diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a5f8b4790..51927e1755 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -271,6 +271,10 @@ px4_generate_messages(TARGET msg_gen
 	OS ${OS}
 	DEPENDS git_genmsg git_gencpp
 	)
+px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
+px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
+add_custom_target(xml_gen
+	DEPENDS parameters.xml airframes.xml)
 
 #=============================================================================
 # external projects
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index c3a07df882..797cb14fc1 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -706,24 +706,62 @@ endfunction()
 
 #=============================================================================
 #
-#	px4_generate_parameters
+#	px4_generate_parameters_xml
+#
+#	Generates a parameters.xml file.
+#
+#	Usage:
+#		px4_generate_parameters_xml(OUT <param-xml_file>)
+#
+#	Input:
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated xml file
+#
+#	Example:
+#		px4_generate_parameters_xml(OUT parameters.xml)
+#
+function(px4_generate_parameters_xml)
+	px4_parse_function_args(
+		NAME px4_generate_parameters_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(path ${CMAKE_SOURCE_DIR}/src)
+	file(GLOB_RECURSE param_src_files ${path}/*.h* ${path}/*.c*)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
+			-s ${path} --board CONFIG_ARCH_${BOARD} --xml
+		DEPENDS ${param_src_files}
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================
+#
+#	px4_generate_parameters_source
 #
 #	Generates a source file with all parameters.
 #
 #	Usage:
-#		px4_generate_parameters(OUT <list-source-files>)
+#		px4_generate_parameters_source(OUT <list-source-files> XML <param-xml-file>)
+#
+#	Input:
+#		XML : the parameters.xml file
+#		DEPS : target dependencies
 #
 #	Output:
-#		OUT	: the generate source files
+#		OUT	: the generated source files
 #
 #	Example:
-#		px4_generate_parameters(OUT parameters.c)
+#		px4_generate_parameters_source(OUT param_files XML parameters.xml)
 #
-function(px4_generate_parameters)
+function(px4_generate_parameters_source)
 	px4_parse_function_args(
-		NAME px4_generate_parameters
-		ONE_VALUE OUT
-		REQUIRED OUT
+		NAME px4_generate_parameters_source
+		ONE_VALUE OUT XML DEPS
+		REQUIRED OUT XML
 		ARGN ${ARGN})
 	set(generated_files
 		${CMAKE_CURRENT_BINARY_DIR}/px4_parameters.h
@@ -731,14 +769,46 @@ function(px4_generate_parameters)
 	set_source_files_properties(${generated_files}
 		PROPERTIES GENERATED TRUE)
 	add_custom_command(OUTPUT ${generated_files}
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py
-			-s ${CMAKE_SOURCE_DIR}/src --board CONFIG_ARCH_${BOARD} --xml
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py
-			parameters.xml
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_generate_params.py ${XML}
+		DEPENDS ${XML} ${DEPS}
 		)
 	set(${OUT} ${generated_files} PARENT_SCOPE)
 endfunction()
 
+#=============================================================================
+#
+#	px4_generate_airframes_xml
+#
+#	Generates airframes.xml
+#
+#	Usage:
+#		px4_generate_airframes_xml(OUT <airframe-xml-file>)
+#
+#	Input:
+#		XML : the airframes.xml file
+#		BOARD : the board
+#
+#	Output:
+#		OUT	: the generated source files
+#
+#	Example:
+#		px4_generate_airframes_xml(OUT airframes.xml)
+#
+function(px4_generate_airframes_xml)
+	px4_parse_function_args(
+		NAME px4_generate_airframes_xml
+		ONE_VALUE OUT BOARD
+		REQUIRED OUT BOARD
+		ARGN ${ARGN})
+	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
+			-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
+			--board CONFIG_ARCH_BOARD_${BOARD} --xml
+		)
+	set(${OUT} ${${OUT}} PARENT_SCOPE)
+endfunction()
+
 #=============================================================================
 #
 #	px4_copy_tracked
diff --git a/cmake/configs/nuttx_px4fmu-v1_default.cmake b/cmake/configs/nuttx_px4fmu-v1_default.cmake
index 5cd4756519..c8a178400a 100644
--- a/cmake/configs/nuttx_px4fmu-v1_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v1_default.cmake
@@ -152,10 +152,6 @@ set(config_module_list
 	#examples/hwtest
 )
 
-set(config_firmware_options
-	PARAM_XML # generate param xml
-	)
-
 set(config_extra_builtin_cmds
 	serdis
 	sercon
diff --git a/cmake/configs/nuttx_px4fmu-v2_default.cmake b/cmake/configs/nuttx_px4fmu-v2_default.cmake
index 51bdf151a5..fec5f06370 100644
--- a/cmake/configs/nuttx_px4fmu-v2_default.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_default.cmake
@@ -156,10 +156,6 @@ set(config_module_list
 	#examples/hwtest
 )
 
-set(config_firmware_options
-	PARAM_XML # generate param xml
-	)
-
 set(config_extra_builtin_cmds
 	serdis
 	sercon
diff --git a/cmake/configs/nuttx_px4fmu-v2_simple.cmake b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
index b1708cfc22..070fbd703f 100644
--- a/cmake/configs/nuttx_px4fmu-v2_simple.cmake
+++ b/cmake/configs/nuttx_px4fmu-v2_simple.cmake
@@ -117,10 +117,6 @@ set(config_module_list
 	examples/hwtest
 )
 
-set(config_firmware_options
-	PARAM_XML # generate param xml
-	)
-
 set(config_extra_builtin_cmds
 	serdis
 	sercon
diff --git a/cmake/configs/nuttx_sim_simple.cmake b/cmake/configs/nuttx_sim_simple.cmake
index a00b781a75..068c6409f2 100644
--- a/cmake/configs/nuttx_sim_simple.cmake
+++ b/cmake/configs/nuttx_sim_simple.cmake
@@ -17,9 +17,5 @@ set(config_module_list
 	#lib/conversion
 	)
 
-set(config_firmware_options
-	PARAM_XML # generate param xml
-	)
-
 set(config_extra_builtin_cmds
 	)
diff --git a/cmake/configs/posix_sitl_simple.cmake b/cmake/configs/posix_sitl_simple.cmake
index 90fc72ce1c..227bffeab8 100644
--- a/cmake/configs/posix_sitl_simple.cmake
+++ b/cmake/configs/posix_sitl_simple.cmake
@@ -57,11 +57,6 @@ set(config_module_list
 	lib/launchdetection
 	)
 
-
-set(config_firmware_options
-	PARAM_XML # generate param xml
-	)
-
 set(config_extra_builtin_cmds
 	serdis
 	sercon
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index add952a49b..89ec3d44c2 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -57,14 +57,14 @@ include(common/px4_base)
 #	This function adds a nuttx firmware target.
 #
 #	Usage:
-#		px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>)
+#		px4_nuttx_add_firmware(OUT <out-target> EXE <in-executable>
+#			PARAM_XML <param_xml> AIRFRAMES_XML <airframes_xml>)
 #
 #	Input:
 #		EXE			: the executable to generate the firmware from
 #		BOARD		: the board
-#
-#	Options:
-#		PARAM_XML	: toggles generation of param_xml	
+#		PARAM_XML		: param xml file (optional)
+#		AIRFRAMES_XML	: airframes xml file (optional)
 #
 #	Output:
 #		OUT			: the generated firmware target
@@ -75,43 +75,33 @@ include(common/px4_base)
 function(px4_nuttx_add_firmware)
 	px4_parse_function_args(
 		NAME px4_nuttx_add_firmware
-		ONE_VALUE BOARD OUT EXE
-		OPTIONS PARAM_XML
+		ONE_VALUE BOARD OUT EXE PARAM_XML AIRFRAMES_XML
 		REQUIRED OUT EXE BOARD
 		ARGN ${ARGN})
 
-	set(process_params ${CMAKE_SOURCE_DIR}/Tools/px_process_params.py)
-	set(process_airframes ${CMAKE_SOURCE_DIR}/Tools/px_process_airframes.py)
+	set(extra_args)
 
-
-	#TODO handle param_xml
-	if(PARAM_XML)
-		add_custom_command(OUTPUT ${OUT}
-			COMMAND ${PYTHON_EXECUTABLE} ${process_params}
-				--src-path ${CMAKE_SOURCE_DIR}/src
-				--board CONFIG_ARCH_BOARD_${BOARD} --xml
-			COMMAND ${PYTHON_EXECUTABLE} ${process_airframes}
-				-a ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
-				--board CONFIG_ARCH_BOARD_${BOARD} --xml
-			COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-			COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
-				--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
-				--git_identity ${CMAKE_SOURCE_DIR}
-				--parameter_xml parameters.xml
-				--airframe_xml airframes.xml
-				--image ${EXE}.bin > ${OUT}
-			DEPENDS ${EXE}
-			)
-	else()
-		add_custom_command(OUTPUT ${OUT}
-			COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
-			COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
-				--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
-				--git_identity ${CMAKE_SOURCE_DIR}
-				--image ${EXE}.bin > ${OUT}
-			DEPENDS ${EXE}
+	if (PARAM_XML)
+		list(APPEND extra_args
+			--parameter_xml ${PARAM_XML}
 			)
 	endif()
+
+	if (AIRFRAMES_XML)
+		list(APPEND extra_args
+			--airframe_xml ${AIRFRAMES_XML}
+			)
+	endif()
+
+	add_custom_command(OUTPUT ${OUT}
+		COMMAND ${OBJCOPY} -O binary ${EXE} ${EXE}.bin
+		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py
+			--prototype ${CMAKE_SOURCE_DIR}/Images/${BOARD}.prototype
+			--git_identity ${CMAKE_SOURCE_DIR}
+			${extra_args}
+			--image ${EXE}.bin > ${OUT}
+		DEPENDS ${EXE}
+		)
 	add_custom_target(build_firmware_${BOARD} ALL DEPENDS ${OUT})
 endfunction()
 
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 8767f3fde5..c13183ba16 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -57,7 +57,8 @@ if(NOT ${BOARD} STREQUAL "sim")
 	px4_nuttx_add_firmware(OUT ${fw_file}
 		BOARD ${BOARD}
 		EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
-		${config_firmware_options}
+		PARAM_XML ${CMAKE_BINARY_DIR}/parameters.xml
+		AIRFRAMES_XML ${CMAKE_BINARY_DIR}/airframes.xml
 		)
 
 	configure_file(gdbinit.in .gdbinit)
diff --git a/src/modules/param/CMakeLists.txt b/src/modules/param/CMakeLists.txt
index 4e15ca6e5a..64bff2a0e1 100644
--- a/src/modules/param/CMakeLists.txt
+++ b/src/modules/param/CMakeLists.txt
@@ -33,17 +33,16 @@
 
 include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-px4_generate_parameters(OUT param_files)
-
-set(srcs
-	${param_files}
+px4_generate_parameters_source(OUT param_files
+	XML ${CMAKE_BINARY_DIR}/parameters.xml
+	DEPS xml_gen
 	)
 
 px4_add_module(
 	MODULE modules__param
 	COMPILE_FLAGS
 		-Os
-	SRCS ${srcs}
+	SRCS ${param_files}
 	DEPENDS
 		platforms__common
 	)