diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index 8bb3ed27c..677c3fbf6 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -52,14 +52,13 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES =  Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP FlightPlan
-
+MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
+PYMODULES = FlightPlan
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
 #MODULES = Telemetry
 #MODULES += Osd/OsdEtStd
 
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -124,17 +123,19 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-MODNAMES = $(notdir ${MODULES})
+MODNAMES = $(notdir ${MODULES} ${PYMODULES})
 
 ifndef TESTAPP
 
-## PyMite files
+## PyMite files and modules
 SRC += $(OUTDIR)/pmlib_img.c
 SRC += $(OUTDIR)/pmlib_nat.c
 SRC += $(OUTDIR)/pmlibusr_img.c
 SRC += $(OUTDIR)/pmlibusr_nat.c
-SRC += $(wildcard ${PYMITEVM}/*.c)
-SRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += $(wildcard ${PYMITEVM}/*.c)
+PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += $(PYSRC)
 
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
@@ -317,7 +318,7 @@ EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 EXTRAINCDIRS  += $(AHRSBOOTLOADERINC)
 EXTRAINCDIRS  += $(PYMITEINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 
 # List any extra directories to look for library files here.
@@ -481,7 +482,7 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
 # Default target.
-all: gencode gccversion build
+all: gccversion build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex lss sym
@@ -500,6 +501,8 @@ endif
 # Generate intermediate code
 gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
 
+$(PYSRC): gencode
+
 # Generate code for module initialization
 ${OUTDIR}/InitMods.c: Makefile
 	@echo $(MSG_MODINIT) $(call toprel, $@)