diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 4fb3c46141..5488e6c0ae 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -21,7 +21,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_test'
                 sh 'make cubepilot_cubeorange_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -70,6 +70,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                     resetBoard()
                 }
               }
@@ -91,7 +92,7 @@ pipeline {
                 sh 'make cuav_x7pro_test'
                 sh 'make cuav_x7pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -138,6 +139,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -159,7 +161,7 @@ pipeline {
                 sh 'make px4_fmu-v3_test'
                 sh 'make px4_fmu-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -206,6 +208,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                     resetBoard()
                 }
               }
@@ -227,7 +230,7 @@ pipeline {
                 sh 'make px4_fmu-v4_test'
                 sh 'make px4_fmu-v4_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -273,6 +276,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                     resetBoard()
                 }
               }
@@ -294,7 +298,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_test'
                 sh 'make px4_fmu-v4pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -341,6 +345,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                     resetBoard()
                 }
               }
@@ -362,7 +367,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make px4_fmu-v5_debug bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -420,6 +425,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                     resetBoard()
                 }
               }
@@ -441,7 +447,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -498,6 +504,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                     resetBoard()
                 }
               }
@@ -519,7 +526,7 @@ pipeline {
                 sh 'make px4_fmu-v5_test'
                 sh 'make px4_fmu-v5_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -566,6 +573,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                     resetBoard()
                 }
               }
@@ -573,73 +581,6 @@ pipeline {
           }
         }
 
-        // stage("modalai_fc-v1_test") {
-        //   stages {
-        //     stage("build modalai_fc-v1_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         checkout scm
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make modalai_fc-v1_test'
-        //         sh 'make modalai_fc-v1_test bootloader_elf'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("hardware") {
-        //       agent {
-        //         label 'modalai_fc-v1'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'modalai_fc-v1_test'
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("tests") {
-        //           steps {
-        //             runTests()
-        //           }
-        //         }
-        //         stage("status") {
-        //           steps {
-        //             // configure
-        //             resetParameters()
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-        //             checkStatus()
-        //             quickCalibrate()
-        //           }
-        //         }
-        //         stage("print topics") {
-        //           steps {
-        //             printTopics()
-        //           }
-        //         }
-
-        //       }
-        //     } // stage test
-        //   }
-        // }
-
         stage("nxp_fmuk66-v3_test") {
           stages {
             stage("build nxp_fmuk66-v3_test") {
@@ -654,7 +595,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_test'
                 //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -701,6 +642,7 @@ pipeline {
               }
               post {
                 always {
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                     resetBoard()
                 }
               }
diff --git a/platforms/nuttx/Debug/jlink_gdb_backtrace.sh b/platforms/nuttx/Debug/jlink_gdb_backtrace.sh
new file mode 100755
index 0000000000..3082f3218a
--- /dev/null
+++ b/platforms/nuttx/Debug/jlink_gdb_backtrace.sh
@@ -0,0 +1,41 @@
+#! /bin/sh
+
+if command -v gdb-multiarch &> /dev/null
+then
+	GDB_CMD=$(command -v gdb-multiarch)
+
+elif command -v arm-none-eabi-gdb &> /dev/null
+then
+	GDB_CMD=$(command -v arm-none-eabi-gdb)
+
+else
+	echo "gdb arm-none-eabi or multi-arch not found"
+	exit 1
+fi
+
+file ${1}
+
+gdb_cmd_file=$(mktemp)
+
+cat >"${gdb_cmd_file}" <<EOL
+
+source ${WORKSPACE}/platforms/nuttx/Debug/NuttX
+source ${WORKSPACE}/platforms/nuttx/Debug/ARMv7M
+
+target remote localhost:2331
+
+monitor regs
+
+showtasks
+
+vecstate
+
+info threads
+
+backtrace
+
+bt full
+
+EOL
+
+${GDB_CMD} -silent --nh --nx --nw -batch -x ${gdb_cmd_file} ${1}
diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake
index 5186afb83d..82f57f698d 100644
--- a/platforms/nuttx/cmake/jlink.cmake
+++ b/platforms/nuttx/cmake/jlink.cmake
@@ -48,6 +48,18 @@ if(JLinkGDBServerCLExe_PATH)
 		USES_TERMINAL
 	)
 
+	# jlink_gdb_backtrace (attach, print current tasks, back trace, exit)
+	add_custom_target(jlink_gdb_backtrace
+		COMMAND ${PX4_BINARY_DIR}/jlink_gdb_start.sh
+		COMMAND ${CMAKE_COMMAND} -E env WORKSPACE=${PX4_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh $<TARGET_FILE:px4>
+		DEPENDS
+			px4
+			${PX4_BINARY_DIR}/jlink_gdb_start.sh
+			${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink_gdb_backtrace.sh
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		USES_TERMINAL
+	)
+
 
 	# jlink_upload_bootloader
 	#   board directory supplied bootloader.bin