diff --git a/cmake/builtin_commands.c.cmake b/cmake/builtin_commands.c.cmake
index 09c611d0dd..53c69b98ef 100644
--- a/cmake/builtin_commands.c.cmake
+++ b/cmake/builtin_commands.c.cmake
@@ -2,8 +2,6 @@
 #include <nuttx/config.h>
 #include <nuttx/binfmt/builtin.h>
 #include <nuttx/config.h>
-uint8_t romfs_img_len = 0;
-uint8_t romfs_img[] = {};
 ${builtin_apps_decl_string}
 const struct builtin_s g_builtins[] = {
 ${builtin_apps_string}
diff --git a/cmake/px4_impl_nuttx.cmake b/cmake/px4_impl_nuttx.cmake
index 6d44c16b9b..ec7019a231 100644
--- a/cmake/px4_impl_nuttx.cmake
+++ b/cmake/px4_impl_nuttx.cmake
@@ -262,14 +262,15 @@ function(px4_bin_to_obj)
 		REQUIRED BIN OBJ VAR
 		ARGN ${ARGN})
 
-	string(REPLACE "/" " " _tmp ${BIN})
-	string(REPLACE "/" " " sym ${_tmp})
-	message(STATUS "sym: ${sym}")
+	string(REPLACE "/" "_" _tmp ${BIN})
+	string(REPLACE "." "_" _tmp ${_tmp})
+	string(REPLACE "-" "_" sym "_binary_${_tmp}")
+	#message(STATUS "sym: ${sym}")
 
 	separate_arguments(CMAKE_C_FLAGS)
 
 	add_custom_command(OUTPUT ${OBJ}
-		COMMAND ${TOUCH} ${OBJ}.c
+		COMMAND ${ECHO} > ${OBJ}.c
 		COMMAND ${CMAKE_C_COMPILER} ${CMAKE_C_FLAGS} -c ${OBJ}.c -o ${OBJ}.c.o
 		COMMAND ${LD} -r -o ${OBJ}.bin.o ${OBJ}.c.o -b binary ${BIN}
 		COMMAND ${NM} -p --radix=x ${OBJ}.bin.o
@@ -283,6 +284,7 @@ function(px4_bin_to_obj)
 			--strip-symbol ${sym}_size
 			--strip-symbol ${sym}_end
 			--rename-section .data=.rodata
+		# useful to comment remove statement when debugging
 		COMMAND ${RM} ${OBJ}.c ${OBJ}.c.o ${OBJ}.bin.o
 		DEPENDS ${BIN}
 		VERBATIM
@@ -334,7 +336,7 @@ function(px4_nuttx_generate_romfs)
 
 	px4_bin_to_obj(OBJ ${OUT}
 		BIN ${CMAKE_CURRENT_BINARY_DIR}/romfs.bin
-		VAR romfs)
+		VAR romfs_img)
 
 endfunction()
 
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 647797b304..55be37483d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -70,9 +70,6 @@ if (${OS} STREQUAL "nuttx")
 	px4_add_upload(OUT upload OS ${OS} BOARD ${BOARD}
 		BUNDLE ${CMAKE_CURRENT_BINARY_DIR}/fw_main.px4)
 
-	px4_nuttx_generate_romfs(OUT ${CMAKE_CURRENT_BINARY_DIR}/romfs.img
-		ROOT ${CMAKE_SOURCE_DIR}/ROMFS/px4fmu_common)
-
 elseif(${OS} STREQUAL "qurt")
 	set(module_list)
 	px4_qurt_add_modules(module_list ${BOARD})