diff --git a/Jenkinsfile b/Jenkinsfile
index 51cace3605..5845267f70 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -2,16 +2,6 @@ pipeline {
   agent none
   stages {
 
-    stage('Style Check') {
-      agent {
-        docker { image 'px4io/px4-dev-base:2018-03-30' }
-      }
-
-      steps {
-        sh 'make check_format'
-      }
-    }
-
     stage('Build') {
       steps {
         script {
@@ -38,20 +28,19 @@ pipeline {
                     sh "make distclean"
                     sh "ccache -z"
                     sh "git fetch --tags"
-                    sh "make px4io-v2_default"
+                    sh "make nuttx_px4io-v2_default"
+                    sh "make nuttx_px4io-v2_default bloaty_symbols"
+                    sh "make nuttx_px4io-v2_default bloaty_compileunits"
+                    sh "make nuttx_px4io-v2_default bloaty_compare_master"
                     sh "make nuttx_px4fmu-v2_default"
-                    // bloaty output and compare with last successful master
-                    sh "bloaty -d symbols -n 100 -s vm build/nuttx_px4fmu-v2_default/nuttx_px4fmu-v2_default.elf"
-                    sh "bloaty -d compileunits -n 100 -s vm build/nuttx_px4fmu-v2_default/nuttx_px4fmu-v2_default.elf"
-                    sh "wget --no-verbose -N https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_px4fmu-v2_default.elf"
-                    sh "bloaty -d symbols -n 100 -C full -s file build/nuttx_px4fmu-v2_default/nuttx_px4fmu-v2_default.elf -- nuttx_px4fmu-v2_default.elf"
+                    sh "make nuttx_px4fmu-v2_default bloaty_symbols"
+                    sh "make nuttx_px4fmu-v2_default bloaty_compileunits"
+                    sh "make nuttx_px4fmu-v2_default bloaty_inlines"
+                    sh "make nuttx_px4fmu-v2_default bloaty_templates"
+                    sh "make nuttx_px4fmu-v2_default bloaty_compare_master"
                     sh "make nuttx_px4fmu-v2_lpe"
                     sh "make nuttx_px4fmu-v2_test"
                     sh "make nuttx_px4fmu-v3_default"
-                    sh "bloaty -d symbols -n 100 -s vm build/nuttx_px4fmu-v3_default/nuttx_px4fmu-v3_default.elf"
-                    sh "bloaty -d compileunits -n 100 -s vm build/nuttx_px4fmu-v3_default/nuttx_px4fmu-v3_default.elf"
-                    sh "wget --no-verbose -N https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_px4fmu-v3_default.elf"
-                    sh "bloaty -d symbols -n 100 -C full -s vm build/nuttx_px4fmu-v3_default/nuttx_px4fmu-v3_default.elf -- nuttx_px4fmu-v3_default.elf"
                     sh "make nuttx_px4fmu-v3_rtps"
                     sh "make sizes"
                     sh "ccache -s"
@@ -130,6 +119,16 @@ pipeline {
     stage('Test') {
       parallel {
 
+        stage('Style Check') {
+          agent {
+            docker { image 'px4io/px4-dev-base:2018-03-30' }
+          }
+
+          steps {
+            sh 'make check_format'
+          }
+        }
+
         stage('clang analyzer') {
           agent {
             docker {
diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 8994eadba0..090ff7ec2f 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -103,6 +103,8 @@ target_link_libraries(${FW_NAME} PRIVATE
 	-Wl,--start-group
 	${nuttx_libs}
 	-Wl,--end-group
+
+	m
 	)
 
 target_link_libraries(${FW_NAME} PRIVATE ${module_libraries})
@@ -219,6 +221,47 @@ add_custom_target(stack_check
 	VERBATIM
 	)
 
+find_program(BLOATY_PROGRAM bloaty)
+if (BLOATY_PROGRAM)
+	# bloaty symbols
+	add_custom_target(bloaty_symbols
+		COMMAND ${BLOATY_PROGRAM} -d symbols -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME}
+		USES_TERMINAL
+		)
+
+	# bloaty compilation units
+	add_custom_target(bloaty_compileunits
+		COMMAND ${BLOATY_PROGRAM} -d compileunits -C full -n 50 -s vm $<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME}
+		USES_TERMINAL
+		)
+
+	# bloaty templates
+	add_custom_target(bloaty_templates
+		COMMAND ${BLOATY_PROGRAM} -d shortsymbols,fullsymbols -n 50 $<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME}
+		USES_TERMINAL
+		)
+
+	# bloaty inlines
+	add_custom_target(bloaty_inlines
+		COMMAND ${BLOATY_PROGRAM} -d inlines -C full -n 50 $<TARGET_FILE:${FW_NAME}>
+		DEPENDS ${FW_NAME}
+		USES_TERMINAL
+		)
+
+	# bloaty compare with last master build
+	add_custom_target(bloaty_compare_master
+		COMMAND wget --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${FW_NAME} -O master_${FW_NAME}
+		COMMAND ${BLOATY_PROGRAM} -d symbols -n 50 -C full -s vm $<TARGET_FILE:${FW_NAME}> -- master_${FW_NAME}
+		DEPENDS ${FW_NAME}
+		WORKING_DIRECTORY ${PX4_BINARY_DIR}
+		VERBATIM
+		USES_TERMINAL
+		)
+endif()
+
 # debugger helpers
 configure_file(gdbinit.in .gdbinit)
 
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index f48bd9ec6e..d92584f4be 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -47,7 +47,7 @@ px4_add_module(
 # include the px4io binary in ROMFS
 message(STATUS "Building and including ${config_io_board}")
 
-set(fw_io_exe "${PX4_SOURCE_DIR}/build/${config_io_board}_default/nuttx_${config_io_board}_default.elf")
+set(fw_io_exe "${PX4_SOURCE_DIR}/build/nuttx_${config_io_board}_default/nuttx_${config_io_board}_default.elf")
 set(fw_io_bin "${PX4_BINARY_DIR}/genromfs/${config_romfs_root}/extras/${config_io_board}.bin")
 
 file(GLOB_RECURSE px4io_driver_files ${PX4_SOURCE_DIR}/src/drivers/boards/${config_io_board}/*)
@@ -55,7 +55,7 @@ file(GLOB_RECURSE px4io_config_files ${PX4_SOURCE_DIR}/platforms/nuttx/NuttX/con
 file(GLOB_RECURSE px4io_firmware_files ${PX4_SOURCE_DIR}/src/modules/px4iofirmware/*)
 file(GLOB_RECURSE px4io_rc_files ${PX4_SOURCE_DIR}/src/lib/rc/*)
 add_custom_command(OUTPUT ${fw_io_exe}
-	COMMAND make --no-print-directory ${config_io_board}_default
+	COMMAND make --no-print-directory nuttx_${config_io_board}_default
 	DEPENDS ${px4io_driver_files} ${px4io_config_files} ${px4io_firmware_files} ${px4io_rc_files}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Building ${config_io_board}"