diff --git a/CMakeLists.txt b/CMakeLists.txt
index 55362b1425..25bc339466 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -173,9 +173,10 @@ set(config_module_list)
 set(config_kernel_list)
 
 # Find Python
-find_package(PythonInterp 3)
+find_package(Python COMPONENTS Interpreter)
+
 # We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
+if(NOT Python_FOUND)
 	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
 		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
 		"    macOS: brew install python")
@@ -184,7 +185,7 @@ endif()
 option(PYTHON_COVERAGE "Python code coverage" OFF)
 if(PYTHON_COVERAGE)
 	message(STATUS "python coverage enabled")
-	set(PYTHON_EXECUTABLE coverage run -p)
+	set(Python_EXECUTABLE coverage run -p)
 endif()
 
 include(px4_config)
@@ -481,7 +482,7 @@ foreach(module ${config_module_list})
 endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
 		${graph_module_list} --src-path src/lib
 		--merge-depends
 		--exclude-path src/examples
@@ -502,7 +503,7 @@ include(package)
 
 # install python requirements using configured python
 add_custom_target(install_python_requirements
-	COMMAND ${PYTHON_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	COMMAND ${Python_EXECUTABLE} -m pip install --break-system-packages --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
diff --git a/Makefile b/Makefile
index 77867de871..9de055b5f3 100644
--- a/Makefile
+++ b/Makefile
@@ -169,7 +169,7 @@ endif
 
 # Pick up specific Python path if set
 ifdef PYTHON_EXECUTABLE
-	override CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	override CMAKE_ARGS += -DPython_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif
 
 # Functions
diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt
index a520a4d377..7a1686d18f 100644
--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@@ -124,15 +124,15 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
 		--board ${PX4_BOARD}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/filepaths/generate_config.py
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
@@ -330,7 +330,7 @@ add_custom_target(romfs_gen_files_target
 
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_pruned.stamp
 	DEPENDS
 		romfs_copy.stamp
diff --git a/boards/nxp/tropic-community/cmake/upload.cmake b/boards/nxp/tropic-community/cmake/upload.cmake
index 79da5c60fd..bc601bcfdb 100644
--- a/boards/nxp/tropic-community/cmake/upload.cmake
+++ b/boards/nxp/tropic-community/cmake/upload.cmake
@@ -35,7 +35,7 @@
 set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.hex)
 
 add_custom_target(upload_teensy
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/teensy_uploader.py --port ${serial_ports} ${PX4_FW_NAME} --vendor-id 0x1FC9 --product-id 0x0024
 	DEPENDS ${PX4_FW_NAME}
 	COMMENT "uploading px4"
 	VERBATIM
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 7eaaa00d67..5effddb07c 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -1,20 +1,20 @@
 set(BOARD_DEFCONFIG ${PX4_CONFIG_FILE} CACHE FILEPATH "path to defconfig" FORCE)
 set(BOARD_CONFIG ${PX4_BINARY_DIR}/boardconfig CACHE FILEPATH "path to config" FORCE)
 
-execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
+execute_process(COMMAND ${Python_EXECUTABLE} -c "import menuconfig" RESULT_VARIABLE ret)
 if(ret EQUAL "1")
 	message(FATAL_ERROR "kconfiglib is not installed or not in PATH\n"
 				"please install using \"pip3 install kconfiglib\"\n")
 endif()
 
-set(MENUCONFIG_PATH ${PYTHON_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
-set(GUICONFIG_PATH ${PYTHON_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
-set(DEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
-set(SAVEDEFCONFIG_PATH ${PYTHON_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
-set(GENCONFIG_PATH ${PYTHON_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
+set(MENUCONFIG_PATH ${Python_EXECUTABLE} -m menuconfig CACHE INTERNAL "menuconfig program" FORCE)
+set(GUICONFIG_PATH ${Python_EXECUTABLE} -m guiconfig CACHE INTERNAL "guiconfig program" FORCE)
+set(DEFCONFIG_PATH ${Python_EXECUTABLE} -m defconfig CACHE INTERNAL "defconfig program" FORCE)
+set(SAVEDEFCONFIG_PATH ${Python_EXECUTABLE} -m savedefconfig CACHE INTERNAL "savedefconfig program" FORCE)
+set(GENCONFIG_PATH ${Python_EXECUTABLE} -m genconfig CACHE INTERNAL "genconfig program" FORCE)
 
 set(COMMON_KCONFIG_ENV_SETTINGS
-	PYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
+	Python_EXECUTABLE=${Python_EXECUTABLE}
 	KCONFIG_CONFIG=${BOARD_CONFIG}
 	# Set environment variables so that Kconfig can prune Kconfig source
 	# files for other architectures
@@ -47,7 +47,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		# Generate boardconfig from default.px4board and {label}.px4board
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/merge_config.py Kconfig ${BOARD_CONFIG} ${PX4_BOARD_DIR}/default.px4board ${BOARD_DEFCONFIG}
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 			OUTPUT_VARIABLE DUMMY_RESULTS
 		)
@@ -57,7 +57,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		message(AUTHOR_WARNING "allyes build: allyes is for CI coverage and not for use in production")
 		execute_process(
 			COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS}
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/allyesconfig.py
 			WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 		)
 	endif()
@@ -452,7 +452,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${MENUCONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -463,7 +463,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 	add_custom_target(boardguiconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${GUICONFIG_PATH} Kconfig
 		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -473,7 +473,7 @@ elseif(NOT ${LABEL} MATCHES "allyes") # All other configs except allyes which is
 
 	add_custom_target(px4_savedefconfig
 		${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
-		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
+		COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/kconfig/diffconfig.py -m ${PX4_BOARD_DIR}/default.px4board defconfig > ${BOARD_DEFCONFIG}
 		COMMAND ${CMAKE_COMMAND} -E remove defconfig
 		COMMAND ${CMAKE_COMMAND} -E remove ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
diff --git a/cmake/metadata.cmake b/cmake/metadata.cmake
index ef946c7031..298d2ca5d8 100644
--- a/cmake/metadata.cmake
+++ b/cmake/metadata.cmake
@@ -35,10 +35,10 @@
 
 add_custom_target(metadata_airframes
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--markdown ${PX4_BINARY_DIR}/docs/airframes.md
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		-v -a ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d
 		--xml ${PX4_BINARY_DIR}/docs/airframes.xml
 	COMMENT "Generating full airframe metadata (markdown and xml)"
@@ -58,28 +58,28 @@ add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--all-ports --ethernet --params-file ${generated_params_dir}/serial_params.c --config-files ${yaml_config_files}
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_params_dir}/module_params.c
 		--timer-config ${PX4_SOURCE_DIR}/boards/px4/fmu-v5/src/timer_config.cpp # select a typical board
 		--board-with-io
 		--ethernet
 		--config-files ${yaml_config_files} #--verbose
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--markdown ${PX4_BINARY_DIR}/docs/parameters.md
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--json ${PX4_BINARY_DIR}/docs/parameters.json
 		--compress
 
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
 		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d` ${generated_params_dir}
 		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
 		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
@@ -90,7 +90,7 @@ add_custom_target(metadata_parameters
 
 add_custom_target(metadata_module_documentation
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_module_doc.py -v --src-path ${PX4_SOURCE_DIR}/src
 		--markdown ${PX4_BINARY_DIR}/docs/modules
 	COMMENT "Generating module documentation"
 	USES_TERMINAL
@@ -99,17 +99,17 @@ add_custom_target(metadata_module_documentation
 set(events_src_path "${PX4_SOURCE_DIR}/src/lib/events")
 add_custom_target(metadata_extract_events
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/events
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--src-path ${PX4_SOURCE_DIR}/src
 		--json ${PX4_BINARY_DIR}/events/px4_full.json #--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/combine.py
 		${PX4_BINARY_DIR}/events/px4_full.json
 		${events_src_path}/libevents/events/common.json
 		${events_src_path}/enums.json
 		--output ${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} ${events_src_path}/libevents/scripts/validate.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${PX4_BINARY_DIR}/events/all_events_full.json
 	COMMENT "Extracting events from full source"
 	USES_TERMINAL
diff --git a/cmake/px4_metadata.cmake b/cmake/px4_metadata.cmake
index c8f9aecfd0..25656c7757 100644
--- a/cmake/px4_metadata.cmake
+++ b/cmake/px4_metadata.cmake
@@ -67,7 +67,7 @@ function(px4_generate_airframes_xml)
 		ARGN ${ARGN})
 
 	add_custom_command(OUTPUT ${PX4_BINARY_DIR}/airframes.xml
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 			--airframes-path ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root}/init.d
 			--board CONFIG_ARCH_BOARD_${PX4_BOARD}
 			--xml ${PX4_BINARY_DIR}/airframes.xml
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index c87e75fb69..402f1ef667 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -312,7 +312,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_headers}
 		${msg_out_path}/uORBTopics.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -333,7 +333,7 @@ add_custom_target(uorb_headers DEPENDS ${uorb_headers})
 add_custom_command(
 	OUTPUT
 		${uorb_json_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--json
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -356,7 +356,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_message_fields_cpp_file}
 		${uorb_message_fields_header_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_compressed_fields.py
 		-f ${uorb_json_files}
 		--source-output-file ${uorb_message_fields_cpp_file}
 		--header-output-file ${uorb_message_fields_header_file}
@@ -371,7 +371,7 @@ add_custom_command(
 # Generate microcdr headers
 add_custom_command(
 	OUTPUT ${uorb_ucdr_headers}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -393,7 +393,7 @@ add_custom_command(
 	OUTPUT
 		${uorb_sources}
 		${msg_source_out_path}/uORBTopics.cpp
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 		--sources
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -459,7 +459,7 @@ if(CONFIG_LIB_CDRSTREAM)
 		OUTPUT ${uorb_cdr_idl}
 		COMMAND ${CMAKE_COMMAND}
 		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
+			${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/msg2idl.py
 			${uorb_cdr_msg}
 		DEPENDS
 			${uorb_cdr_msg}
@@ -489,7 +489,7 @@ if(CONFIG_LIB_CDRSTREAM)
 
 	add_custom_target(
 		uorb_idl_header
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			--uorb-idl-header
 			-f ${msg_files}
 			-i ${CMAKE_CURRENT_SOURCE_DIR}
@@ -513,7 +513,7 @@ endif()
 
 if(CONFIG_MODULES_ZENOH)
 	# Update kconfig file for topics
-	execute_process(COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+	execute_process(COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-config
 			-f ${msg_files}
 			-o ${PX4_SOURCE_DIR}/src/modules/zenoh/
@@ -522,7 +522,7 @@ if(CONFIG_MODULES_ZENOH)
 	add_custom_command(
 		OUTPUT
 			${PX4_BINARY_DIR}/src/modules/zenoh/uorb_pubsub_factory.hpp
-		COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
+		COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 			--zenoh-pub-sub
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index ba89894efe..53a080466c 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -328,7 +328,7 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 	add_custom_command(
 		OUTPUT ${fw_package}
 		COMMAND
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_mkfw.py
+			${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 ${PX4_BINARY_DIR}/parameters.xml
diff --git a/platforms/nuttx/NuttX/tools/kconfig-conf b/platforms/nuttx/NuttX/tools/kconfig-conf
index 94a6f67992..a7d1431b64 100755
--- a/platforms/nuttx/NuttX/tools/kconfig-conf
+++ b/platforms/nuttx/NuttX/tools/kconfig-conf
@@ -6,13 +6,13 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 export APPSDIR="`pwd`/../apps"
 
 if [ "command -v python3" ]; then
-	PYTHON_EXECUTABLE=python3
+	Python_EXECUTABLE=python3
 else
-	PYTHON_EXECUTABLE=python
+	Python_EXECUTABLE=python
 fi
 
 if [ "${1}" = "--olddefconfig" ]; then
-	PYTHONPATH=${DIR} ${PYTHON_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
+	PYTHONPATH=${DIR} ${Python_EXECUTABLE} ${DIR}/olddefconfig.py > /dev/null
 else
 	echo "ERROR: ${@} unsupported"
 	exit 1
diff --git a/platforms/nuttx/cmake/upload.cmake b/platforms/nuttx/cmake/upload.cmake
index 83f623c090..3302191251 100644
--- a/platforms/nuttx/cmake/upload.cmake
+++ b/platforms/nuttx/cmake/upload.cmake
@@ -81,7 +81,7 @@ endif()
 string(REPLACE ";" "," serial_ports "${serial_ports}")
 
 add_custom_target(upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4"
 	VERBATIM
@@ -90,7 +90,7 @@ add_custom_target(upload
 	)
 
 add_custom_target(force-upload
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --force --port ${serial_ports} ${fw_package}
 	DEPENDS ${fw_package}
 	COMMENT "uploading px4 with --force"
 	VERBATIM
diff --git a/src/drivers/bootloaders/CMakeLists.txt b/src/drivers/bootloaders/CMakeLists.txt
index 0972160fdf..3b47f97380 100644
--- a/src/drivers/bootloaders/CMakeLists.txt
+++ b/src/drivers/bootloaders/CMakeLists.txt
@@ -71,7 +71,7 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
+			${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --padding ${uavcanbl_padding} --use-git-hash ${PX4_CONFIG}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND
diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt
index 560c8b4d56..368cfad480 100644
--- a/src/drivers/uavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/CMakeLists.txt
@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
diff --git a/src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt b/src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt
index 8e095162e2..40f8c5e6ce 100644
--- a/src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/libdronecan/libuavcan/CMakeLists.txt
@@ -42,7 +42,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
     set(DSDLC_INPUT_FILES ${DSDLC_INPUT_FILES} ${DSDLC_NEW_INPUT_FILES})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
-                   COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+                   COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
                    COMMAND ${CMAKE_COMMAND} -E touch ${CMAKE_BINARY_DIR}/libuavcan_dsdlc_run.stamp
                    DEPENDS ${DSDLC_INPUT_FILES}
                    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
diff --git a/src/drivers/uavcannode/CMakeLists.txt b/src/drivers/uavcannode/CMakeLists.txt
index d170bde437..5abc13cba9 100644
--- a/src/drivers/uavcannode/CMakeLists.txt
+++ b/src/drivers/uavcannode/CMakeLists.txt
@@ -120,7 +120,7 @@ foreach(DSDLC_INPUT ${DSDLC_INPUTS})
 endforeach(DSDLC_INPUT)
 add_custom_command(OUTPUT px4_uavcan_dsdlc_run.stamp
 	COMMAND
-		${PYTHON_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
+		${Python_EXECUTABLE} ${LIBDRONECAN_DIR}/libuavcan/dsdl_compiler/libuavcan_dsdlc
 			--outdir ${DSDLC_OUTPUT} ${DSDLC_INPUTS}
 			#--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch px4_uavcan_dsdlc_run.stamp
diff --git a/src/lib/component_information/CMakeLists.txt b/src/lib/component_information/CMakeLists.txt
index f9b33e6d17..ef1bc70be7 100644
--- a/src/lib/component_information/CMakeLists.txt
+++ b/src/lib/component_information/CMakeLists.txt
@@ -83,12 +83,12 @@ list(APPEND comp_metadata_types "--type" "5,${PX4_BINARY_DIR}/actuators.json.xz,
 set(component_general_json ${PX4_BINARY_DIR}/component_general.json)
 set(component_information_header ${CMAKE_CURRENT_BINARY_DIR}/checksums.h)
 add_custom_command(OUTPUT ${component_general_json} ${component_general_json}.xz ${component_information_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_component_general.py
 		${component_general_json}
 		--compress
 		${comp_metadata_types}
 		--version-file ${PX4_BINARY_DIR}/src/lib/version/build_git_version.h
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_crc.py
 		${component_general_json}
 		${PX4_BINARY_DIR}/events/all_events.json.xz
 		--output ${component_information_header}
diff --git a/src/lib/events/CMakeLists.txt b/src/lib/events/CMakeLists.txt
index fcdb971f64..c3a67933a1 100644
--- a/src/lib/events/CMakeLists.txt
+++ b/src/lib/events/CMakeLists.txt
@@ -47,7 +47,7 @@ set(generated_events_px4_file ${generated_events_dir}/px4.json)
 set(generated_events_common_enums_file ${generated_events_dir}/common_with_enums.json)
 add_custom_command(OUTPUT ${generated_events_px4_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_events.py
 		--base-path ${PX4_SOURCE_DIR}/src
 		--src-path ${all_px4_src_files_relative}
 		--json ${generated_events_px4_file} #--verbose
@@ -64,13 +64,13 @@ add_custom_target(events_px4_json DEPENDS ${generated_events_px4_file})
 
 set(generated_events_file ${generated_events_dir}/all_events.json)
 add_custom_command(OUTPUT ${generated_events_file} ${generated_events_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		${generated_events_px4_file}
 		${generated_events_common_enums_file}
 		--output ${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/validate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/validate.py
 		${generated_events_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/compress.py
 		${generated_events_file}
 	DEPENDS
 		${generated_events_px4_file}
@@ -86,7 +86,7 @@ add_custom_target(events_json DEPENDS ${generated_events_file})
 # combine common.json with our enums for the code generation
 add_custom_command(OUTPUT ${generated_events_common_enums_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/combine.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/combine.py
 		enums.json
 		libevents/events/common.json
 		--output ${generated_events_common_enums_file}
@@ -105,7 +105,7 @@ add_custom_command(OUTPUT ${generated_events_common_enums_file}
 set(generated_events_header ${generated_events_dir}/events_generated.h)
 add_custom_command(OUTPUT ${generated_events_header}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_events_dir}
-	COMMAND ${PYTHON_EXECUTABLE} libevents/scripts/generate.py
+	COMMAND ${Python_EXECUTABLE} libevents/scripts/generate.py
 		--template libevents/libs/cpp/templates/events_generated.h.jinja
 		--output ${generated_events_dir}
 		${generated_events_common_enums_file}
diff --git a/src/lib/metadata/CMakeLists.txt b/src/lib/metadata/CMakeLists.txt
index 28f50c214a..219736137d 100644
--- a/src/lib/metadata/CMakeLists.txt
+++ b/src/lib/metadata/CMakeLists.txt
@@ -39,14 +39,14 @@ endif()
 set(generated_actuators_metadata_file ${PX4_BINARY_DIR}/actuators.json)
 add_custom_command(OUTPUT ${generated_actuators_metadata_file}
 	${generated_actuators_metadata_file}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_actuators_metadata.py
 		${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
 		--compress
 		--board ${PX4_BOARD}
 		--output-file ${generated_actuators_metadata_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/actuators.schema.json
 		${generated_actuators_metadata_file}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
diff --git a/src/lib/mixer_module/CMakeLists.txt b/src/lib/mixer_module/CMakeLists.txt
index 783dfe3dde..7731ce45fa 100644
--- a/src/lib/mixer_module/CMakeLists.txt
+++ b/src/lib/mixer_module/CMakeLists.txt
@@ -33,7 +33,7 @@
 
 set(functions_header ${CMAKE_CURRENT_BINARY_DIR}/output_functions.hpp)
 add_custom_command(OUTPUT ${functions_header}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_function_header.py
 		${CMAKE_CURRENT_SOURCE_DIR}/output_functions.yaml
 		${functions_header}
 	DEPENDS
diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt
index b87e652cad..bb51699e66 100644
--- a/src/lib/parameters/CMakeLists.txt
+++ b/src/lib/parameters/CMakeLists.txt
@@ -90,12 +90,12 @@ endif()
 
 add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 		--params-file ${generated_serial_params_file}
 		--serial-ports ${board_serial_ports} ${added_arguments} ${constrained_flash_arg}
 		--config-files ${module_config_files}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/module_config/generate_params.py
 		--params-file ${generated_module_params_file}
 		${added_arguments} ${board_with_io_arg}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
@@ -114,7 +114,7 @@ set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
 file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
 		--src-path ${module_list} ${generated_params_dir}
 		--xml ${parameters_xml}
 		--json ${parameters_json}
@@ -123,7 +123,7 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--overrides ${PARAM_DEFAULT_OVERRIDES}
 		--board ${PX4_BOARD}
 		#--verbose
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
+	COMMAND ${Python_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/validate_json.py
 		--schema-file ${PX4_SOURCE_DIR}/src/modules/mavlink/mavlink/component_information/parameter.schema.json
 		${parameters_json}
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
@@ -145,7 +145,7 @@ add_custom_target(parameters_xml DEPENDS ${parameters_xml})
 
 # generate px4_parameters.hpp
 add_custom_command(OUTPUT px4_parameters.hpp
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_generate_params.py
 		--xml ${parameters_xml} --dest ${CMAKE_CURRENT_BINARY_DIR}
 	DEPENDS
 		${PX4_BINARY_DIR}/parameters.xml
@@ -157,7 +157,7 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp)
 set(SRCS)
 
 list(APPEND SRCS
-	parameters.cpp 
+	parameters.cpp
 	atomic_transaction.cpp
 	autosave.cpp
 )
diff --git a/src/lib/version/CMakeLists.txt b/src/lib/version/CMakeLists.txt
index ad2e516b4f..b96f5e3f4b 100644
--- a/src/lib/version/CMakeLists.txt
+++ b/src/lib/version/CMakeLists.txt
@@ -54,7 +54,7 @@ endif()
 set(px4_git_ver_header ${CMAKE_CURRENT_BINARY_DIR}/build_git_version.h)
 add_custom_command(OUTPUT ${px4_git_ver_header}
 	COMMAND
-		${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
+		${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py ${px4_git_ver_header} --validate --git_tag '${PX4_GIT_TAG}'
 	DEPENDS
 		${CMAKE_CURRENT_SOURCE_DIR}/px_update_git_header.py
 		${git_dir_path}/HEAD
diff --git a/src/lib/wind_estimator/CMakeLists.txt b/src/lib/wind_estimator/CMakeLists.txt
index b97e4245de..5e4db159bb 100644
--- a/src/lib/wind_estimator/CMakeLists.txt
+++ b/src/lib/wind_estimator/CMakeLists.txt
@@ -40,7 +40,7 @@ add_dependencies(wind_estimator prebuild_targets)
 add_subdirectory(test)
 
 add_custom_target(wind_estimator_generate_airspeed_fusion
-	COMMAND ${PYTHON_EXECUTABLE} derivation.py
+	COMMAND ${Python_EXECUTABLE} derivation.py
 	#DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/python/derivation.py
 	#BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/python/generated/fuse_airspeed.h
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/python
diff --git a/src/lib/world_magnetic_model/CMakeLists.txt b/src/lib/world_magnetic_model/CMakeLists.txt
index 350eeb2d44..2dcfe577a0 100644
--- a/src/lib/world_magnetic_model/CMakeLists.txt
+++ b/src/lib/world_magnetic_model/CMakeLists.txt
@@ -32,7 +32,7 @@
 ############################################################################
 
 add_custom_target(world_magnetic_model_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL
@@ -40,7 +40,7 @@ add_custom_target(world_magnetic_model_update
 )
 
 add_custom_target(world_magnetic_model_tests_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
 	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	USES_TERMINAL
diff --git a/src/modules/commander/failsafe/CMakeLists.txt b/src/modules/commander/failsafe/CMakeLists.txt
index 0d7b3bd366..cc42d6bb84 100644
--- a/src/modules/commander/failsafe/CMakeLists.txt
+++ b/src/modules/commander/failsafe/CMakeLists.txt
@@ -37,7 +37,7 @@ set(generated_uorb_struct_field_mapping_header ${PX4_BINARY_DIR}/generated_uorb_
 set(html_template_file ${CMAKE_CURRENT_SOURCE_DIR}/emscripten_template.html)
 set(html_output_file ${PX4_BINARY_DIR}/failsafe_html_template.html)
 add_custom_command(OUTPUT ${generated_uorb_struct_field_mapping_header} ${html_output_file}
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
+	COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/parse_flags_from_msg.py
 		${failsafe_flags_msg_file} ${generated_uorb_struct_field_mapping_header}
 		${html_template_file} ${html_output_file}
 	DEPENDS
diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 112b920ba2..ec6f20a53e 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -35,7 +35,7 @@ option(EKF2_SYMFORCE_GEN "ekf2 generate symforce output" OFF)
 
 # Symforce code generation TODO:fixme
 execute_process(
-    COMMAND ${PYTHON_EXECUTABLE} -m symforce.symbolic
+    COMMAND ${Python_EXECUTABLE} -m symforce.symbolic
     RESULT_VARIABLE PYTHON_SYMFORCE_EXIT_CODE
     OUTPUT_QUIET
 )
@@ -58,7 +58,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_SRC_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_SRC_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
@@ -92,7 +92,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
 			${EKF_DERIVATION_DST_DIR}/generated/predict_covariance.h
 			${EKF_DERIVATION_DST_DIR}/generated/state.h
 		COMMAND
-			${PYTHON_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
+			${Python_EXECUTABLE} ${EKF_DERIVATION_SRC_DIR}/derivation.py ${SYMFORCE_ARGS}
 		DEPENDS
 			${EKF_DERIVATION_SRC_DIR}/derivation.py
 			${EKF_DERIVATION_SRC_DIR}/utils/derivation_utils.py
diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt
index 84ccba6ac0..ee1db16a29 100644
--- a/src/modules/flight_mode_manager/CMakeLists.txt
+++ b/src/modules/flight_mode_manager/CMakeLists.txt
@@ -76,7 +76,7 @@ add_custom_command(
 	OUTPUT
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.hpp
 		${CMAKE_CURRENT_BINARY_DIR}/FlightTasks_generated.cpp
-	COMMAND ${PYTHON_EXECUTABLE} generate_flight_tasks.py ${python_args}
+	COMMAND ${Python_EXECUTABLE} generate_flight_tasks.py ${python_args}
 	COMMENT "Generating Flight Tasks"
 	DEPENDS
 		Templates/FlightTasks_generated.cpp.em
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 45aa9b1cc8..879ef6a43e 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -42,7 +42,7 @@ set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${MAVLINK_DIALECT_UAVIONIX}.log
@@ -60,7 +60,7 @@ set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/$
 add_custom_command(
 	OUTPUT ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h
 	COMMAND
-		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${Python_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
 			--lang C --wire-protocol 2.0
 			--output ${MAVLINK_LIBRARY_DIR}
 			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml > ${CMAKE_CURRENT_BINARY_DIR}/mavgen_${CONFIG_MAVLINK_DIALECT}.log
diff --git a/src/modules/uxrce_dds_client/CMakeLists.txt b/src/modules/uxrce_dds_client/CMakeLists.txt
index ed6c576fe5..8d7e8e875f 100644
--- a/src/modules/uxrce_dds_client/CMakeLists.txt
+++ b/src/modules/uxrce_dds_client/CMakeLists.txt
@@ -116,7 +116,7 @@ else()
 
 
 	add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/dds_topics.h
-		COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
+		COMMAND ${Python_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_dds_topics.py
 			--topic-msg-dir ${PX4_SOURCE_DIR}/msg
 			--client-outdir ${CMAKE_CURRENT_BINARY_DIR}
 			--dds-topics-file ${CMAKE_CURRENT_SOURCE_DIR}/dds_topics.yaml