diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index 069d30475101..e1e5c4b575bb 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -5,399 +5,59 @@ pipeline {
   stages {
 
     stage('Build') {
-
-      parallel {
-
-        stage('px4_fmu-v2_test') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              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 px4_fmu-v2_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v2_default/px4_fmu-v2_default.elf', name: 'px4_fmu-v2_test'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v3_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              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 px4_fmu-v3_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v3_default/px4_fmu-v3_default.elf', name: 'px4_fmu-v3_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
+      agent {
+        docker {
+          image 'px4io/px4-dev-nuttx:2019-02-09'
+          args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
         }
-
-        stage('px4_fmu-v4_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-            }
-          }
-          steps {
-            sh 'export'
+      }
+      steps {
+        sh 'export'
+        sh 'make distclean'
+        sh 'ccache -z'
+        sh 'git fetch --tags'
+        sh 'make px4_fmu-v5_default'
+        sh 'make sizes'
+        sh 'ccache -s'
+        stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
+      }
+      post {
+        always {
             sh 'make distclean'
-            sh 'ccache -z'
-            sh 'git fetch --tags'
-            sh 'make px4_fmu-v4_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v4_default/px4_fmu-v4_default.elf', name: 'px4_fmu-v4_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
         }
-
-        stage('px4_fmu-v4pro_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              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 px4_fmu-v4pro_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf', name: 'px4_fmu-v4pro_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v5_default') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              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 px4_fmu-v5_default'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v5_default/px4_fmu-v5_default.elf', name: 'px4_fmu-v5_default'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-        stage('px4_fmu-v5_stackcheck') {
-          agent {
-            docker {
-              image 'px4io/px4-dev-nuttx:2019-02-09'
-              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 px4_fmu-v5_stackcheck'
-            sh 'make sizes'
-            sh 'ccache -s'
-            stash includes: 'build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf', name: 'px4_fmu-v5_stackcheck'
-          }
-          post {
-            always {
-                sh 'make distclean'
-            }
-          }
-        }
-
-      } // parallel
+      }
     } // stage Build
 
     stage('Flash and Run') {
-
-      parallel {
-
-        stage('px4_fmu-v2_test') {
-          agent {
-            label 'px4_fmu-v2'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v2_test'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v2_test/px4_fmu-v2_test.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                //sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v3_default') {
-          agent {
-            label 'px4_fmu-v3'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v3_default'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v3_default/px4_fmu-v3_default.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v3_default (pixhack-v3)') {
-          agent {
-            label 'pixhack-v3'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v3_default'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v3_default/px4_fmu-v3_default.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v4_default') {
-          agent {
-            label 'px4_fmu-v4'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v4_default'
-                sh ''' gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v4_default/px4_fmu-v4_default.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v4pro_default') {
-          agent {
-            label 'px4_fmu-v4pro'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v4pro_default'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v5_default') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_default'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v5_default/px4_fmu-v5_default.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
-          }
-        }
-
-        stage('px4_fmu-v5_stackcheck') {
-          agent {
-            label 'px4_fmu-v5'
-          }
-          steps {
-            script {
-              try {
-                sh 'export'
-                sh 'find /dev/serial'
-                unstash 'px4_fmu-v5_stackcheck'
-                sh '''gdb-multiarch -nx --batch \
-                      -ex "target remote localhost:2331" \
-                      -ex "monitor reset 0" \
-                      -ex "load" \
-                      -ex "compare-sections" \
-                      -ex "monitor reset 0" \
-                      -ex "monitor sleep 1000" \
-                      -ex "monitor go" \
-                      -ex "kill" \
-                      build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf
-                '''
-                sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
-                sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
-              } catch (Exception err) {
-                  // always report passed for now
-                  currentBuild.result = 'SUCCESS'
-              }
-            } // script
-          }
-          options {
-            timeout(time: 600, unit: 'SECONDS')
+      agent {
+        label 'px4_fmu-v5'
+      }
+      steps {
+        parallel(
+          'Flashing': {
+            timeout(time: 300, unit: 'SECONDS') {
+              sh 'export'
+              sh 'find /dev/serial'
+              unstash 'px4_fmu-v5_default'
+              sh '''gdb-multiarch -nx --batch \
+                    -ex "target remote localhost:2331" \
+                    -ex "monitor reset 0" \
+                    -ex "load" \
+                    -ex "compare-sections" \
+                    -ex "monitor reset 0" \
+                    -ex "continue" \
+                    build/px4_fmu-v5_default/px4_fmu-v5_default.elf
+              '''
+            }
+          },
+          'Testing': {
+            timeout(time: 600, unit: 'SECONDS') {
+              sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*` --baudrate 57600'
+              sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_TTL232R-3V3_*`'
+            }
           }
-        }
-
-      } // parallel
+        )
+      } // steps
     } // stage Flash
 
   } // stages
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index f5f250cba179..eea08a91e74f 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -350,12 +350,16 @@ 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}'
+	COMMAND ${GDB} -nx -batch
 		-ex 'target remote localhost:2331'
-		-ex 'monitor reset'
+		-ex 'monitor reset 0'
 		-ex 'load'
+		-ex 'compare-sections'
+		-ex 'monitor reset 0'
+		-ex 'monitor sleep 1000'
+		-ex 'monitor go'
 		-ex 'kill'
+		-ex 'quit'
 		$<TARGET_FILE:px4>
 	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
@@ -364,12 +368,15 @@ add_custom_target(jlink_upload
 
 add_custom_target(jlink_debug
 	COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/Debug/jlink.sh
-	COMMAND ${GDB} --nh
+	COMMAND ${GDB} -nh
 		-iex 'set auto-load safe-path ${PX4_BINARY_DIR}'
 		-ex 'target remote localhost:2331'
-		-ex 'monitor reset'
+		-ex 'monitor reset 0'
 		-ex 'load'
-		-ex 'monitor reset'
+		-ex 'compare-sections'
+		-ex 'monitor reset 0'
+		-ex 'monitor sleep 1000'
+		-ex 'monitor go'
 		-ex 'continue'
 		$<TARGET_FILE:px4>
 	DEPENDS px4 ${PX4_BINARY_DIR}/.gdbinit
diff --git a/platforms/nuttx/Debug/gdbinit.in b/platforms/nuttx/Debug/gdbinit.in
index 3996e71fd573..fbc62d331eb9 100644
--- a/platforms/nuttx/Debug/gdbinit.in
+++ b/platforms/nuttx/Debug/gdbinit.in
@@ -1,6 +1,11 @@
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4
+help px4
+
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/NuttX
+help nuttx
+
 source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/ARMv7M
+help armv7m
 
 set mem inaccessible-by-default off
 
diff --git a/platforms/nuttx/Debug/jlink.sh b/platforms/nuttx/Debug/jlink.sh
index 3d4873aff905..e0b58ee963c9 100755
--- a/platforms/nuttx/Debug/jlink.sh
+++ b/platforms/nuttx/Debug/jlink.sh
@@ -1,3 +1,8 @@
 #! /bin/sh
 
-JLinkGDBServerCLExe -startserver -USB -device Cortex-M4 -if SWD -speed auto > jlink.log &
+killall JLinkGDBServerCLExe
+
+
+# CONFIG_ARCH_CHIP_STM32F427V
+# CONFIG_STM32_STM32F427
+JLinkGDBServerCLExe -device STM32F427II -select usb -silent -endian little -if SWD -speed auto -ir -LocalhostOnly 1 -strict -vd -singlerun &