diff --git a/platforms/nuttx/CMakeLists.txt b/platforms/nuttx/CMakeLists.txt
index 07c9a3d9089d..fdd823f64e35 100644
--- a/platforms/nuttx/CMakeLists.txt
+++ b/platforms/nuttx/CMakeLists.txt
@@ -258,7 +258,7 @@ if (CONFIG_BUILD_KERNEL)
 		COMMAND mv ${PX4_BINARY_DIR}/bin/nsh ${PX4_BINARY_DIR}/init
 		COMMAND install -D ${PX4_BINARY_DIR}/init -t ${PX4_BINARY_DIR}/boot
 		COMMAND rm -f ${PX4_BINARY_DIR}/init
-		DEPENDS ${PX4_BINARY_DIR}/bin/nsh
+		DEPENDS nuttx_app_bins
 	)
 	add_custom_target(boot_bins DEPENDS ${PX4_BINARY_DIR}/boot/init)
 
diff --git a/platforms/nuttx/NuttX/CMakeLists.txt b/platforms/nuttx/NuttX/CMakeLists.txt
index 042d175900e5..e48507409f0e 100644
--- a/platforms/nuttx/NuttX/CMakeLists.txt
+++ b/platforms/nuttx/NuttX/CMakeLists.txt
@@ -277,7 +277,6 @@ if (CONFIG_BUILD_KERNEL)
 			ELFLDNAME="${LDSCRIPT}"
 			USERLIBS="${userlibs}" > ${CMAKE_CURRENT_BINARY_DIR}/nuttx_apps_install.log
 		COMMAND touch nuttx_install.stamp
-		BYPRODUCTS ${PX4_BINARY_DIR}/bin/nsh
 		DEPENDS ${nuttx_userlibs} nuttx_startup
 	)
 	add_custom_target(nuttx_app_bins DEPENDS nuttx_install.stamp)
diff --git a/platforms/nuttx/cmake/bin_romfs.cmake b/platforms/nuttx/cmake/bin_romfs.cmake
index 113344dfbc0a..6d39205868f2 100644
--- a/platforms/nuttx/cmake/bin_romfs.cmake
+++ b/platforms/nuttx/cmake/bin_romfs.cmake
@@ -82,25 +82,29 @@ function(make_bin_romfs)
 
 	# Strip the elf files to reduce romfs image size
 
+	set(stripped_deps)
+
 	if (${STRIPPED} STREQUAL "y")
 		# Preserve the files with debug symbols
 
-		add_custom_target(debug_${OUTPREFIX}
+		add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_copy.stamp
 			COMMAND cp -r ${BINDIR}/. ${BINDIR}_debug
+			COMMAND touch ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_copy.stamp
 			DEPENDS ${DEPS}
 		)
 
+		add_custom_target(${OUTPREFIX}_copy DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_copy.stamp)
+
 		# Then strip the binaries in place
 
-		add_custom_command(OUTPUT ${OUTPREFIX}_stripped_bins
+		add_custom_command(OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_stripped.stamp
 			COMMAND for f in * \; do if [ -f "$$f" ]; then ${CMAKE_STRIP} $$f --strip-unneeded \; fi \; done
-			DEPENDS ${DEPS} debug_${OUTPREFIX}
+			COMMAND touch ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_stripped.stamp
+			DEPENDS ${DEPS} ${OUTPREFIX}_copy
 			WORKING_DIRECTORY ${BINDIR}
 		)
-	else()
-		add_custom_command(OUTPUT ${OUTPREFIX}_stripped_bins
-			COMMAND touch ${BINDIR}
-		)
+
+		list(APPEND stripped_deps ${CMAKE_CURRENT_BINARY_DIR}/${OUTPREFIX}_stripped.stamp)
 	endif()
 
 	# Make sure we have what we need
@@ -128,7 +132,7 @@ function(make_bin_romfs)
 				${SED} 's/^unsigned char/const unsigned char/g' >${OUTPREFIX}_romfsimg.h
 		COMMAND mv ${OUTPREFIX}_romfsimg.h ${OUTDIR}/${OUTPREFIX}_romfsimg.h
 		COMMAND rm -f ${OUTPREFIX}_romfs.img
-		DEPENDS ${OUTDIR} ${DEPS} ${OUTPREFIX}_stripped_bins
+		DEPENDS ${DEPS} ${stripped_deps}
 	)
 	add_custom_target(${OUTPREFIX}_romfsimg DEPENDS ${OUTDIR}/${OUTPREFIX}_romfsimg.h)