diff --git a/Jenkinsfile b/Jenkinsfile
index 338cabed39..7cb22b71bd 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -1,17 +1,11 @@
 pipeline {
   agent none
-  options {
-    buildDiscarder(logRotator(numToKeepStr: '10'))
-    timeout(time: 60, unit: 'MINUTES')
-    timestamps()
-  }
   stages {
-
     stage('Quality Checks') {
       agent {
         docker {
           image 'px4io/px4-dev-base:2017-10-23'
-          args '--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true'
+          args '--env CI=true'
         }
       }
       steps {
@@ -24,22 +18,22 @@ pipeline {
         script {
           def builds = [:]
 
-          // nuttx default targets that are archived and uploaded to s3
-          for (def option in ["px4fmu-v2", "px4fmu-v3", "px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerocore2", "aerofc-v1", "auav-x21", "crazyflie", "mindpx-v2", "tap-v1", "nxphlite-v3"]) {
-            def node_name = "${option}"
 
+          // nuttx default targets that are archived and uploaded to s3
+          for (def node_name in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
                       sh "ccache -z"
                       sh "git fetch --tags"
                       sh "make nuttx_${node_name}_default"
+                      sh "make nuttx_${node_name}_rtps"
                       sh "ccache -s"
-                      archive 'build/*/*.px4'
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
                     }
                   }
                 }
@@ -47,20 +41,45 @@ pipeline {
             }
           }
 
-          // other nuttx default targets
-          for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
-            def node_name = "${option}"
 
+          // special case for fmu-v2/fmu-v3
+          builds["px4fmu-v2"] = {
+            node {
+              stage("Build Test ${node_name}") {
+                docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
+                  stage("${node_name}") {
+                    checkout scm
+                    sh "make clean"
+                    sh "ccache -z"
+                    sh "git fetch --tags"
+                    sh "make nuttx_px4io-v2_default"
+                    sh "make nuttx_px4fmu-v2_default"
+                    sh "make nuttx_px4fmu-v2_lpe"
+                    sh "make nuttx_px4fmu-v3_default"
+                    sh "make nuttx_px4fmu-v3_rtps"
+                    sh "ccache -s"
+                    archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+                  }
+                }
+              }
+            }
+          }
+
+
+          // nuttx default targets that are archived and uploaded to s3
+          for (def node_name in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
                       sh "ccache -z"
+                      sh "git fetch --tags"
                       sh "make nuttx_${node_name}_default"
                       sh "ccache -s"
+                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
                     }
                   }
                 }
@@ -68,19 +87,18 @@ pipeline {
             }
           }
 
-          // nuttx non default targets
-          for (def option in ["px4fmu-v2_lpe", "px4fmu-v3_rtps", "px4fmu-v4_rtps", "px4fmu-v4pro_rtps", "px4fmu-v5_rtps"]) {
-            def node_name = "${option}"
 
+          // other nuttx default targets
+          for (def node_name in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-nuttx:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
                       sh "ccache -z"
-                      sh "make nuttx_${node_name}"
+                      sh "make nuttx_${node_name}_default"
                       sh "ccache -s"
                     }
                   }
@@ -89,14 +107,13 @@ pipeline {
             }
           }
 
-          // raspberry pi and bebop (armhf)
-          for (def option in ["rpi_cross", "bebop_default"]) {
-            def node_name = "${option}"
 
+          // raspberry pi and bebop (armhf)
+          for (def node_name in ["rpi_cross", "bebop_default"]) {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-raspi:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -110,14 +127,13 @@ pipeline {
             }
           }
 
-          // other armhf (to be merged with raspi and bebop)
-          for (def option in ["ocpoc_ubuntu"]) {
-            def node_name = "${option}"
 
+          // other armhf (to be merged with raspi and bebop)
+          for (def node_name in ["ocpoc_ubuntu"]) {
             builds["${node_name}"] = {
               node {
                 stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-armhf:2017-10-23').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
@@ -131,17 +147,17 @@ pipeline {
             }
           }
 
-          // GCC7 tests
-          for (def option in ["posix_sitl_default", "nuttx_px4fmu-v5_default"]) {
-            def node_name = "${option}"
 
+          // GCC7 tests
+          for (def node_name in ["posix_sitl_default", "nuttx_px4fmu-v5_default"]) {
             builds["${node_name} (GCC7)"] = {
               node {
                 stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside("--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true") {
+                  docker.image('px4io/px4-dev-base-archlinux:2017-12-08').inside('-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw') {
                     stage("${node_name}") {
                       checkout scm
                       sh "make clean"
+                      sh "ccache -z"
                       sh "make ${node_name}"
                       sh "ccache -s"
                     }
@@ -164,7 +180,7 @@ pipeline {
         //  agent {
         //    docker {
         //      image 'px4io/px4-dev-clang:2017-10-23'
-        //      args '--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true'
+        //      args '-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
         //    }
         //  }
         //  steps {
@@ -177,7 +193,7 @@ pipeline {
           agent {
             docker {
               image 'px4io/px4-dev-base:2017-10-23'
-              args '--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true'
+              args '-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
             }
           }
           steps {
@@ -192,7 +208,7 @@ pipeline {
         //  agent {
         //    docker {
         //      image 'px4io/px4-dev-base:2017-10-23'
-        //      args '--env CCACHE_DIR=/tmp/ccache --volume=/tmp/ccache:/tmp/ccache:rw --env CI=true'
+        //      args '-e CCACHE_BASEDIR=$WORKSPACE -e CCACHE_DIR=/tmp/ccache -v /tmp/ccache:/tmp/ccache:rw'
         //    }
         //  }
         //  steps {
@@ -214,34 +230,62 @@ pipeline {
     }
 
     stage('Generate Metadata') {
-      agent {
-        docker {
-          image 'px4io/px4-dev-base:2017-10-23'
+
+      parallel {
+
+        stage('airframe') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
+          }
+          steps {
+            sh 'make airframe_metadata'
+            archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
+          }
+        }
+
+        stage('parameter') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
+          }
+          steps {
+            sh 'make parameters_metadata'
+            archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
+          }
+        }
+
+        stage('module') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2017-10-23' }
+          }
+          steps {
+            sh 'make module_documentation'
+            archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
+          }
         }
-      }
-      steps {
-        sh 'make airframe_metadata'
-        archive 'airframes.md, airframes.xml'
-        sh 'make parameters_metadata'
-        archive 'parameters.md, parameters.xml'
-        sh 'make module_documentation'
-        archive 'modules/*.md'
       }
     }
 
     stage('S3 Upload') {
       agent {
-        docker {
-          image 'px4io/px4-dev-base:2017-10-23'
-        }
+        docker { image 'px4io/px4-dev-base:2017-10-23' }
       }
+
       when {
-        branch '*/master|*/beta|*/stable'
+        anyOf {
+          branch 'master'
+          branch 'beta'
+          branch 'stable'
+        }
       }
+
       steps {
         sh 'echo "uploading to S3"'
       }
     }
+  }
 
+  options {
+    buildDiscarder(logRotator(numToKeepStr: '5'))
+    timeout(time: 60, unit: 'MINUTES')
   }
 }