diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index 49d834c9a436..deed1582c7ca 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -416,6 +416,7 @@ function(px4_add_upload)
 		list(APPEND serial_ports
 			/dev/serial/by-id/usb-3D_Robotics*
 			/dev/serial/by-id/pci-3D_Robotics*
+			/dev/serial/by-id/usb-Laser_Navigation*
 			)
 	elseif(${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Darwin")
 		list(APPEND serial_ports
diff --git a/cmake/nuttx/px4_impl_nuttx.cmake b/cmake/nuttx/px4_impl_nuttx.cmake
index ccf85984414d..430eb0e9fb7f 100644
--- a/cmake/nuttx/px4_impl_nuttx.cmake
+++ b/cmake/nuttx/px4_impl_nuttx.cmake
@@ -519,6 +519,54 @@ function(px4_os_add_flags)
 			-mthumb
 			-march=armv7-m
 			)
+	elseif (${BOARD} STREQUAL "vrbrain-v51")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "vrbrain-v52")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "vrbrain-v54")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "vrubrain-v51")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "vrubrain-v52")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
+	elseif (${BOARD} STREQUAL "vrcore-v10")
+		set(cpu_flags
+			-mcpu=cortex-m4
+			-mthumb
+			-march=armv7e-m
+			-mfpu=fpv4-sp-d16
+			-mfloat-abi=hard
+			)
 	endif()
 	list(APPEND c_flags ${cpu_flags})
 	list(APPEND cxx_flags ${cpu_flags})