diff --git a/ROMFS/CMakeLists.txt b/ROMFS/CMakeLists.txt
index 2f663701b5..a83b71a0a8 100644
--- a/ROMFS/CMakeLists.txt
+++ b/ROMFS/CMakeLists.txt
@@ -34,7 +34,7 @@
 message(STATUS "ROMFS: ${config_romfs_root}")
 
 set(romfs_src_dir ${PX4_SOURCE_DIR}/ROMFS/${config_romfs_root})
-set(romfs_gen_root_dir ${PX4_BINARY_DIR}/genromfs)
+set(romfs_gen_root_dir ${PX4_BINARY_DIR}/etc)
 
 set_property(GLOBAL PROPERTY PX4_ROMFS_FILES)
 set_property(GLOBAL PROPERTY PX4_ROMFS_CMAKE_FILES)
@@ -81,21 +81,35 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+# create list of relative romfs file names
+set(romfs_copy_files_relative)
+foreach(romfs_file IN LISTS romfs_copy_files)
+	string(REPLACE "${romfs_src_dir}/" "" romfs_file_rel ${romfs_file})
+	list(APPEND romfs_copy_files_relative ${romfs_file_rel})
+endforeach()
+# copy the ROMFS files by creating a tar and extracting it to the build
+# directory (which preserves the directory structure)
+file(MAKE_DIRECTORY ${romfs_gen_root_dir})
+set(romfs_tar_file ${PX4_BINARY_DIR}/romfs_files.tar)
+add_custom_command(
+	OUTPUT ${romfs_tar_file}
+	COMMAND ${CMAKE_COMMAND} -E tar cf ${romfs_tar_file} ${romfs_copy_files_relative}
+	WORKING_DIRECTORY ${romfs_src_dir}
+	DEPENDS ${romfs_copy_files}
+	)
+add_custom_command(
+	OUTPUT ${romfs_gen_root_dir}/init.d/rcS
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
+	)
+
 add_custom_command(
 	OUTPUT
-		${romfs_gen_root_dir}/init.d/rcS
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
 		romfs_copy.stamp
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}
-	# TODO: we should only copy the files in ${romfs_copy_files}
-	COMMAND ${CMAKE_COMMAND} -E copy_directory ${romfs_src_dir} ${romfs_gen_root_dir}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/init.d-posix
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/mixers-sitl
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/mixers/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/CMakeLists.txt
-	COMMAND ${CMAKE_COMMAND} -E remove ${romfs_gen_root_dir}/init.d/airframes/CMakeLists.txt
 	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
@@ -106,10 +120,10 @@ add_custom_command(
 		--config-files ${module_config_files} #--verbose
 	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
 	DEPENDS
+		${romfs_gen_root_dir}/init.d/rcS
 		${jinja_templates}
 		${module_config_files}
 		${romfs_cmake_files}
-		${romfs_copy_files}
 		${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		${PX4_SOURCE_DIR}/Tools/px4airframes/markdownout.py
 		${PX4_SOURCE_DIR}/Tools/px4airframes/rcout.py
@@ -190,6 +204,13 @@ add_custom_command(OUTPUT romfs_extras.stamp
 	COMMENT "ROMFS: copying extras"
 	)
 
+add_custom_target(romfs_gen_files_target
+	DEPENDS
+		${romfs_gen_root_dir}/init.d/rcS
+		${romfs_gen_root_dir}/init.d/rc.serial
+		romfs_extras.stamp
+	)
+
 add_custom_command(
 	OUTPUT romfs_pruned.stamp
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_pruner.py --folder ${romfs_gen_root_dir} --board ${PX4_BOARD}
@@ -220,7 +241,11 @@ if("${CONFIG_FS_CROMFS}" STREQUAL "y")
 		COMMENT "ROMFS: generating image"
 	)
 
-else()
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
+
+elseif("${CONFIG_FS_ROMFS}" STREQUAL "y")
 	# create romfs.img
 	find_program(GENROMFS genromfs)
 	if(NOT GENROMFS)
@@ -255,13 +280,13 @@ else()
 		COMMAND ${SED} 's/unsigned/const unsigned/g' nsh_romfsimg.c > nsh_romfsimg.c.tmp && ${CMAKE_COMMAND} -E rename nsh_romfsimg.c.tmp nsh_romfsimg.c
 		DEPENDS romfs.img
 	)
+
+	add_library(romfs STATIC nsh_romfsimg.c)
+	add_dependencies(romfs prebuild_targets)
+	set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
 endif()
 
 
-add_library(romfs STATIC nsh_romfsimg.c)
-add_dependencies(romfs prebuild_targets)
-set_target_properties(romfs PROPERTIES LINKER_LANGUAGE C)
-
 
 # shellcheck
 find_program(SHELLCHECK_PATH shellcheck)
diff --git a/ROMFS/px4fmu_common/CMakeLists.txt b/ROMFS/px4fmu_common/CMakeLists.txt
index be3e27cb99..800bb9821e 100644
--- a/ROMFS/px4fmu_common/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/CMakeLists.txt
@@ -33,3 +33,8 @@
 
 add_subdirectory(init.d)
 add_subdirectory(mixers)
+# TODO: make this configurable from the board config, or better combine
+if("${PX4_BOARD}" MATCHES "sitl")
+	add_subdirectory(mixers-sitl)
+	add_subdirectory(init.d-posix)
+endif()
diff --git a/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
new file mode 100644
index 0000000000..a12369150f
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/CMakeLists.txt
@@ -0,0 +1,73 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_romfs_files(
+	10016_iris
+	10020_if750a
+	10030_px4vision
+	1010_iris_opt_flow
+	1010_iris_opt_flow.post
+	1011_iris_irlock
+	1012_iris_rplidar
+	1013_iris_vision
+	1013_iris_vision.post
+	1014_solo
+	1015_iris_obs_avoid
+	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
+	1017_iris_opt_flow_mockup
+	1018_iris_vision_velocity
+	1019_iris_dual_gps
+	1020_uuv_generic
+	1021_uuv_hippocampus
+	1030_plane
+	1031_plane_cam
+	1032_plane_catapult
+	1033_plane_lidar
+	1033_rascal
+	1034_rascal-electric
+	1040_standard_vtol
+	1041_tailsitter
+	1042_tiltrotor
+	1060_rover
+	1061_r1_rover
+	1062_tf-r1
+	1070_boat
+	17001_tf-g1
+	2507_cloudship
+	6011_typhoon_h480
+	6011_typhoon_h480.post
+	rc.replay
+	rcS
+)
diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
index 4446c6a658..ea9e8ae6e5 100644
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@@ -34,6 +34,8 @@
 add_subdirectory(airframes)
 
 px4_add_romfs_files(
+	rc.airship_apps
+	rc.airship_defaults
 	rc.fw_apps
 	rc.fw_defaults
 	rc.interface
diff --git a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
index e074191c3d..8f89945dd4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
+++ b/ROMFS/px4fmu_common/init.d/airframes/13050_generic_vtol_octo
@@ -5,8 +5,6 @@
 # @type VTOL Octoplane
 # @class VTOL
 #
-# @maintainer
-#
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
 # @output MAIN3 motor 3
@@ -21,6 +19,7 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
diff --git a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
index fd676a5bb7..42a6696edc 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
+++ b/ROMFS/px4fmu_common/init.d/airframes/2507_cloudship
@@ -8,6 +8,11 @@
 # @output MAIN2 port thruster
 # @output MAIN3 thrust tilt
 # @output MAIN4 tail thruster
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
 
 sh /etc/init.d/rc.airship_defaults
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index ec8d048bd3..a40551f37b 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	2106_albatross
 	2200_mini_talon
 
+	2507_cloudship
+
 	# [3000, 3999] Flying wing"
 	3000_generic_wing
 	3030_io_camflyer
@@ -131,6 +133,8 @@ px4_add_romfs_files(
 	13010_claire
 	13012_convergence
 	13013_deltaquad
+	13014_vtol_babyshark
+	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter
 
 	# [14000, 14999] Tri Y
@@ -141,6 +145,8 @@ px4_add_romfs_files(
 
 	16001_helicopter
 
+	17002_TF-AutoG2
+
 	24001_dodeca_cox
 
 	50000_generic_ground_vehicle
diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
index 18d536981b..98e0b0ebe9 100644
--- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
@@ -32,8 +32,11 @@
 ############################################################################
 
 px4_add_romfs_files(
+	autogyro_sitl.main.mix
+	boat_sitl.main.mix
 	delta_wing_sitl.main.mix
 	plane_sitl.main.mix
+	quad_x_vtol.main.mix
 	rover_ackermann_sitl.main.mix
 	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/mixers/CMakeLists.txt b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
index 3ea4868a1a..a7eb6de113 100644
--- a/ROMFS/px4fmu_common/mixers/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers/CMakeLists.txt
@@ -34,13 +34,16 @@
 px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
+	AAVVTWFF_vtail.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
+	babyshark.main.mix
 	blade130.main.mix
 	caipi.main.mix
 	CCPM.main.mix
 	claire.aux.mix
 	claire.main.mix
+	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
@@ -69,20 +72,24 @@ px4_add_romfs_files(
 	quad_s250aq.main.mix
 	quad_+_vtol.main.mix
 	quad_w.main.mix
-	quad_x.main.mix
 	quad_x_cw.main.mix
+	quad_x.main.mix
 	quad_x_vtol.main.mix
-	stampede.main.mix
-	tri_y_yaw-.main.mix
-	tri_y_yaw+.main.mix
-	rover_generic.main.mix
 	rover_diff_and_servo.main.mix
+	rover_generic.main.mix
+	stampede.main.mix
+	standard_vtol_hitl.main.mix
+	TF-AutoG2.main.mix
+	tilt_quad.aux.mix
+	tilt_quad.main.mix
+	tri_y_yaw+.main.mix
+	tri_y_yaw-.main.mix
+	uuv_x.main.mix
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
+	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
-	TF-AutoG2.main.mix
-	uuv_x.main.mix
 )
diff --git a/cmake/px4_add_board.cmake b/cmake/px4_add_board.cmake
index 053d226223..e947671533 100644
--- a/cmake/px4_add_board.cmake
+++ b/cmake/px4_add_board.cmake
@@ -67,7 +67,7 @@
 #		LABEL			: optional label, set to default if not specified
 #		TOOLCHAIN		: cmake toolchain
 #		ARCHITECTURE		: name of the CPU CMake is building for (used by the toolchain)
-#		ROMFSROOT		: relative path to the ROMFS root directory (currently NuttX only)
+#		ROMFSROOT		: relative path to the ROMFS root directory
 #		BUILD_BOOTLOADER	: flag to enable building and including the bootloader config
 #		IO			: name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)
 #		BOOTLOADER		: bootloader file to include for flashing via bl_update (currently NuttX only)
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 1987d8d6ce..e6c08ec0b6 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -80,8 +80,8 @@ else()
 	install(
 		DIRECTORY
 			${PROJECT_SOURCE_DIR}/posix-configs
-			${PROJECT_SOURCE_DIR}/ROMFS
 			${PROJECT_SOURCE_DIR}/test
+			${CMAKE_BINARY_DIR}/etc
 			${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
 		DESTINATION
 			${PROJECT_NAME}
@@ -97,6 +97,11 @@ px4_posix_generate_symlinks(
 	TARGET px4
 )
 
+if (config_romfs_root)
+	add_subdirectory(${PX4_SOURCE_DIR}/ROMFS ${PX4_BINARY_DIR}/ROMFS)
+	add_dependencies(px4 romfs_gen_files_target)
+endif()
+
 
 # board defined upload helper
 if(EXISTS "${PX4_BOARD_DIR}/cmake/upload.cmake")
@@ -157,6 +162,14 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 			${PROJECT_NAME}/Tools
 		)
 
+	# ROMFS files
+	install(
+		DIRECTORY
+			${PROJECT_SOURCE_DIR}/build/px4_sitl_default/etc
+		DESTINATION
+			${PROJECT_NAME}/build/px4_sitl_default
+		)
+
 	# sitl_gazebo built plugins
 	install(
 		DIRECTORY