diff --git a/.ci/Jenkinsfile-hardware_px4fmu-v2 b/.ci/Jenkinsfile-hardware_px4fmu-v2
new file mode 100644
index 0000000000..6a747b2099
--- /dev/null
+++ b/.ci/Jenkinsfile-hardware_px4fmu-v2
@@ -0,0 +1,70 @@
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+      agent {
+        docker {
+          image 'px4io/px4-dev-nuttx:2018-08-05'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        }
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make nuttx_px4fmu-v2_test'
+        sh 'make sizes'
+        sh 'ccache -s'
+        stash includes: 'build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf', name: 'px4fmu-v2_test'
+        stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts'
+        sh 'make distclean'
+      }
+    } // stage Build
+
+    stage('Flash and Run') {
+      agent {
+        label 'px4fmu-v2'
+      }
+      steps {
+        script {
+          try {
+            sh 'export'
+            sh 'find /dev/serial'
+            unstash 'px4fmu-v2_test'
+            sh ''' gdb -nx --batch \
+                  -ex "target extended-remote `find /dev/serial -name *Black_Magic_Probe_*-if00`" \
+                  -ex "monitor version" \
+                  -ex "monitor connect_srst enable" \
+                  -ex "monitor swdp_scan" \
+                  -ex "attach 1" \
+                  -ex "load" \
+                  -ex "kill" \
+                  build/nuttx_px4fmu-v2_test/nuttx_px4fmu-v2_test.elf
+            '''
+            unstash 'scripts'
+            sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02` --baudrate 57600'
+            sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *Black_Magic_Probe_*-if02`'
+          } catch (Exception err) {
+              // always report passed for now
+              currentBuild.result = 'SUCCESS'
+          }
+        } // script
+      }
+      options {
+        timeout(time: 300, unit: 'SECONDS')
+      }
+
+    } // stage Flash
+
+  } // stages
+  environment {
+    CCACHE_DIR = '/tmp/ccache'
+    CI = true
+  }
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '10', artifactDaysToKeepStr: '30'))
+    timeout(time: 60, unit: 'MINUTES')
+  }
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4c8f4a196..f7d70d7826 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -139,8 +139,6 @@ list(GET config_args 0 OS)
 list(GET config_args 1 BOARD)
 list(GET config_args 2 LABEL)
 
-set(THREADS "4" CACHE STRING "number of threads to use for external build processes")
-set(DEBUG_PORT "/dev/ttyACM0" CACHE STRING "debugging port")
 set(EXTERNAL_MODULES_LOCATION "" CACHE STRING "External modules source location")
 
 if (NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -301,9 +299,7 @@ message(STATUS "C++ compiler: ${cxx_compiler_version_short}")
 #=============================================================================
 # external libraries
 #
-px4_os_prebuild_targets(OUT prebuild_targets
-	BOARD ${BOARD}
-	THREADS ${THREADS})
+px4_os_prebuild_targets(OUT prebuild_targets BOARD ${BOARD})
 
 #=============================================================================
 # build flags
diff --git a/Jenkinsfile b/Jenkinsfile
index 3a73dda27a..cd34e52127 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -2,7 +2,7 @@ pipeline {
   agent none
   stages {
 
- stage('Analysis') {
+    stage('Analysis') {
 
       parallel {
 
diff --git a/Tools/HIL/monitor_firmware_upload.py b/Tools/HIL/monitor_firmware_upload.py
new file mode 100755
index 0000000000..ed4e78694a
--- /dev/null
+++ b/Tools/HIL/monitor_firmware_upload.py
@@ -0,0 +1,35 @@
+#! /usr/bin/python
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+
+def monitor_firmware_upload(port, baudrate):     
+    databits = serial.EIGHTBITS
+    stopbits = serial.STOPBITS_ONE
+    parity = serial.PARITY_NONE
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100)
+
+    finished = 0
+
+    while finished == 0:
+        serial_line = ser.readline()
+        print(serial_line.replace('\n','')) 
+
+        if "NuttShell (NSH)" in serial_line:
+            finished = 1
+        time.sleep(0.05)
+    ser.close()
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    monitor_firmware_upload(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()
diff --git a/Tools/HIL/run_tests.py b/Tools/HIL/run_tests.py
new file mode 100755
index 0000000000..3d4e92fa72
--- /dev/null
+++ b/Tools/HIL/run_tests.py
@@ -0,0 +1,49 @@
+#! /usr/bin/python
+
+import serial, time
+import subprocess
+from subprocess import call, Popen
+from argparse import ArgumentParser
+import re
+
+def do_tests(port, baudrate):     
+    databits = serial.EIGHTBITS
+    stopbits = serial.STOPBITS_ONE
+    parity = serial.PARITY_NONE
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, 100)
+    ser.write('\n\n')
+    
+    finished = 0
+    while finished == 0:
+        serial_line = ser.readline()
+        print(serial_line.replace('\n','')) 
+
+        if "nsh>" in serial_line:
+            finished = 1
+        time.sleep(0.05)
+
+    ser.write('tests perf\n')
+
+    finished = 0
+    while finished == 0:
+        serial_line = ser.readline()
+        print(serial_line.replace('\n','')) 
+
+        if "perf PASSED" in serial_line:
+            finished = 1
+            ser.close()
+
+        time.sleep(0.05)
+
+    ser.close() 
+
+def main():
+    parser = ArgumentParser(description=__doc__)
+    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
+    args = parser.parse_args()
+
+    do_tests(args.device, args.baudrate)
+
+if __name__ == "__main__":
+   main()
\ No newline at end of file
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 038583aa72..d4e299293e 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -298,11 +298,92 @@ if (BLOATY_PROGRAM)
 endif()
 
 # debugger helpers
-configure_file(gdbinit.in .gdbinit)
+
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Debug/gdbinit.in ${PX4_BINARY_DIR}/.gdbinit)
 
 add_custom_target(debug
-	COMMAND ${GDB} $<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+	COMMAND ${GDB} -iex 'set auto-load safe-path ${PX4_BINARY_DIR}' $<TARGET_FILE:${FW_NAME}>
+	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	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'
+			$<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME} ${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'
+			$<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+		COMMENT "Uploading with Black Magic Probe"
+		)
+
+	add_custom_target(blackmagic_console
+		COMMAND screen -t "${BOARD} console" ${black_magic_probe_console_path} 57600 8N1
+		USES_TERMINAL
+		)
+
+endif()
+
+add_custom_target(jlink_upload
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
+	COMMAND ${GDB} --nx --batch
+		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
+		-ex 'target remote localhost:2331'
+		-ex 'monitor reset'
+		-ex 'load'
+		-ex 'kill'
+		$<TARGET_FILE:${FW_NAME}>
+	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
+add_custom_target(jlink_debug
+	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
+	COMMAND ${GDB} --nh
+		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
+		-ex 'target remote localhost:2331'
+		-ex 'monitor reset'
+		-ex 'load'
+		-ex 'monitor reset'
+		-ex 'continue'
+		$<TARGET_FILE:${FW_NAME}>
+	DEPENDS ${FW_NAME} ${PX4_BINARY_DIR}/.gdbinit
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
 
@@ -319,7 +400,9 @@ ExternalProject_Add(FlameGraph
 	)
 
 add_custom_target(profile
-	COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}" ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
+	COMMAND ${CMAKE_COMMAND} -E env PATH="${PX4_BINARY_DIR}/external/Source/FlameGraph:$ENV{PATH}"
+		${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
 	DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh FlameGraph
 	USES_TERMINAL
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	)
diff --git a/platforms/nuttx/Debug/PX4 b/platforms/nuttx/Debug/PX4
index b3d06c0e06..ee7b3ec746 100644
--- a/platforms/nuttx/Debug/PX4
+++ b/platforms/nuttx/Debug/PX4
@@ -1,8 +1,6 @@
 #
 # Various PX4-specific macros
 #
-source platforms/nuttx/Debug/NuttX
-source platforms/nuttx/Debug/ARMv7M
 
 echo Loading PX4 GDB macros.  Use 'help px4' for more information.\n
 
diff --git a/platforms/nuttx/gdbinit.in b/platforms/nuttx/Debug/gdbinit.in
similarity index 68%
rename from platforms/nuttx/gdbinit.in
rename to platforms/nuttx/Debug/gdbinit.in
index 5cd252d843..3996e71fd5 100644
--- a/platforms/nuttx/gdbinit.in
+++ b/platforms/nuttx/Debug/gdbinit.in
@@ -2,9 +2,13 @@ source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/NuttX
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/ARMv7M
 
-target extended-remote ${DEBUG_PORT}
-monitor swdp_scan
-attach 1
-monitor vector_catch disable hard
 set mem inaccessible-by-default off
+
 set print pretty
+
+set pagination off
+
+set history save on
+set history size unlimited
+
+set logging on
diff --git a/platforms/nuttx/Debug/jlink.sh b/platforms/nuttx/Debug/jlink.sh
new file mode 100755
index 0000000000..3d4873aff9
--- /dev/null
+++ b/platforms/nuttx/Debug/jlink.sh
@@ -0,0 +1,3 @@
+#! /bin/sh
+
+JLinkGDBServerCLExe -startserver -USB -device Cortex-M4 -if SWD -speed auto > jlink.log &
diff --git a/platforms/nuttx/Debug/olimex-px4fmu-debug.cfg b/platforms/nuttx/Debug/olimex-px4fmu-debug.cfg
deleted file mode 100644
index d0cf066bf0..0000000000
--- a/platforms/nuttx/Debug/olimex-px4fmu-debug.cfg
+++ /dev/null
@@ -1,22 +0,0 @@
-# program a bootable device load on a mavstation
-# To run type openocd -f mavprogram.cfg
-
-source [find interface/olimex-arm-usb-ocd-h.cfg]
-source [find px4fmu-board.cfg]
-
-init
-halt
-
-# Find the flash inside this CPU
-flash probe 0
-
-# erase it (128 pages) then program and exit
-
-#flash erase_sector 0 0 127
-# stm32f1x mass_erase 0 
-
-# It seems that Pat's image has a start address offset of 0x1000 but the vectors need to be at zero, so fixbin.sh moves things around
-#flash write_bank 0 fixed.bin 0
-#flash write_image firmware.elf
-#shutdown
-
diff --git a/platforms/nuttx/Debug/openocd.gdbinit b/platforms/nuttx/Debug/openocd.gdbinit
deleted file mode 100644
index 9619ba529e..0000000000
--- a/platforms/nuttx/Debug/openocd.gdbinit
+++ /dev/null
@@ -1,21 +0,0 @@
-target remote :3333
-
-# Don't let GDB get confused while stepping
-define hook-step
-  mon cortex_m maskisr on
-end
-define hookpost-step
-  mon cortex_m maskisr off
-end
-
-mon init
-mon stm32_init
-# mon reset halt
-mon poll
-mon cortex_m maskisr auto
-set mem inaccessible-by-default off
-set print pretty
-source platforms/nuttx/Debug/PX4
-
-echo PX4 resumed, press ctrl-c to interrupt\n
-continue
diff --git a/platforms/nuttx/Debug/poor-mans-profiler.sh b/platforms/nuttx/Debug/poor-mans-profiler.sh
index 4f4add5532..d1a7fd56ae 100755
--- a/platforms/nuttx/Debug/poor-mans-profiler.sh
+++ b/platforms/nuttx/Debug/poor-mans-profiler.sh
@@ -18,7 +18,7 @@
 #
 
 set -e
-root=$(dirname $0)/..
+root=$(dirname $0)
 
 function die()
 {
@@ -77,7 +77,7 @@ do
     shift
 done
 
-[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/px4fmu-v4_default/src/firmware/nuttx/firmware_nuttx"
+[[ -z "$elf" ]] && die "Please specify the ELF file location, e.g.: build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf"
 
 #
 # Temporary files
@@ -102,7 +102,8 @@ then
     do
         if [[ "$taskname" = "" ]]
         then
-            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+            arm-none-eabi-gdb $elf --nx --quiet --batch \
+                                           -ex "set print asm-demangle on" \
                                            -ex "target extended /dev/ttyACM0" \
                                            -ex "monitor swdp_scan" \
                                            -ex "attach 1" \
@@ -111,11 +112,12 @@ then
                 | sed -n 's/\(#.*\)/\1/p' \
                 >> $stacksfile
         else
-            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+            arm-none-eabi-gdb $elf --nx --quiet --batch \
+                                           -ex "set print asm-demangle on" \
                                            -ex "target extended /dev/ttyACM0" \
                                            -ex "monitor swdp_scan" \
                                            -ex "attach 1" \
-                                           -ex "source $root/platforms/nuttx/Debug/Nuttx.py" \
+                                           -ex "source $root/Nuttx.py" \
                                            -ex "show mybt $taskname" \
                 2> $gdberrfile \
                 | sed -n 's/0\.0:\(#.*\)/\1/p' \
diff --git a/platforms/nuttx/Debug/px4fmu-board.cfg b/platforms/nuttx/Debug/px4fmu-board.cfg
deleted file mode 100644
index 9e8988d0ad..0000000000
--- a/platforms/nuttx/Debug/px4fmu-board.cfg
+++ /dev/null
@@ -1,37 +0,0 @@
-# The latest defaults in OpenOCD 0.7.0 are actually prettymuch correct for the px4fmu
-
-# increase working area to 32KB for faster flash programming
-set WORKAREASIZE 0x8000
-
-source [find target/stm32f4x.cfg]
-
-# needed for px4
-reset_config trst_only
-
-proc stm32_reset {} {
-  reset halt
-# FIXME - needed to init periphs on reset
-# 0x40023800 RCC base
-# 0x24 RCC_APB2 0x75933
-# RCC_APB2 0
-}
-
-# perform init that is required on each connection to the target
-proc stm32_init {} {
-
-  # force jtag to not shutdown during sleep
-  #uint32_t cr = getreg32(STM32_DBGMCU_CR);
-  #cr |= DBGMCU_CR_STANDBY | DBGMCU_CR_STOP | DBGMCU_CR_SLEEP;
-  #putreg32(cr, STM32_DBGMCU_CR);
-  mww 0xe0042004 00000007
-}
-
-# if srst is not fitted use SYSRESETREQ to
-# perform a soft reset
-cortex_m reset_config sysresetreq
-
-# Let GDB directly program elf binaries
-gdb_memory_map enable
-
-# doesn't work yet
-gdb_flash_program disable
diff --git a/platforms/nuttx/Debug/runopenocd.sh b/platforms/nuttx/Debug/runopenocd.sh
deleted file mode 100755
index 56c005a76f..0000000000
--- a/platforms/nuttx/Debug/runopenocd.sh
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-openocd -f interface/olimex-arm-usb-ocd-h.cfg -f $DIR/px4fmu-board.cfg
diff --git a/platforms/nuttx/cmake/px4_impl_os.cmake b/platforms/nuttx/cmake/px4_impl_os.cmake
index 216138d38f..9d0697cb7c 100644
--- a/platforms/nuttx/cmake/px4_impl_os.cmake
+++ b/platforms/nuttx/cmake/px4_impl_os.cmake
@@ -226,7 +226,6 @@ endfunction()
 #
 #	Input:
 #		BOARD		: board
-#		THREADS		: number of threads for building
 #
 #	Output:
 #		OUT	: the target list
@@ -237,7 +236,7 @@ endfunction()
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
 			NAME px4_os_prebuild_targets
-			ONE_VALUE OUT BOARD THREADS
+			ONE_VALUE OUT BOARD
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
diff --git a/platforms/posix/cmake/px4_impl_os.cmake b/platforms/posix/cmake/px4_impl_os.cmake
index 0c5cb024b8..ed29e8347a 100644
--- a/platforms/posix/cmake/px4_impl_os.cmake
+++ b/platforms/posix/cmake/px4_impl_os.cmake
@@ -429,7 +429,6 @@ endfunction()
 #
 #	Input:
 #		BOARD 		: board
-#		THREADS 	: number of threads for building
 #
 #	Output:
 #		OUT	: the target list
@@ -440,7 +439,7 @@ endfunction()
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
 			NAME px4_os_prebuild_targets
-			ONE_VALUE OUT BOARD THREADS
+			ONE_VALUE OUT BOARD
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})
 
diff --git a/platforms/qurt/cmake/px4_impl_os.cmake b/platforms/qurt/cmake/px4_impl_os.cmake
index 6824c8968c..d5797f8337 100644
--- a/platforms/qurt/cmake/px4_impl_os.cmake
+++ b/platforms/qurt/cmake/px4_impl_os.cmake
@@ -224,7 +224,6 @@ endfunction()
 #
 #	Input:
 #		BOARD 		: board
-#		THREADS 	: number of threads for building
 #
 #	Output:
 #		OUT	: the target list
@@ -235,7 +234,7 @@ endfunction()
 function(px4_os_prebuild_targets)
 	px4_parse_function_args(
 			NAME px4_os_prebuild_targets
-			ONE_VALUE OUT BOARD THREADS
+			ONE_VALUE OUT BOARD
 			REQUIRED OUT BOARD
 			ARGN ${ARGN})