diff --git a/Makefile b/Makefile
index c4d3e06b89..604147554c 100644
--- a/Makefile
+++ b/Makefile
@@ -97,4 +97,4 @@ upload: ;
 package: ;
 package_source: ;
 
-.PHONY: clean test upload
+.PHONY: clean test upload package package_source
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 8de25ab868..6c2dbaf25a 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -111,6 +111,7 @@ function(px4_nuttx_add_firmware)
 			DEPENDS ${EXE}
 			)
 	endif()
+	add_custom_target(build_firmware ALL DEPENDS ${OUT})
 endfunction()
 
 #=============================================================================
diff --git a/src/firmware/nuttx/CMakeLists.txt b/src/firmware/nuttx/CMakeLists.txt
index 006524213f..667bdaa822 100644
--- a/src/firmware/nuttx/CMakeLists.txt
+++ b/src/firmware/nuttx/CMakeLists.txt
@@ -27,12 +27,16 @@ target_link_libraries(firmware_nuttx
 	apps nuttx nosys m gcc
 	-Wl,--end-group)
 
-px4_nuttx_add_firmware(OUT ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4
+set(fw_file ${CMAKE_CURRENT_BINARY_DIR}/${OS}-${BOARD}-${LABEL}.px4)
+
+px4_nuttx_add_firmware(OUT ${fw_file}
 	EXE ${CMAKE_CURRENT_BINARY_DIR}/firmware_nuttx
 	${config_firmware_options}
 	)
 
 px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
-	BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
+	BUNDLE ${fw_file})
+
+install(FILES ${fw_file} DESTINATION .)
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :