diff --git a/.travis.yml b/.travis.yml
index 9df5239df7..7fd0aeeffc 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -74,6 +74,7 @@ script:
   - echo -en 'travis_fold:end:script.3\\r'
   - echo 'Building NuttX Firmware..' && echo -en 'travis_fold:start:script.4\\r'
   - make -j4
+  - make size
   - ccache -s
   - echo -en 'travis_fold:end:script.4\\r'
   - zip Firmware.zip Images/*.px4
diff --git a/Makefile b/Makefile
index 677fd1d847..2d1307a074 100644
--- a/Makefile
+++ b/Makefile
@@ -210,6 +210,7 @@ menuconfig: $(NUTTX_SRC)
 	$(Q) (cd $(NUTTX_SRC)/configs && $(COPYDIR) $(PX4_BASE)nuttx-configs/$(BOARD) .)
 	$(Q) (cd $(NUTTX_SRC)tools && ./configure.sh $(BOARD)/nsh)
 	@$(ECHO) %% Running menuconfig for $(BOARD)
+	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) oldconfig
 	$(Q) $(MAKE) -r -j$(J) -C $(NUTTX_SRC) -r $(MQUIET) menuconfig
 	@$(ECHO) %% Saving configuration file
 	$(Q)$(COPY) $(NUTTX_SRC).config $(PX4_BASE)nuttx-configs/$(BOARD)/nsh/defconfig
@@ -264,6 +265,14 @@ checkgitversion: $(GIT_VER_FILE)
 		$(ECHO) "#define PX4_GIT_VERSION_BINARY 0x$(GIT_DESC_SHORT)" >> $(GIT_HEADER_FILE); \
 		$(ECHO) $(GIT_DESC) > $(GIT_VER_FILE); \
 	fi
+#
+# Sizes
+#
+
+.PHONY: size
+size:
+	$(Q) for elfs in Build/*; do if [ -f  $$elfs/firmware.elf ]; then  $(SIZE) $$elfs/firmware.elf; fi done
+
 
 #
 # Submodule Checks
diff --git a/makefiles/setup.mk b/makefiles/setup.mk
index cd1abdf47c..dd5637bcd9 100644
--- a/makefiles/setup.mk
+++ b/makefiles/setup.mk
@@ -92,6 +92,7 @@ export UNZIP_CMD	 = unzip
 export PYTHON		 = python
 export OPENOCD		 = openocd
 export GREP		 = grep
+export SIZE		 = size
 
 #
 # Host-specific paths, hacks and fixups