTERFACE nuttx_drivers)
 target_link_libraries(nuttx_cxx INTERFACE nuttx_c)
 
-target_link_libraries(${FW_NAME} PRIVATE
+target_link_libraries(px4 PRIVATE
 
 	-nodefaultlibs
 	-nostdlib
@@ -101,140 +101,129 @@ target_link_libraries(${FW_NAME} PRIVATE
 	m
 	)
 
-target_link_libraries(${FW_NAME} PRIVATE ${module_libraries})
-target_link_libraries(${FW_NAME} PRIVATE modules__uORB)
+target_link_libraries(px4 PRIVATE ${module_libraries})
+target_link_libraries(px4 PRIVATE modules__uORB)
 
 if (config_romfs_root)
 	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
-	target_link_libraries(${FW_NAME} PRIVATE romfs)
+	target_link_libraries(px4 PRIVATE romfs)
 endif()
 
-# create px4 file (combined firmware and metadata)
-# for historical reasons we name the final output binary without nuttx_
-set(fw_name_short)
-string(REPLACE "nuttx_" "" fw_name_short ${FW_NAME})
-
-set(fw_file ${PX4_BINARY_DIR}/${fw_name_short})
-string(REPLACE ".elf" ".px4" fw_file ${fw_file})
-
 add_custom_command(OUTPUT ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
 	COMMAND ${CMAKE_OBJCOPY} -O binary ${PX4_BINARY_DIR_REL}/${FW_NAME} ${PX4_BINARY_DIR_REL}/${PX4_BOARD}.bin
-	DEPENDS ${FW_NAME}
+	DEPENDS px4
 	)
 
-set(FW_PROTOTYPE ${PX4_BOARD_VENDOR}${PX4_BOARD_MODEL})
-
+# create .px4 with parameter and airframe metadata
 if (TARGET parameters_xml AND TARGET airframes_xml)
-	add_custom_command(OUTPUT ${fw_file}
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
-			--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
-			--git_identity ${PX4_SOURCE_DIR}
-			--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
-			--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
-			--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_file}
-		DEPENDS ${PX4_BINARY_DIR}/${PX4_BOARD}.bin parameters_xml airframes_xml
-		COMMENT "Creating ${fw_file}"
+
+	string(REPLACE ".elf" ".px4" fw_package ${FW_NAME})
+
+	add_custom_command(OUTPUT ${fw_package}
+		COMMAND
+			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+				--prototype ${PX4_SOURCE_DIR}/boards/${PX4_BOARD_VENDOR}/${PX4_BOARD_MODEL}/firmware.prototype
+				--git_identity ${PX4_SOURCE_DIR}
+				--parameter_xml ${PX4_BINARY_DIR}/parameters.xml
+				--airframe_xml ${PX4_BINARY_DIR}/airframes.xml
+				--image ${PX4_BINARY_DIR}/${PX4_BOARD}.bin > ${fw_package}
+		DEPENDS
+			${PX4_BINARY_DIR}/${PX4_BOARD}.bin
+			airframes_xml
+			parameters_xml
+		COMMENT "Creating ${fw_package}"
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		)
 
-	add_custom_target(px4 ALL DEPENDS ${fw_file})
+	add_custom_target(px4_package ALL DEPENDS ${fw_package})
 
 	# upload helper
-	if (${PX4_BOARD} STREQUAL "aerofc-v1")
-		
-		# TODO: should be set only in aero config
-		add_custom_target(upload
-			COMMAND ${PX4_SOURCE_DIR}/Tools/aero_upload.sh ${fw_file}
-			DEPENDS ${fw_file}
-			COMMENT "uploading px4"
-			USES_TERMINAL
-		)
-	else()
+	# create upload target helper if NuttX USB CDCACM is present
+	if (CONFIG_CDCACM)
 
-		# create upload target helper if NuttX USB CDCACM is present
-		if (CONFIG_CDCACM)
+		# NuttX CDCACM vendor and product strings
+		set(vendorstr_underscore)
+		set(productstr_underscore)
+		string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
+		string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
 
-			# NuttX CDCACM vendor and product strings
-			set(vendorstr_underscore)
-			set(productstr_underscore)
-			string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
-			string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
+		set(serial_ports)
+		if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
 
-			set(serial_ports)
-			if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
+			set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
 
-				set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
+			list(APPEND serial_ports
+				# NuttX vendor + product string
+				/dev/serial/by-id/*-${px4_usb_path}*
 
-				list(APPEND serial_ports
-					# NuttX vendor + product string
-					/dev/serial/by-id/*-${px4_usb_path}*
+				# Bootloader
+				/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
+				/dev/serial/by-id/*BL_FMU*
 
-					# Bootloader
-					/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
-					/dev/serial/by-id/*BL_FMU*
+				# TODO: handle these per board
+				/dev/serial/by-id/usb-The_Autopilot*
+				/dev/serial/by-id/usb-Bitcraze*
+				/dev/serial/by-id/pci-Bitcraze*
+				/dev/serial/by-id/usb-Gumstix*
 
-					# TODO: handle these per board
-					/dev/serial/by-id/usb-The_Autopilot*
-					/dev/serial/by-id/usb-Bitcraze*
-					/dev/serial/by-id/pci-Bitcraze*
-					/dev/serial/by-id/usb-Gumstix*
-
-					)
-
-			elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
-				list(APPEND serial_ports
-					/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
-					)
-			elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
-				list(APPEND serial_ports
-					/dev/ttyS*
-					)
-			elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
-				foreach(port RANGE 32 0)
-					list(APPEND serial_ports
-						"COM${port}")
-				endforeach()
-			endif()
-
-			string(REPLACE ";" "," serial_ports "${serial_ports}")
-
-			add_custom_target(upload
-				COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_file}
-				DEPENDS ${fw_file}
-				COMMENT "uploading px4"
-				VERBATIM
-				USES_TERMINAL
 				)
 
-			add_custom_target(force-upload
-				COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_file}
-				DEPENDS ${fw_file}
-				COMMENT "uploading px4 with --force"
-				VERBATIM
-				USES_TERMINAL
+		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
+			list(APPEND serial_ports
+				/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
 				)
+		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
+			list(APPEND serial_ports
+				/dev/ttyS*
+				)
+		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
+			foreach(port RANGE 32 0)
+				list(APPEND serial_ports
+					"COM${port}")
+			endforeach()
 		endif()
 
+		string(REPLACE ";" "," serial_ports "${serial_ports}")
+
+		add_custom_target(upload
+			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+			DEPENDS ${fw_package}
+			COMMENT "uploading px4"
+			VERBATIM
+			USES_TERMINAL
+			WORKING_DIRECTORY ${PX4_BINARY_DIR}
+			)
+
+		add_custom_target(force-upload
+			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+			DEPENDS ${fw_package}
+			COMMENT "uploading px4 with --force"
+			VERBATIM
+			USES_TERMINAL
+			WORKING_DIRECTORY ${PX4_BINARY_DIR}
+			)
 	endif()
+
 endif()
 
 # print size
 add_custom_target(size
-	COMMAND size ${FW_NAME}
-	DEPENDS ${FW_NAME}
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
 
 # print weak symbols
 add_custom_target(weak_symbols
-	COMMAND ${CMAKE_NM} $<TARGET_FILE:${FW_NAME}> | ${GREP} " w " | cat
-	DEPENDS ${FW_NAME}
+	COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
+	DEPENDS px4
 	VERBATIM
 	USES_TERMINAL
 	)
 
 add_custom_target(stack_check
-	COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:${FW_NAME}> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:px4> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
 	COMMAND ${CMAKE_COMMAND} -E echo ""
 	COMMAND ${CMAKE_COMMAND} -E echo ""
 	COMMAND ${CMAKE_COMMAND} -E echo "Top 50:"
@@ -244,7 +233,7 @@ add_custom_target(stack_check
 	COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':"
 	COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
     COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update'
-	DEPENDS ${FW_NAME}
+	DEPENDS px4
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	VERBATIM
 	)
@@ -253,29 +242,29 @@ find_program(BLOATY_PROGRAM bloaty)
 if (BLOATY_PROGRAM)
 	# bloaty symbols
 	add_custom_target(bloaty_symbols
-		COMMAND ${BLOATY_PROGRAM} -d symbols -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME}
+		COMMAND ${BLOATY_PROGRAM} -d symbols -C full -n 50 -s vm $<TARGET_FILE:px4>
+		DEPENDS px4
 		USES_TERMINAL
 		)
 
 	# bloaty compilation units
 	add_custom_target(bloaty_compileunits
-		COMMAND ${BLOATY_PROGRAM} -d compileunits -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME}
+		COMMAND ${BLOATY_PROGRAM} -d compileunits -C full -n 50 -s vm $<TARGET_FILE:px4>
+		DEPENDS px4
 		USES_TERMINAL
 		)
 
 	# bloaty templates
 	add_custom_target(bloaty_templates
-		COMMAND ${BLOATY_PROGRAM} -d shortsymbols,fullsymbols -n 50 $<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME}
+		COMMAND ${BLOATY_PROGRAM} -d shortsymbols,fullsymbols -n 50 $<TARGET_FILE:px4>
+		DEPENDS px4
 		USES_TERMINAL
 		)
 
 	# bloaty inlines
 	add_custom_target(bloaty_inlines
-		COMMAND ${BLOATY_PROGRAM} -d inlines -C full -n 50 $<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME}
+		COMMAND ${BLOATY_PROGRAM} -d inlines -C full -n 50 $<TARGET_FILE:px4>
+		DEPENDS px4
 		USES_TERMINAL
 		)
 
@@ -283,8 +272,8 @@ if (BLOATY_PROGRAM)
 	add_custom_target(bloaty_compare_master
 		#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/${PX4_BOARD_VENDOR}_${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}
+		COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:px4> -- master_${FW_NAME}
+		DEPENDS px4
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		VERBATIM
 		USES_TERMINAL
@@ -296,8 +285,8 @@ endif()
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
 
 add_custom_target(debug
-	COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+	COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:px4>
+	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
@@ -323,8 +312,8 @@ if(black_magic_probe_path)
 			-ex 'attach 1'
 			-ex 'load'
 			-ex 'run'
-			$<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+			$<TARGET_FILE:px4>
+		DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		USES_TERMINAL
 		)
@@ -338,8 +327,8 @@ if(black_magic_probe_path)
 			-ex 'attach 1'
 			-ex 'load'
 			-ex 'kill'
-			$<TARGET_FILE:${FW_NAME}>
-		DEPENDS ${FW_NAME}
+			$<TARGET_FILE:px4>
+		DEPENDS px4
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		USES_TERMINAL
 		COMMENT "Uploading with Black Magic Probe"
@@ -360,8 +349,8 @@ add_custom_target(jlink_upload
 		-ex 'monitor reset'
 		-ex 'load'
 		-ex 'kill'
-		$<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+		$<TARGET_FILE:px4>
+	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
@@ -375,8 +364,8 @@ add_custom_target(jlink_debug
 		-ex 'load'
 		-ex 'monitor reset'
 		-ex 'continue'
-		$<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+		$<TARGET_FILE:px4>
+	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
@@ -395,8 +384,8 @@ ExternalProject_Add(FlameGraph
 
 add_custom_target(profile
 	COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
-		${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
-	DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh FlameGraph
+		${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:px4> --nsamples=10000
+	DEPENDS px4 ${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh FlameGraph
 	USES_TERMINAL
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	)
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index b06cfb56d9..aa8a6f4df7 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -46,13 +46,6 @@ if (("${PX4_BOARD}" MATCHES "atlflight_eagle") OR ("${PX4_BOARD}" MATCHES "atlfl
 			-Wl,--end-group
 		)
 
-	add_custom_target(upload
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config /home/linaro
-		DEPENDS px4
-		COMMENT "uploading px4"
-		USES_TERMINAL
-		)
-
 else()
 	add_executable(px4
 		src/main.cpp
@@ -100,33 +93,16 @@ px4_posix_generate_symlinks(
 	TARGET px4
 )
 
-if (("${PX4_BOARD}" MATCHES "raspberrypi") OR ("${PX4_BOARD}" MATCHES "navio2"))
-	add_custom_target(upload
-		COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi
-		DEPENDS px4
-		COMMENT "uploading px4"
-		USES_TERMINAL
-		)
 
-elseif ("${PX4_BOARD}" MATCHES "beaglebone_blue")
+# board defined upload helper
+if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
+	include(${PX4_BOARD_DIR}/cmake/upload.cmake)
+endif()
+
+
+if ("${PX4_BOARD}" MATCHES "beaglebone_blue")
 	target_link_libraries(px4 PRIVATE robotcontrol)
 
-	add_custom_target(upload
-		COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/bbblue/*.config ${PX4_SOURCE_DIR}/ROMFS debian@BBBluePX4:/home/debian/px4
-		DEPENDS px4
-		COMMENT "uploading px4 and data files"
-		USES_TERMINAL
-		)
-
-elseif ("${PX4_BOARD}" MATCHES "bebop")
-
-	add_custom_target(upload
-		COMMAND ${PX4_SOURCE_DIR}/Tools/adb_upload_to_bebop.sh ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/. /data/ftp/internal_000
-		DEPENDS px4
-		COMMENT "uploading px4"
-		USES_TERMINAL
-		)
-
 elseif ("${PX4_BOARD}" MATCHES "sitl")
 
 	include(sitl_target)
diff --git a/platforms/qurt/CMakeLists.txt b/platforms/qurt/CMakeLists.txt
index 512ee7518c..3c17462dd7 100644
--- a/platforms/qurt/CMakeLists.txt
+++ b/platforms/qurt/CMakeLists.txt
@@ -51,14 +51,4 @@ else()
 			m
 		)
 
-	add_custom_target(upload
-		COMMAND
-			${PX4_SOURCE_DIR}/Tools/adb_upload.sh
-				${CMAKE_CURRENT_BINARY_DIR}/libpx4.so ${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
-				/usr/share/data/adsp
-		DEPENDS px4 px4muorb_skel
-		COMMENT "uploading px4"
-		USES_TERMINAL
-	)
-
 endif()