diff --git a/platforms/nuttx/cmake/jlink.cmake b/platforms/nuttx/cmake/jlink.cmake
index 324f651232d..c8ab8ca1f21 100644
--- a/platforms/nuttx/cmake/jlink.cmake
+++ b/platforms/nuttx/cmake/jlink.cmake
@@ -117,7 +117,7 @@ if(uavcan_bl_image_name)
 			COMMAND ${JLinkExe_PATH} -CommandFile ${PX4_BINARY_DIR}/flash_bin.jlink
 			DEPENDS
 				${PX4_SOURCE_DIR}/platforms/nuttx/Debug/flash_bin.jlink.in
-				${uavcan_bl_image_name}
+				${PX4_BINARY_DIR}/${uavcan_bl_image_name}
 			WORKING_DIRECTORY ${PX4_BINARY_DIR}
 			USES_TERMINAL
 		)
diff --git a/src/drivers/bootloaders/CMakeLists.txt b/src/drivers/bootloaders/CMakeLists.txt
index 71255071a1c..8472da88363 100644
--- a/src/drivers/bootloaders/CMakeLists.txt
+++ b/src/drivers/bootloaders/CMakeLists.txt
@@ -57,16 +57,18 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 		WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
 
-	if ("${uavcanbl_git_desc}" STREQUAL "")
+	if("${uavcanbl_git_desc}" STREQUAL "")
 		set(uavcanbl_git_desc ffffffff)
 	endif()
 	set(uavcan_bl_image_name ${HWBOARD_ID}-${SW_MAJOR}.${SW_MINOR}.${uavcanbl_git_desc}.uavcan.bin)
 	set(uavcan_bl_image_name "${uavcan_bl_image_name}" CACHE STRING "UAVCAN BL Image name" FORCE)
 	message(STATUS "Generating UAVCAN Bootable as ${uavcan_bl_image_name}")
-	add_custom_command(OUTPUT ${uavcan_bl_image_name} deploy/${HWBOARD_ID}.bin
+	add_custom_command(
+		OUTPUT
+			${PX4_BINARY_DIR}/${uavcan_bl_image_name}
+			${PX4_BINARY_DIR}/deploy/${HWBOARD_ID}.bin
 		COMMAND
-			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py
-				-v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
+			${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/make_can_boot_descriptor.py -v --use-git-hash ${PX4_BOARD}.bin ${uavcan_bl_image_name}
 		COMMAND
 			 COMMAND ${CMAKE_COMMAND} -E make_directory deploy
 		COMMAND
@@ -77,6 +79,6 @@ if(NOT "${PX4_BOARD_LABEL}" MATCHES  "canbootloader")
 		WORKING_DIRECTORY
 			${PX4_BINARY_DIR}
 	)
-	add_custom_target(build_uavcan_bl ALL DEPENDS ${uavcan_bl_image_name})
+	add_custom_target(build_uavcan_bl ALL DEPENDS ${PX4_BINARY_DIR}/${uavcan_bl_image_name})
 
 endif()