diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 12ac585d36..e3b5138d43 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -186,29 +186,12 @@ configure_file(gdbinit.in .gdbinit)
 add_custom_target(debug
 	COMMAND ${GDB} $<TARGET_FILE:${FW_NAME}>
 	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
+	USES_TERMINAL
+	)
+	
+add_custom_target(profile
+	COMMAND ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh --elf=$<TARGET_FILE:${FW_NAME}> --nsamples=10000
+	DEPENDS ${FW_NAME} ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/poor-mans-profiler.sh
+	USES_TERMINAL
 	)
 
-add_custom_target(debug_tui
-	COMMAND ${GDBTUI} $<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
-
-add_custom_target(debug_ddd
-	COMMAND ${DDD} --debugger ${GDB} $<TARGET_FILE:${FW_NAME}>
-	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
-
-add_custom_target(debug_io
-	COMMAND ${GDB} ${fw_io_path}
-	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
-
-add_custom_target(debug_io_tui
-	COMMAND ${GDBTUI} ${fw_io_path}
-	DEPENDS ${FW_NAME} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
-
-add_custom_target(debug_io_ddd
-	COMMAND ${DDD} --debugger ${GDB} ${fw_io_path}}
-	DEPENDS ${fw_io} ${CMAKE_CURRENT_BINARY_DIR}/.gdbinit
-	)
diff --git a/platforms/nuttx/Debug/dot.gdbinit b/platforms/nuttx/Debug/dot.gdbinit
deleted file mode 100644
index 315e0f0601..0000000000
--- a/platforms/nuttx/Debug/dot.gdbinit
+++ /dev/null
@@ -1,13 +0,0 @@
-# copy the file to .gdbinit in your Firmware tree, and adjust the path
-# below to match your system
-# For example:
-# target extended /dev/serial/by-id/usb-Black_Sphere_Technologies_Black_Magic_Probe_DDE5A1C4-if00
-# target extended /dev/ttyACM4
-
-
-monitor swdp_scan
-attach 1
-monitor vector_catch disable hard
-set mem inaccessible-by-default off
-set print pretty
-source platforms/nuttx/Debug/PX4
diff --git a/platforms/nuttx/Debug/poor-mans-profiler.sh b/platforms/nuttx/Debug/poor-mans-profiler.sh
index 10af1c159a..4f4add5532 100755
--- a/platforms/nuttx/Debug/poor-mans-profiler.sh
+++ b/platforms/nuttx/Debug/poor-mans-profiler.sh
@@ -102,12 +102,19 @@ then
     do
         if [[ "$taskname" = "" ]]
         then
-            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" -ex bt \
+            arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "target extended /dev/ttyACM0" \
+                                           -ex "monitor swdp_scan" \
+                                           -ex "attach 1" \
+                                           -ex bt \
                 2> $gdberrfile \
                 | sed -n 's/\(#.*\)/\1/p' \
                 >> $stacksfile
         else
             arm-none-eabi-gdb $elf --batch -ex "set print asm-demangle on" \
+                                           -ex "target extended /dev/ttyACM0" \
+                                           -ex "monitor swdp_scan" \
+                                           -ex "attach 1" \
                                            -ex "source $root/platforms/nuttx/Debug/Nuttx.py" \
                                            -ex "show mybt $taskname" \
                 2> $gdberrfile \
diff --git a/platforms/nuttx/gdbinit.in b/platforms/nuttx/gdbinit.in
index 665c601375..5cd252d843 100644
--- a/platforms/nuttx/gdbinit.in
+++ b/platforms/nuttx/gdbinit.in
@@ -1,7 +1,10 @@
-target extended ${DEBUG_PORT}
+source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4
+source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/NuttX
+source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/ARMv7M
+
+target extended-remote ${DEBUG_PORT}
 monitor swdp_scan
 attach 1
 monitor vector_catch disable hard
 set mem inaccessible-by-default off
 set print pretty
-source ${PX4_SOURCE_DIR}/platforms/nuttx/Debug/PX4