diff --git a/CMakeLists.txt b/CMakeLists.txt
index d0a54d987a..b945b2947e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -454,3 +454,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)