diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index ef1e07418f..e8e071ad2e 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -30,8 +30,7 @@ add_custom_target(boardconfig
 	${MENUCONFIG_PATH} Kconfig
 	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
 	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
-	COMMENT "Reconfiguring ${PX4_BINARY_DIR}"
-	COMMAND ${CMAKE_COMMAND} -E env make clean ${PX4_BINARY_DIR}
+	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	USES_TERMINAL
 	COMMAND_EXPAND_LISTS
@@ -43,8 +42,7 @@ add_custom_target(boardguiconfig
 	${GUICONFIG_PATH} Kconfig
 	COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} ${SAVEDEFCONFIG_PATH}
 	COMMAND ${CMAKE_COMMAND} -E copy defconfig ${BOARD_DEFCONFIG}
-	COMMENT "Reconfiguring ${PX4_BINARY_DIR}"
-	COMMAND ${CMAKE_COMMAND} -E env make clean ${PX4_BINARY_DIR}
+	COMMAND ${CMAKE_COMMAND} -E rm ${PX4_BINARY_DIR}/NuttX/apps_copy.stamp
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	USES_TERMINAL
 	COMMAND_EXPAND_LISTS
@@ -52,6 +50,8 @@ add_custom_target(boardguiconfig
 
 if(EXISTS ${BOARD_DEFCONFIG})
 
+    # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
+    set_property(DIRECTORY APPEND PROPERTY CMAKE_CONFIGURE_DEPENDS ${BOARD_DEFCONFIG})
 
     # Generate boardconfig from saved defconfig
     execute_process(COMMAND ${CMAKE_COMMAND} -E env ${COMMON_KCONFIG_ENV_SETTINGS} 
@@ -59,6 +59,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
                     WORKING_DIRECTORY ${PX4_SOURCE_DIR}
                     OUTPUT_VARIABLE DUMMY_RESULTS)
 
+
     # parse board config options for cmake
     file(STRINGS ${BOARD_CONFIG} ConfigContents)
     foreach(NameAndValue ${ConfigContents})