diff --git a/Makefile b/Makefile
index cb91bfaf5..0a0ac055c 100644
--- a/Makefile
+++ b/Makefile
@@ -255,8 +255,9 @@ ahrs_%: uavobjects_flight
 .PHONY: coptercontrol
 coptercontrol: coptercontrol_elf
 
-coptercontrol_%: uavobjects
+coptercontrol_%: uavobjgenerator
 	mkdir -p $(BUILD_DIR)/coptercontrol
+	$(MAKE) OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/CopterControl uavobjects
 	$(MAKE) OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" -C $(ROOT_DIR)/flight/CopterControl $*
 
 .PHONY: pipxtreme
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 3b6e14634..7bd7dd203 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -65,6 +65,30 @@ MODULES = Telemetry ManualControl Actuator CCAttitude #Stabilization
 #MODULES = Telemetry
 #MODULES += Osd/OsdEtStd
 
+# List of UAVObjects to include
+UAVOBJECTS = ObjectPersistence
+UAVOBJECTS += GCSTelemetryStats
+UAVOBJECTS += FlightTelemetryStats
+UAVOBJECTS += SystemStats
+UAVOBJECTS += SystemAlarms
+UAVOBJECTS += SystemSettings
+UAVOBJECTS += ActuatorCommand
+UAVOBJECTS += ActuatorDesired
+UAVOBJECTS += AttitudeRaw
+UAVOBJECTS += AttitudeActual
+UAVOBJECTS += AttitudeDesired
+UAVOBJECTS += ManualControlCommand
+UAVOBJECTS += TaskInfo
+UAVOBJECTS += I2CStats
+UAVOBJECTS += WatchdogStatus
+UAVOBJECTS += TelemetrySettings
+UAVOBJECTS += StabilizationSettings
+UAVOBJECTS += ActuatorSettings
+UAVOBJECTS += RateDesired
+UAVOBJECTS += AHRSSettings
+UAVOBJECTS += ManualControlSettings
+UAVOBJECTS += MixerSettings
+UAVOBJECTS += MixerStatus
 
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
@@ -82,7 +106,20 @@ BOOT_MODEL    = $(MODEL)_NB
 endif
 
 # Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../build/coptercontrol
+ROOT_DIR = $(CURDIR)/../..
+BUILD_DIR = $(ROOT_DIR)/build
+OUTDIR = $(BUILD_DIR)/coptercontrol
+
+# We almost need to consider autoconf/automake instead of this
+# I don't know if windows supports uname :-(
+UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/debug/uavobjgenerator.exe"
+UNAME := $(shell uname)
+ifeq ($(UNAME), Linux)
+  UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
+endif
+ifeq ($(UNAME), Darwin)
+  UAVOBJGENERATOR="$(BUILD_DIR)/ground/uavobjgenerator/uavobjgenerator"
+endif
 
 # Target file name (without extension).
 TARGET = CopterControl
@@ -131,7 +168,7 @@ PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
 
-OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
+OPUAVSYNTHDIR = $(OUTDIR)/uavobject-synthetics/flight
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
@@ -150,7 +187,8 @@ SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPSYSTEM)/taskmonitor.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
-SRC += $(OPUAVOBJ)/uavobjectsinit_cc.c
+#SRC += $(OPUAVOBJ)/uavobjectsinit_cc.c
+#will use uavobjectsinit.c generated specially for CopterControl instead
 SRC += $(OPUAVOBJ)/eventdispatcher.c
 else
 ## TESTCODE
@@ -162,33 +200,7 @@ endif
 
 ## UAVOBJECTS
 ifndef TESTAPP
-SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
-SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
-SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
-SRC += $(OPUAVSYNTHDIR)/systemstats.c
-SRC += $(OPUAVSYNTHDIR)/systemalarms.c
-SRC += $(OPUAVSYNTHDIR)/systemsettings.c
-SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
-SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
-SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
-SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
-SRC += $(OPUAVSYNTHDIR)/attituderaw.c
-SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
-SRC += $(OPUAVSYNTHDIR)/attitudedesired.c
-SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
-SRC += $(OPUAVSYNTHDIR)/taskinfo.c
-SRC += $(OPUAVSYNTHDIR)/i2cstats.c
-SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
-SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
-SRC += $(OPUAVSYNTHDIR)/ratedesired.c
-SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
-SRC += $(OPUAVSYNTHDIR)/mixersettings.c
-SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
-SRC += $(OPUAVSYNTHDIR)/ahrssettings.c
-#${wildcard ${OBJ}/$(shell echo $(VAR) | tr A-Z a-z)/*.c}
-#SRC += ${foreach OBJ, ${UAVOBJECTS}, $(UAVOBJECTS)/$(OBJ).c}
-# Cant use until i can automatically generate list of UAVObjects
-#SRC += ${OUTDIR}/InitObjects.c
+SRC += $(wildcard $(OPUAVSYNTHDIR)/*.c)
 endif
 
 ## PIOS Hardware (STM32F10x)
@@ -598,7 +610,7 @@ endif
 
 
 # Generate intermediate code for objects
-gencode: ${OUTDIR}/InitObjects.c ${OUTDIR}/InitMods.c
+gencode: ${OUTDIR}/InitMods.c
 
 # Generate code for object initialization
 ${OUTDIR}/InitObjects.c: Makefile
@@ -813,9 +825,23 @@ else
 -include $(shell mkdir -p $(OUTDIR) 2>/dev/null) $(shell mkdir $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
 endif
 
+UAVOBJ_XML_DIR := $(ROOT_DIR)/shared/uavobjectdefinition
+UAVOBJ_OUT_DIR := $(OUTDIR)/uavobject-synthetics
 
+$(UAVOBJ_OUT_DIR):
+ifdef ComSpec
+	$(shell md $(subst /,\\,$@) 2>NUL)
+else
+	$(shell mkdir -p $@ 2>/dev/null)
+endif
+
+uavobjects: $(UAVOBJ_OUT_DIR)
+	( cd $(UAVOBJ_OUT_DIR) ; \
+	  $(REMOVE) $(wildcard $(OPUAVSYNTHDIR)/*.c) ; \
+	  $(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(ROOT_DIR) $(UAVOBJECTS); \
+	)
 
 # Listing of phony targets.
 .PHONY : all begin finish end sizebefore sizeafter gccversion \
-build elf hex bin lss sym clean clean_list program gencode
+build elf hex bin lss sym clean clean_list program gencode uavobjects
 
diff --git a/flight/UAVObjects/uavobjectsinit_cc.c b/flight/UAVObjects/uavobjectsinit_cc.c
deleted file mode 100644
index 9a58eccf1..000000000
--- a/flight/UAVObjects/uavobjectsinit_cc.c
+++ /dev/null
@@ -1,102 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       uavobjectsinit.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Initialize all objects.
- *             Automatically generated by the UAVObjectGenerator.
- *
- * @note       This is an automatically generated file.
- *             DO NOT modify manually.
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "actuatorcommand.h"
-#include "actuatordesired.h"
-#include "actuatorsettings.h"
-#include "ahrscalibration.h"
-#include "ahrssettings.h"
-#include "ahrsstatus.h"
-#include "attitudeactual.h"
-#include "attitudedesired.h"
-#include "attituderaw.h"
-#include "baroaltitude.h"
-#include "batterysettings.h"
-#include "firmwareiapobj.h"
-#include "flightbatterystate.h"
-#include "flightplancontrol.h"
-#include "flightplansettings.h"
-#include "flightplanstatus.h"
-#include "flighttelemetrystats.h"
-#include "gcstelemetrystats.h"
-#include "gpsposition.h"
-#include "gpssatellites.h"
-#include "gpstime.h"
-#include "guidancesettings.h"
-#include "homelocation.h"
-#include "i2cstats.h"
-#include "manualcontrolcommand.h"
-#include "manualcontrolsettings.h"
-#include "mixersettings.h"
-#include "mixerstatus.h"
-#include "objectpersistence.h"
-#include "positionactual.h"
-#include "positiondesired.h"
-#include "ratedesired.h"
-#include "stabilizationsettings.h"
-#include "systemalarms.h"
-#include "systemsettings.h"
-#include "systemstats.h"
-#include "taskinfo.h"
-#include "telemetrysettings.h"
-#include "velocityactual.h"
-#include "velocitydesired.h"
-#include "watchdogstatus.h"
-
-/**
- * Function used to initialize the first instance of each object.
- * This file is automatically updated by the UAVObjectGenerator.
- */
-void UAVObjectsInitializeAll()
-{
-	ObjectPersistenceInitialize();
-	GCSTelemetryStatsInitialize();
-	FlightTelemetryStatsInitialize();
-	SystemStatsInitialize();
-	SystemAlarmsInitialize();
-	SystemSettingsInitialize();
-	ActuatorCommandInitialize();
-	ActuatorDesiredInitialize();
-	AttitudeRawInitialize();
-	AttitudeActualInitialize();
-	AttitudeDesiredInitialize();
-	ManualControlCommandInitialize();
-	TaskInfoInitialize();
-	I2CStatsInitialize();
-	WatchdogStatusInitialize();
-	TelemetrySettingsInitialize();
-	StabilizationSettingsInitialize();
-	ActuatorSettingsInitialize();
-	RateDesiredInitialize();
-	AHRSSettingsInitialize();
-	ManualControlSettingsInitialize();
-	MixerSettingsInitialize();
-	MixerStatusInitialize();
-}
diff --git a/shared/uavobjectdefinition/firmwareiap.xml b/shared/uavobjectdefinition/firmwareiapobj.xml
similarity index 100%
rename from shared/uavobjectdefinition/firmwareiap.xml
rename to shared/uavobjectdefinition/firmwareiapobj.xml