diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index 061e567d33..79b829881e 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -202,6 +202,16 @@ function(px4_nuttx_add_export)
 	    add_dependencies(nuttx_patch nuttx_patch_${patch_name})
 	endforeach()
 
+	# Read defconfig to see if CONFIG_ARMV7M_STACKCHECK is yes 
+	# note: CONFIG will be BOARD in the future evaluation of ${hw_stack_check_${CONFIG}
+	file(STRINGS "${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig"
+		hw_stack_check_${CONFIG}
+		REGEX "CONFIG_ARMV7M_STACKCHECK=y"
+		)
+	if ("${hw_stack_check_${CONFIG}}" STREQUAL "CONFIG_ARMV7M_STACKCHECK=y")
+		set(config_nuttx_hw_stack_check_${CONFIG} y CACHE INTERNAL "" FORCE)
+	endif()
+
 	# copy and export
 	file(GLOB_RECURSE config_files ${CMAKE_SOURCE_DIR}/nuttx-configs/${CONFIG}/*)
 	add_custom_command(OUTPUT ${CMAKE_BINARY_DIR}/${CONFIG}.export
@@ -428,6 +438,16 @@ function(px4_os_add_flags)
 
 	set(added_exe_linker_flags) # none currently
 
+	set(instrument_flags)
+	if ("${config_nuttx_hw_stack_check_${BOARD}}" STREQUAL "y")
+		set(instrument_flags
+			-finstrument-functions
+			-ffixed-r10
+			)
+		list(APPEND c_flags ${instrument_flags})
+		list(APPEND cxx_flags ${instrument_flags})
+	endif()
+
 	set(cpu_flags)
 	if (${BOARD} STREQUAL "px4fmu-v1")
 		set(cpu_flags