diff --git a/.dockerignore b/.dockerignore
index f6718b745..12934f01a 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -1,2 +1,7 @@
+.git/
 .vagrant/
-obj/
+.vscode/
+/build/
+/obj/
+/tools/
+/downloads/
diff --git a/Dockerfile b/Dockerfile
index 746733bbe..96f5c6ce4 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,26 +1,14 @@
-FROM ubuntu:bionic
+FROM ubuntu:focal
 
-# Configuration
-VOLUME /home/src/
-WORKDIR /home/src/
-ARG TOOLCHAIN_VERSION_SHORT
-ENV TOOLCHAIN_VERSION_SHORT ${TOOLCHAIN_VERSION_SHORT:-"9-2019q4"}
-ARG TOOLCHAIN_VERSION_LONG
-ENV TOOLCHAIN_VERSION_LONG ${TOOLCHAIN_VERSION_LONG:-"9-2019-q4-major"}
+ENV DEBIAN_FRONTEND noninteractive
 
-# Essentials
-RUN mkdir -p /home/src && \
-    apt-get update && \
-    apt-get install -y software-properties-common ruby make git gcc wget curl bzip2
-
-# Toolchain
-RUN wget -P /tmp "https://developer.arm.com/-/media/Files/downloads/gnu-rm/$TOOLCHAIN_VERSION_SHORT/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG-x86_64-linux.tar.bz2"
-RUN mkdir -p /opt && \
-	cd /opt && \
-    tar xvjf "/tmp/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG-x86_64-linux.tar.bz2" -C /opt && \
-	chmod -R -w "/opt/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG"
-
-ENV PATH="/opt/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG/bin:$PATH"
+RUN apt-get update && apt-get install -y git cmake make ruby gcc
 
 RUN useradd inav
+
 USER inav
+
+VOLUME /src
+
+WORKDIR /src/build
+ENTRYPOINT ["/src/cmake/docker.sh"]
diff --git a/build.sh b/build.sh
index d514ddfbf..59d9221b6 100755
--- a/build.sh
+++ b/build.sh
@@ -1,12 +1,32 @@
-if [ -z "$1" ]; then
-  echo "Usage syntax: ./build.sh <TARGET>"
+set -e
+
+if [[ $# == 0 ]]; then
+  echo -e "\
+Usage syntax: ./build.sh <TARGET>
+
+Notes:
+  * You can specify multiple targets.
+  * If no targets are specified, *all* of them will be built.
+  * To clean a target prefix it with \"clean_\".
+  * To clean all targets just use \"clean\"."
   exit 1
 fi
 
 if [ -z "$(docker images -q inav-build)" ]; then
   echo -e "*** Building image\n"
   docker build -t inav-build .
+  echo -ne "\n"
+fi
+
+if [ ! -d ./build ]; then
+  echo -e "*** Creating build directory\n"
+  mkdir ./build
 fi
 
-echo -e "*** Building target $1\n"
-docker run --rm -v "$(pwd)":/home/src/ inav-build make TARGET="$1"
+echo -e "*** Building targets [$@]\n"
+docker run --rm -it -v "$(pwd)":/src inav-build $@
+
+if ls ./build/*.hex &> /dev/null; then
+  echo -e "\n*** Built targets in ./build:"
+  stat -c "%n (%.19y)" ./build/*.hex
+fi
diff --git a/cmake/docker.sh b/cmake/docker.sh
new file mode 100755
index 000000000..3c10ebc8e
--- /dev/null
+++ b/cmake/docker.sh
@@ -0,0 +1,29 @@
+#!/bin/bash
+set -e
+
+LAST_CMAKE_AT_REV_FILE="docker_cmake.rev"
+CURR_REV="$(git rev-parse HEAD)"
+
+initialize_cmake() {
+    echo -e "*** CMake was not initialized yet, doing it now.\n"
+    cmake ..
+    echo "$CURR_REV" > "$LAST_CMAKE_AT_REV_FILE"
+}
+
+# Check if CMake has never been initialized
+if [ ! -f Makefile ]; then
+    initialize_cmake
+fi
+
+# Check if CMake was initialized for a different Git revision (new targets may have been added)
+if [ -f "$LAST_CMAKE_AT_REV_FILE" ]; then
+    LAST_CMAKE_AT_REV="$(cat $LAST_CMAKE_AT_REV_FILE)"
+    if [[ "$LAST_CMAKE_AT_REV" != "SKIP" ]] && [[ "$LAST_CMAKE_AT_REV" != "$CURR_REV" ]]; then
+        initialize_cmake
+    fi
+else
+    initialize_cmake
+fi
+
+# Let Make handle the arguments coming from the build script
+make "$@"
diff --git a/docs/development/Building in Docker.md b/docs/development/Building in Docker.md
index 8fc0b3f70..7e370cf91 100755
--- a/docs/development/Building in Docker.md	
+++ b/docs/development/Building in Docker.md	
@@ -28,7 +28,7 @@ You'll have to manually execute the same steps that the build script does:
 
 1. `docker build -t inav-build .`
    + This step is only needed the first time.
-2. `docker run --rm -v <PATH_TO_REPO>:/home/src/ inav-build make TARGET=<TARGET>`
+2. `docker run --rm -it -v <PATH_TO_REPO>:/src inav-build <TARGET>`
    + Where `<PATH_TO_REPO>` must be replaced with the absolute path of where you cloned this repo (see above), and `<TARGET>` with the name of the target that you want to build.
 
 Refer to the [Linux](#Linux) instructions or the [build script](/build.sh) for more details.
\ No newline at end of file