diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index afc3c6c8b2..c552ec5f68 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -149,81 +149,11 @@ if (TARGET parameters_xml AND TARGET airframes_xml)
 	# upload helper
 	# create upload target helper if NuttX USB CDCACM is present
 	if (CONFIG_CDCACM)
-
-		# NuttX CDCACM vendor and product strings
-		set(vendorstr_underscore)
-		set(productstr_underscore)
-		string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
-		string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
-
-		set(serial_ports)
-		if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
-
-			set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
-
-			list(APPEND serial_ports
-				# NuttX vendor + product string
-				/dev/serial/by-id/*-${px4_usb_path}*
-
-				# Bootloader
-				/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
-				/dev/serial/by-id/*BL_FMU*
-
-				# TODO: handle these per board
-				/dev/serial/by-id/usb-The_Autopilot*
-				/dev/serial/by-id/usb-Bitcraze*
-				/dev/serial/by-id/pci-Bitcraze*
-				/dev/serial/by-id/usb-Gumstix*
-				/dev/serial/by-id/usb-Hex_ProfiCNC*
-				/dev/serial/by-id/usb-UVify_FMU_BL*
-				)
-
-		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
-			list(APPEND serial_ports
-				/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
-				)
-		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
-			list(APPEND serial_ports
-				/dev/ttyS*
-				)
-		elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
-			foreach(port RANGE 32 0)
-				list(APPEND serial_ports
-					"COM${port}")
-			endforeach()
-		endif()
-
-		string(REPLACE ";" "," serial_ports "${serial_ports}")
-
-		add_custom_target(upload
-			COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
-			DEPENDS ${fw_package}
-			COMMENT "uploading px4"
-			VERBATIM
-			USES_TERMINAL
-			WORKING_DIRECTORY ${PX4_BINARY_DIR}
-			)
-
-		add_custom_target(force-upload
-			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
-			USES_TERMINAL
-			WORKING_DIRECTORY ${PX4_BINARY_DIR}
-			)
+		include(upload)
 	endif()
 
 endif()
 
-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
 # print weak symbols
 add_custom_target(weak_symbols
 	COMMAND ${CMAKE_NM} $<TARGET_FILE:px4> | ${GREP} " w " | cat
@@ -232,24 +162,8 @@ add_custom_target(weak_symbols
 	USES_TERMINAL
 	)
 
-add_custom_target(stack_check
-	COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:px4> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
-	COMMAND ${CMAKE_COMMAND} -E echo ""
-	COMMAND ${CMAKE_COMMAND} -E echo ""
-	COMMAND ${CMAKE_COMMAND} -E echo "Top 50:"
-	COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
-	COMMAND head -n 50 stack_usage/checkstack_output.txt | c++filt
-	COMMAND ${CMAKE_COMMAND} -E echo ""
-	COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':"
-	COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
-    COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update'
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	VERBATIM
-	)
 
 # debugger helpers
-
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
 
 add_custom_target(debug
@@ -259,98 +173,7 @@ add_custom_target(debug
 	USES_TERMINAL
 	)
 
-file(GLOB_RECURSE black_magic_probe_path
-     FOLLOW_SYMLINKS
-     /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00
-     )
-file(GLOB_RECURSE black_magic_probe_console_path
-     FOLLOW_SYMLINKS
-     /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02
-     )
-
-if(black_magic_probe_path)
-
-	add_custom_target(blackmagic_debug
-		COMMAND ${GDB} --nh
-			-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-			-ex 'target extended-remote ${black_magic_probe_path}'
-			-ex 'monitor version'
-			-ex 'monitor connect_srst enable'
-			-ex 'monitor swdp_scan'
-			-ex 'attach 1'
-			-ex 'load'
-			-ex 'run'
-			$<TARGET_FILE:px4>
-		DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		USES_TERMINAL
-		)
-
-	add_custom_target(blackmagic_upload
-		COMMAND ${GDB} --nx --batch
-			-ex 'target extended-remote ${black_magic_probe_path}'
-			-ex 'monitor version'
-			-ex 'monitor connect_srst enable'
-			-ex 'monitor swdp_scan'
-			-ex 'attach 1'
-			-ex 'load'
-			-ex 'kill'
-			$<TARGET_FILE:px4>
-		DEPENDS px4
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		USES_TERMINAL
-		COMMENT "Uploading with Black Magic Probe"
-		)
-
-	add_custom_target(blackmagic_console
-		COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1
-		USES_TERMINAL
-		)
-
-endif()
-
-add_custom_target(jlink_upload
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_upload.sh $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
-add_custom_target(jlink_debug
-	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
-	COMMAND ${GDB} -nh
-		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
-		-ex 'target remote localhost:2331'
-		-ex 'monitor reset 0'
-		-ex 'load'
-		-ex 'compare-sections'
-		-ex 'monitor reset 0'
-		-ex 'monitor sleep 1000'
-		-ex 'monitor go'
-		-ex 'continue'
-		$<TARGET_FILE:px4>
-	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
-# Poor man's profiler
-include(ExternalProject)
-ExternalProject_Add(FlameGraph
-	GIT_REPOSITORY "https://github.com/brendangregg/FlameGraph.git"
-	UPDATE_COMMAND ""
-	PATCH_COMMAND ""
-	CONFIGURE_COMMAND ""
-	BUILD_COMMAND ""
-	INSTALL_COMMAND ""
-	EXCLUDE_FROM_ALL 1
-	)
-
-add_custom_target(profile
-	COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
-		${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:px4> --nsamples=10000
-	DEPENDS px4 ${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh FlameGraph
-	USES_TERMINAL
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	)
+include(blackmagic)
+include(jlink)
+include(profile)
+include(stack_check)
diff --git a/platforms/nuttx/cmake/blackmagic.cmake b/platforms/nuttx/cmake/blackmagic.cmake
new file mode 100644
index 0000000000..c53699d415
--- /dev/null
+++ b/platforms/nuttx/cmake/blackmagic.cmake
@@ -0,0 +1,82 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+file(GLOB_RECURSE black_magic_probe_path
+     FOLLOW_SYMLINKS
+     /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if00
+     )
+file(GLOB_RECURSE black_magic_probe_console_path
+     FOLLOW_SYMLINKS
+     /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_*-if02
+     )
+
+if(black_magic_probe_path)
+
+	add_custom_target(blackmagic_debug
+		COMMAND ${GDB} --nh
+			-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
+			-ex 'target extended-remote ${black_magic_probe_path}'
+			-ex 'monitor version'
+			-ex 'monitor connect_srst enable'
+			-ex 'monitor swdp_scan'
+			-ex 'attach 1'
+			-ex 'load'
+			-ex 'run'
+			$<TARGET_FILE:px4>
+		DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+		)
+
+	add_custom_target(blackmagic_upload
+		COMMAND ${GDB} --nx --batch
+			-ex 'target extended-remote ${black_magic_probe_path}'
+			-ex 'monitor version'
+			-ex 'monitor connect_srst enable'
+			-ex 'monitor swdp_scan'
+			-ex 'attach 1'
+			-ex 'load'
+			-ex 'kill'
+			$<TARGET_FILE:px4>
+		DEPENDS px4
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+		COMMENT "Uploading with Black Magic Probe"
+		)
+
+	add_custom_target(blackmagic_console
+		COMMAND screen -t "${PX4_BOARD} console" ${black_magic_probe_console_path} 57600 8N1
+		USES_TERMINAL
+		)
+
+endif()
diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake
new file mode 100644
index 0000000000..2b5b33058e
--- /dev/null
+++ b/platforms/nuttx/cmake/jlink.cmake
@@ -0,0 +1,58 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+add_custom_target(jlink_upload
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_upload.sh $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
+add_custom_target(jlink_debug
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_start.sh
+	COMMAND ${GDB} -nh
+		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
+		-ex 'target remote localhost:2331'
+		-ex 'monitor reset 0'
+		-ex 'load'
+		-ex 'compare-sections'
+		-ex 'monitor reset 0'
+		-ex 'monitor sleep 1000'
+		-ex 'monitor go'
+		-ex 'continue'
+		$<TARGET_FILE:px4>
+	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
diff --git a/platforms/nuttx/cmake/profile.cmake b/platforms/nuttx/cmake/profile.cmake
new file mode 100644
index 0000000000..9607b615e3
--- /dev/null
+++ b/platforms/nuttx/cmake/profile.cmake
@@ -0,0 +1,52 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+# Poor man's profiler
+include(ExternalProject)
+ExternalProject_Add(FlameGraph
+	GIT_REPOSITORY "https://github.com/brendangregg/FlameGraph.git"
+	UPDATE_COMMAND ""
+	PATCH_COMMAND ""
+	CONFIGURE_COMMAND ""
+	BUILD_COMMAND ""
+	INSTALL_COMMAND ""
+	EXCLUDE_FROM_ALL 1
+	)
+
+add_custom_target(profile
+	COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
+		${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:px4> --nsamples=10000
+	DEPENDS px4 ${CMAKE_CURRENT_SOURCE_DIR}/Debug/poor-mans-profiler.sh FlameGraph
+	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	)
diff --git a/platforms/nuttx/cmake/stack_check.cmake b/platforms/nuttx/cmake/stack_check.cmake
new file mode 100644
index 0000000000..97b133cd61
--- /dev/null
+++ b/platforms/nuttx/cmake/stack_check.cmake
@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+add_custom_target(stack_check
+	COMMAND ${CMAKE_COMMAND} -E make_directory stack_usage && ${CMAKE_OBJDUMP} -d $<TARGET_FILE:px4> | ${PX4_SOURCE_DIR}/Tools/stack_usage/checkstack.pl arm 0 > stack_usage/checkstack_output.txt 2> stack_usage/checkstack_errors.txt
+	COMMAND ${CMAKE_COMMAND} -E echo ""
+	COMMAND ${CMAKE_COMMAND} -E echo ""
+	COMMAND ${CMAKE_COMMAND} -E echo "Top 50:"
+	COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
+	COMMAND head -n 50 stack_usage/checkstack_output.txt | c++filt
+	COMMAND ${CMAKE_COMMAND} -E echo ""
+	COMMAND ${CMAKE_COMMAND} -E echo "Symbols with 'run', 'task', 'thread', 'main', 'update':"
+	COMMAND ${CMAKE_COMMAND} -E echo "--------------------------------------------------------------------------------"
+	COMMAND cat stack_usage/checkstack_output.txt | c++filt | grep -E 'run|task|thread|main|update'
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	VERBATIM
+)
diff --git a/platforms/nuttx/cmake/upload.cmake b/platforms/nuttx/cmake/upload.cmake
new file mode 100644
index 0000000000..894e10924e
--- /dev/null
+++ b/platforms/nuttx/cmake/upload.cmake
@@ -0,0 +1,95 @@
+############################################################################
+#
+#   Copyright (c) 2019 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.
+#
+############################################################################
+
+# NuttX CDCACM vendor and product strings
+set(vendorstr_underscore)
+set(productstr_underscore)
+string(REPLACE " " "_" vendorstr_underscore ${CONFIG_CDCACM_VENDORSTR})
+string(REPLACE " " "_" productstr_underscore ${CONFIG_CDCACM_PRODUCTSTR})
+
+set(serial_ports)
+if(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")
+
+	set(px4_usb_path "${vendorstr_underscore}_${productstr_underscore}")
+
+	list(APPEND serial_ports
+		# NuttX vendor + product string
+		/dev/serial/by-id/*-${px4_usb_path}*
+
+		# Bootloader
+		/dev/serial/by-id/*PX4_BL* # typical bootloader USB device string
+		/dev/serial/by-id/*BL_FMU*
+
+		# TODO: handle these per board
+		/dev/serial/by-id/usb-The_Autopilot*
+		/dev/serial/by-id/usb-Bitcraze*
+		/dev/serial/by-id/pci-Bitcraze*
+		/dev/serial/by-id/usb-Gumstix*
+		/dev/serial/by-id/usb-Hex_ProfiCNC*
+		/dev/serial/by-id/usb-UVify_FMU_BL*
+		)
+
+elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
+	list(APPEND serial_ports
+		/dev/tty.usbmodemPX*,/dev/tty.usbmodem*
+		)
+elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "CYGWIN")
+	list(APPEND serial_ports
+		/dev/ttyS*
+		)
+elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Windows")
+	foreach(port RANGE 32 0)
+		list(APPEND serial_ports
+			"COM${port}")
+	endforeach()
+endif()
+
+string(REPLACE ";" "," serial_ports "${serial_ports}")
+
+add_custom_target(upload
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_uploader.py --port ${serial_ports} ${fw_package}
+	DEPENDS ${fw_package}
+	COMMENT "uploading px4"
+	VERBATIM
+	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	)
+
+add_custom_target(force-upload
+	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
+	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	)