diff --git a/Jenkinsfile b/Jenkinsfile
index 105ca424de7d..11f7891dab48 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -7,37 +7,16 @@ pipeline {
         script {
           def builds = [:]
 
+          def docker_base = "px4io/px4-dev-base:2017-12-30"
+          def docker_nuttx = "px4io/px4-dev-nuttx:2017-12-30"
+          def docker_rpi = "px4io/px4-dev-raspi:2017-12-30"
+          def docker_armhf = "px4io/px4-dev-armhf:2017-12-30"
+          def docker_arch = "px4io/px4-dev-base-archlinux:2017-12-30"
 
           // nuttx default targets that are archived and uploaded to s3
           for (def option in ["px4fmu-v4", "px4fmu-v4pro", "px4fmu-v5", "aerofc-v1"]) {
             def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      // bloaty output and compare with last successful master
-                      sh "bloaty -n 100 -d symbols -s file build/nuttx_${node_name}_default/nuttx_${node_name}_default.elf"
-                      sh "bloaty -n 100 -d compileunits -s file build/nuttx_${node_name}_default/nuttx_${node_name}_default.elf"
-                      sh "wget --no-verbose -N https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_${node_name}_default.elf"
-                      sh "bloaty -d symbols -C full -s file build/nuttx_${node_name}_default/nuttx_${node_name}_default.elf -- nuttx_${node_name}_default.elf"
-                      sh "make nuttx_${node_name}_rtps"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                      archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
+            builds[node_name] = createBuildNode(docker_nuttx, "nuttx_${node_name}_default")
           }
 
 
@@ -61,6 +40,8 @@ pipeline {
                     sh "bloaty -d symbols -C full -s file build/nuttx_px4fmu-v2_default/nuttx_px4fmu-v2_default.elf -- nuttx_px4fmu-v2_default.elf"
                     sh "make nuttx_px4fmu-v2_lpe"
                     sh "make nuttx_px4fmu-v3_default"
+                    sh "wget --no-verbose -N https://s3.amazonaws.com/px4-travis/Firmware/master/nuttx_px4fmu-v3_default.elf"
+                    sh "bloaty -d symbols -C full -s file 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"
@@ -72,126 +53,25 @@ pipeline {
             }
           }
 
-
           // nuttx default targets that are archived and uploaded to s3
           for (def option in ["aerocore2", "auav-x21", "crazyflie", "mindpx-v2", "nxphlite-v3", "tap-v1"]) {
             def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "git fetch --tags"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                      archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
-                      archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
-                    }
-                  }
-                }
-              }
-            }
+            builds[node_name] = createBuildNode(docker_nuttx, "nuttx_${node_name}_default")
           }
 
-
           // other nuttx default targets
           for (def option in ["px4-same70xplained-v1", "px4-stm32f4discovery", "px4cannode-v1", "px4esc-v1", "px4nucleoF767ZI-v1", "s2740vc-v1"]) {
             def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-nuttx:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "make nuttx_${node_name}_default"
-                      sh "make sizes"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
+            builds[node_name] = createBuildNode(docker_nuttx, "nuttx_${node_name}_default")
           }
 
+          builds["posix_sitl"] = createBuildNode(docker_base, "posix_sitl_default")
+          builds["posix_sitl_default (GCC 7)"] = createBuildNode(docker_arch, "posix_sitl_default")
 
-          // posix_sitl
-          for (def option in ["sitl_default", "sitl_rtps"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-base:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // raspberry pi and bebop (armhf)
-          for (def option in ["rpi_cross", "bebop_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-raspi:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
-
-          // other armhf (to be merged with raspi and bebop)
-          for (def option in ["ocpoc_ubuntu"]) {
-            def node_name = "${option}"
-
-            builds["${node_name}"] = {
-              node {
-                stage("Build Test ${node_name}") {
-                  docker.image('px4io/px4-dev-armhf:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
+          builds["rpi"] = createBuildNode(docker_rpi, "posix_rpi_cross")
+          builds["bebop"] = createBuildNode(docker_rpi, "posix_bebop_default")
 
+          builds["ocpoc"] = createBuildNode(docker_armhf, "posix_ocpoc_ubuntu")
 
           // snapdragon eagle (posix + qurt)
           for (def option in ["eagle_default"]) {
@@ -217,33 +97,10 @@ pipeline {
             }
           }
 
-
-          // GCC7 posix
-          for (def option in ["sitl_default"]) {
-            def node_name = "${option}"
-
-            builds["${node_name} (GCC7)"] = {
-              node {
-                stage("Build Test ${node_name} (GCC7)") {
-                  docker.image('px4io/px4-dev-base-archlinux:2017-12-30').inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
-                    stage("${node_name}") {
-                      checkout scm
-                      sh "export"
-                      sh "make distclean"
-                      sh "ccache -z"
-                      sh "make posix_${node_name}"
-                      sh "ccache -s"
-                    }
-                  }
-                }
-              }
-            }
-          }
-
           parallel builds
-        }
-      }
-    }
+        } // script
+      } // steps
+    } // stage Builds
 
     stage('Test') {
       parallel {
@@ -588,6 +445,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'export'
             sh 'make distclean'
             sh 'make airframe_metadata'
             archiveArtifacts(artifacts: 'airframes.md, airframes.xml', fingerprint: true)
@@ -599,6 +457,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'export'
             sh 'make distclean'
             sh 'make parameters_metadata'
             archiveArtifacts(artifacts: 'parameters.md, parameters.xml', fingerprint: true)
@@ -610,6 +469,7 @@ pipeline {
             docker { image 'px4io/px4-dev-base:2017-12-30' }
           }
           steps {
+            sh 'export'
             sh 'make distclean'
             sh 'make module_documentation'
             archiveArtifacts(artifacts: 'modules/*.md', fingerprint: true)
@@ -656,7 +516,30 @@ pipeline {
     CI = true
   }
   options {
-    buildDiscarder(logRotator(numToKeepStr: '5'))
+    buildDiscarder(logRotator(numToKeepStr: '10'))
     timeout(time: 60, unit: 'MINUTES')
   }
 }
+
+def createBuildNode(String docker_repo, String target) {
+  return {
+    node {
+      docker.image(docker_repo).inside('-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw') {
+        stage(target) {
+          sh('export')
+          checkout scm
+          sh('make distclean')
+          sh('git fetch --tags')
+          sh('ccache -z')
+          sh('make ' + target)
+          sh('ccache -s')
+          sh('make sizes')
+          sh('bloaty -n 100 -d symbols -s file build/' + target + '/' + target + '.elf')
+          sh('bloaty -n 100 -d compileunits -s file build/' + target + '/' + target + '.elf')
+          archiveArtifacts(artifacts: 'build/*/*.px4', fingerprint: true)
+          archiveArtifacts(artifacts: 'build/*/*.elf', fingerprint: true)
+        }
+      }
+    }
+  }
+}