diff --git a/Tools/nuttx_defconf_tool.sh b/Tools/nuttx_defconf_tool.sh
new file mode 100755
index 0000000000..125299712e
--- /dev/null
+++ b/Tools/nuttx_defconf_tool.sh
@@ -0,0 +1,48 @@
+#! /bin/bash
+
+if [ $# -eq 0 ]
+  then
+    echo "Usage: $0 <path to defconfig>"
+    exit 1
+fi
+configsdir=nuttx-configs
+defconf=$1
+configsrc=$configsdir${defconf##*$configsdir}
+
+if [ ! -f  $defconf ]
+  then
+    echo "$defconf does not exist"
+    exit 2
+fi
+
+
+lastconf=$defconf.last
+chunk=$defconf.chunk
+
+echo $configsrc
+git show HEAD:$configsrc > $lastconf
+
+lead='^# Board Selection$'
+tail='^# Common Board Options$'
+
+cat $lastconf | sed -n "/$lead/,/$tail/p" | sed '1d;$d' > $chunk
+
+echo "Fix up Board Selection"
+sed -i -e "/$lead/,/$tail/{ /$lead/{p; r $chunk
+        }; /$tail/p; d }" $defconf
+
+
+if grep --quiet CONFIG_START_YEAR $lastconf ; then
+  lead='^CONFIG_START_YEAR='
+  tail='^CONFIG_START_DAY='
+  cat $lastconf | sed -n "/$lead/,/$tail/p" > $chunk
+  lead='^# Clocks and Timers$'
+  echo "Fix up Clocks and Timers"
+  sed -i -e "/$lead/{N;{r $chunk
+    }}" $defconf
+else
+ echo not found
+fi
+
+rm $lastconf
+rm $chunk
\ No newline at end of file
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index aafbfc1d23..a41e74095a 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -304,14 +304,23 @@ function(px4_nuttx_add_export)
 		WORKING_DIRECTORY ${PX4_BINARY_DIR}
 		COMMENT "Configuring NuttX for ${CONFIG} with ${config_nuttx_config}")
 
-	# manual reconfigure helper
-	add_custom_target(reconfigure_nuttx_${CONFIG}
+	# manual reconfigure helpers
+	add_custom_target(oldconfig_${CONFIG}
 		COMMAND cd ${nuttx_src}/nuttx
 		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} oldconfig
+		COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		DEPENDS ${nuttx_src}/nuttx/.config
+		COMMENT "Running NuttX make oldconfig for ${CONFIG} with ${config_nuttx_config}"
+		USES_TERMINAL)
+
+	add_custom_target(menuconfig_${CONFIG}
+		COMMAND cd ${nuttx_src}/nuttx
 		COMMAND ${MAKE} -C ${nuttx_src}/nuttx CONFIG_ARCH_BOARD=${CONFIG} menuconfig
 		COMMAND ${CP} ${nuttx_src}/nuttx/.config ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
+		COMMAND ${PX4_SOURCE_DIR}/Tools/nuttx_defconf_tool.sh ${PX4_SOURCE_DIR}/nuttx-configs/${CONFIG}/${config_nuttx_config}/defconfig
 		DEPENDS ${nuttx_src}/nuttx/.config
-		COMMENT "Reconfiguring NuttX for ${CONFIG} with ${config_nuttx_config}"
+		COMMENT "Running NuttX make menuconfig for ${CONFIG} with ${config_nuttx_config}"
 		USES_TERMINAL)
 
 	# build and export