diff --git a/CMakeLists.txt b/CMakeLists.txt
index a3071a9455..6a6eeb660b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -117,6 +117,7 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
+message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -138,79 +139,7 @@ include(px4_add_module)
 set(config_module_list)
 set(config_df_driver_list)
 
-# find PX4 config
-#  look for in tree board config that matches CONFIG input
-if(NOT PX4_CONFIG_FILE)
-
-	file(GLOB_RECURSE board_configs
-		RELATIVE "${PX4_SOURCE_DIR}/boards"
-		"boards/*.cmake"
-		)
-
-	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
-
-	foreach(filename ${board_configs})
-		# parse input CONFIG into components to match with existing in tree configs
-		#  the platform prefix (eg nuttx_) is historical, and removed if present
-		string(REPLACE ".cmake" "" filename_stripped ${filename})
-		string(REPLACE "/" ";" config ${filename_stripped})
-		list(LENGTH config config_len)
-
-		if(${config_len} EQUAL 3)
-
-
-			list(GET config 0 vendor)
-			list(GET config 1 model)
-			list(GET config 2 label)
-
-			set(board "${vendor}${model}")
-
-			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
-			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
-			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
-			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
-			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
-			)
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form
-			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
-			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
-
-			if ((${config_no_os} MATCHES "${board}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-
-			# LEGACY form special case to ease board layout transition (2018-11-18)
-			#  match board with model and label only: eg sitl_default -> px4_sitl_default
-			if ((${config_no_os} MATCHES "${model}_${label}"))
-				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
-				break()
-			endif()
-
-		endif()
-
-	endforeach()
-endif()
-
-if(NOT PX4_CONFIG_FILE)
-	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
-endif()
-
-message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")
+include(px4_config)
 include(px4_add_board)
 include(${PX4_CONFIG_FILE})
 message(STATUS "PX4 config: ${PX4_CONFIG}")
@@ -251,10 +180,6 @@ if (NOT CMAKE_BUILD_TYPE)
 endif()
 
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
-
-#=============================================================================
-
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
 #=============================================================================
@@ -301,25 +226,7 @@ if (${PX4_PLATFORM} STREQUAL "posix")
 	endif()
 endif()
 
-#=============================================================================
-# ccache
-#
-option(CCACHE "Use ccache if available" ON)
-find_program(CCACHE_PROGRAM ccache)
-if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
-
-	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
-	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
-	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
-
-	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
-		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
-	else()
-		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
-		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
-	endif()
-
-endif()
+include(ccache)
 
 #=============================================================================
 # find programs and packages
@@ -502,112 +409,15 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 )
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
-#=============================================================================
-# Doxygen
-#
-option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
 
-if (BUILD_DOXYGEN)
-	find_package(Doxygen)
-	if (DOXYGEN_FOUND)
-	    # set input and output files
-	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
-	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+include(doxygen)
+include(metadata)
+include(package)
 
-	    # request to configure the file
-	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
-
-	    # note the option ALL which allows to build the docs together with the application
-	    add_custom_target(doxygen ALL
-	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
-	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
-			COMMENT "Generating documentation with Doxygen"
-			DEPENDS uorb_msgs parameters
-			VERBATIM
-			USES_TERMINAL
-			)
-
-	else()
-		message("Doxygen needs to be installed to generate documentation")
-	endif()
-endif()
-
-#=============================================================================
-# Metadata - helpers for generating documentation
-#
-
-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
-		-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
-		-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)"
+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
-)
-
-file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
-	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-add_custom_target(metadata_parameters
-	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
-	COMMAND ${PYTHON_EXECUTABLE}
-	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
-	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--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
-		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
-		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
-		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
-	COMMENT "Generating full parameter metadata (markdown and xml)"
-	USES_TERMINAL
-)
-
-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
-		--markdown ${PX4_BINARY_DIR}/docs/modules
-	COMMENT "Generating module documentation"
-	USES_TERMINAL
-)
-
-add_custom_target(all_metadata
-	DEPENDS
-		metadata_airframes
-		metadata_parameters
-		metadata_module_documentation
-)
-
-#=============================================================================
-# packaging
-#
-# Important to having packaging at end of cmake file.
-#
-set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
-set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
-set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
-set(CPACK_PACKAGING_INSTALL_PREFIX "")
-set(CPACK_SET_DESTDIR "OFF")
-
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
-	set(CPACK_GENERATOR "TBZ2")
-	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
-	endif()
-else()
-	set(CPACK_GENERATOR "ZIP")
-endif()
-
-include(CPack)
-include(bloaty)
+	)
diff --git a/cmake/ccache.cmake b/cmake/ccache.cmake
new file mode 100644
index 0000000000..db20b31b98
--- /dev/null
+++ b/cmake/ccache.cmake
@@ -0,0 +1,51 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# ccache
+
+option(CCACHE "Use ccache if available" ON)
+find_program(CCACHE_PROGRAM ccache)
+if (CCACHE AND CCACHE_PROGRAM AND NOT DEFINED ENV{CCACHE_DISABLE})
+
+	get_filename_component(ccache_real_path ${CCACHE_PROGRAM} REALPATH)
+	get_filename_component(cxx_real_path ${CMAKE_CXX_COMPILER} REALPATH)
+	get_filename_component(cxx_abs_path ${CMAKE_CXX_COMPILER} ABSOLUTE)
+
+	if ("${ccache_real_path}" STREQUAL "${cxx_real_path}")
+		message(STATUS "ccache enabled via symlink (${cxx_abs_path} -> ${cxx_real_path})")
+	else()
+		message(STATUS "ccache enabled (export CCACHE_DISABLE=1 to disable)")
+		set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
+	endif()
+
+endif()
diff --git a/cmake/doxygen.cmake b/cmake/doxygen.cmake
new file mode 100644
index 0000000000..a410fe39db
--- /dev/null
+++ b/cmake/doxygen.cmake
@@ -0,0 +1,62 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# Doxygen
+
+option(BUILD_DOXYGEN "Build doxygen documentation" OFF)
+
+if (BUILD_DOXYGEN)
+	find_package(Doxygen)
+	if (DOXYGEN_FOUND)
+	    # set input and output files
+	    set(DOXYGEN_IN ${CMAKE_SOURCE_DIR}/Documentation/Doxyfile.in)
+	    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+	    # request to configure the file
+	    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+	    # note the option ALL which allows to build the docs together with the application
+	    add_custom_target(doxygen ALL
+	        COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+	        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+			COMMENT "Generating documentation with Doxygen"
+			DEPENDS uorb_msgs parameters
+			VERBATIM
+			USES_TERMINAL
+			)
+
+	else()
+		message("Doxygen needs to be installed to generate documentation")
+	endif()
+endif()
+
diff --git a/cmake/metadata.cmake b/cmake/metadata.cmake
new file mode 100644
index 0000000000..0c18ae0662
--- /dev/null
+++ b/cmake/metadata.cmake
@@ -0,0 +1,79 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# Metadata - helpers for generating documentation
+
+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
+		-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
+		-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)"
+	USES_TERMINAL
+)
+
+file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
+	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
+add_custom_target(metadata_parameters
+	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
+	COMMAND ${PYTHON_EXECUTABLE}
+	${PX4_SOURCE_DIR}/Tools/serial/generate_config.py --all-ports --params-file ${PX4_SOURCE_DIR}/src/generated_serial_params.c --config-files ${yaml_config_files}
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/parameters/px_process_params.py
+		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+		--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
+		--src-path `find ${PX4_SOURCE_DIR}/src -maxdepth 4 -type d`
+		--inject-xml ${PX4_SOURCE_DIR}/src/lib/parameters/parameters_injected.xml
+		--xml ${PX4_BINARY_DIR}/docs/parameters.xml
+	COMMENT "Generating full parameter metadata (markdown and xml)"
+	USES_TERMINAL
+)
+
+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
+		--markdown ${PX4_BINARY_DIR}/docs/modules
+	COMMENT "Generating module documentation"
+	USES_TERMINAL
+)
+
+add_custom_target(all_metadata
+	DEPENDS
+		metadata_airframes
+		metadata_parameters
+		metadata_module_documentation
+)
diff --git a/cmake/package.cmake b/cmake/package.cmake
new file mode 100644
index 0000000000..fd71343221
--- /dev/null
+++ b/cmake/package.cmake
@@ -0,0 +1,60 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# packaging
+
+set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
+set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
+set(CPACK_PACKAGE_CONTACT ${package-contact})
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
+set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
+set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
+set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
+set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
+set(CPACK_PACKAGING_INSTALL_PREFIX "")
+set(CPACK_SET_DESTDIR "OFF")
+
+if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+	set(CPACK_GENERATOR "TBZ2")
+	find_program(DPKG_PROGRAM dpkg)
+	if (EXISTS ${DPKG_PROGRAM})
+		list (APPEND CPACK_GENERATOR "DEB")
+	endif()
+else()
+	set(CPACK_GENERATOR "ZIP")
+endif()
+
+include(CPack)
+include(bloaty)
diff --git a/cmake/px4_config.cmake b/cmake/px4_config.cmake
new file mode 100644
index 0000000000..9c9262c7c3
--- /dev/null
+++ b/cmake/px4_config.cmake
@@ -0,0 +1,104 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+# find PX4 config
+#  look for in tree board config that matches CONFIG input
+if(NOT PX4_CONFIG_FILE)
+
+	file(GLOB_RECURSE board_configs
+		RELATIVE "${PX4_SOURCE_DIR}/boards"
+		"boards/*.cmake"
+		)
+
+	set(PX4_CONFIGS ${board_configs} CACHE STRING "PX4 board configs" FORCE)
+
+	foreach(filename ${board_configs})
+		# parse input CONFIG into components to match with existing in tree configs
+		#  the platform prefix (eg nuttx_) is historical, and removed if present
+		string(REPLACE ".cmake" "" filename_stripped ${filename})
+		string(REPLACE "/" ";" config ${filename_stripped})
+		list(LENGTH config config_len)
+
+		if(${config_len} EQUAL 3)
+			list(GET config 0 vendor)
+			list(GET config 1 model)
+			list(GET config 2 label)
+
+			set(board "${vendor}${model}")
+
+			# <VENDOR>_<MODEL>_<LABEL> (eg px4_fmu-v2_default)
+			# <VENDOR>_<MODEL>_default (eg px4_fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${vendor}_${model}_${label}") OR # match full vendor, model, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${vendor}_${model}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+			# <BOARD>_<LABEL> (eg px4_fmu-v2_default)
+			# <BOARD>_default (eg px4_fmu-v2) # allow skipping label if "default"
+			if ((${CONFIG} MATCHES "${board}_${label}") OR # match full board, label
+			    ((${label} STREQUAL "default") AND (${CONFIG} STREQUAL "${board}")) # default label can be omitted
+			)
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form
+			# <OS>_<BOARD>_<LABEL> (eg nuttx_px4_fmu-v2_default)
+			string(REGEX REPLACE "^nuttx_|^posix_|^qurt_" "" config_no_os ${CONFIG}) # ignore OS prefix
+
+			if ((${config_no_os} MATCHES "${board}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+
+			# LEGACY form special case to ease board layout transition (2018-11-18)
+			#  match board with model and label only: eg sitl_default -> px4_sitl_default
+			if ((${config_no_os} MATCHES "${model}_${label}"))
+				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
+				break()
+			endif()
+
+		endif()
+
+	endforeach()
+endif()
+
+if(NOT PX4_CONFIG_FILE)
+	message(FATAL_ERROR "PX4 config file not set, try one of ${PX4_CONFIGS}")
+endif()
+
+message(STATUS "PX4 config file: ${PX4_CONFIG_FILE}")