diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
new file mode 100644
index 0000000000..c233633a40
--- /dev/null
+++ b/.ci/Jenkinsfile-hardware
@@ -0,0 +1,138 @@
+pipeline {
+  agent none
+  stages {
+
+    stage('Build') {
+
+      parallel {
+
+        stage('px4fmu-v2') {
+          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-px4fmu-v2'
+            sh 'make distclean'
+          }
+        }
+
+        stage('px4fmu-v4') {
+          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-v4_default'
+            sh 'make sizes'
+            sh 'ccache -s'
+            stash includes: 'build/nuttx_px4fmu-v4_default/nuttx_px4fmu-v4_default.elf', name: 'px4fmu-v4_default'
+            stash includes: 'Tools/HIL/monitor_firmware_upload.py, Tools/HIL/run_tests.py', name: 'scripts-px4fmu-v4'
+            sh 'make distclean'
+          }
+        }
+
+      } // parallel
+    } // stage Build
+
+    stage('Flash and Run') {
+
+      parallel {
+
+        stage('px4fmu-v2') {
+          agent {
+            label 'px4fmu-v2'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'scripts-px4fmu-v2'
+                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
+                '''
+                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('px4fmu-v4') {
+          agent {
+            label 'px4fmu-v4'
+          }
+          steps {
+            script {
+              try {
+                sh 'export'
+                sh 'find /dev/serial'
+                unstash 'scripts-px4fmu-v4'
+                unstash 'px4fmu-v4_default'
+                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-v4_default/nuttx_px4fmu-v4_default.elf
+                '''
+                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')
+          }
+        }
+
+      } // parallel
+    } // 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/.ci/Jenkinsfile-hardware_px4fmu-v2 b/.ci/Jenkinsfile-hardware_px4fmu-v2
deleted file mode 100644
index 6a747b2099..0000000000
--- a/.ci/Jenkinsfile-hardware_px4fmu-v2
+++ /dev/null
@@ -1,70 +0,0 @@
-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')
-  }
-}