diff --git a/boards/px4/raspberrypi/cmake/upload.cmake b/boards/px4/raspberrypi/cmake/upload.cmake
new file mode 100644
index 0000000000..74cea1b4f5
--- /dev/null
+++ b/boards/px4/raspberrypi/cmake/upload.cmake
@@ -0,0 +1,6 @@
+add_custom_target(upload
+        COMMAND rsync -arh --progress ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config ${PX4_SOURCE_DIR}/ROMFS pi@"$ENV{AUTOPILOT_HOST}":/home/pi/px4
+	DEPENDS px4
+	COMMENT "uploading px4"
+	USES_TERMINAL
+	)