diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile
index b6697534d..09230f439 100644
--- a/flight/AHRS/Makefile
+++ b/flight/AHRS/Makefile
@@ -305,39 +305,16 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
+# # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
+
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/Bootloaders/AHRS/Makefile b/flight/Bootloaders/AHRS/Makefile
index 60bbc4755..f7d101443 100644
--- a/flight/Bootloaders/AHRS/Makefile
+++ b/flight/Bootloaders/AHRS/Makefile
@@ -291,31 +291,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -323,8 +300,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/Bootloaders/BootloaderUpdater/Makefile b/flight/Bootloaders/BootloaderUpdater/Makefile
index 264e94547..425513e64 100644
--- a/flight/Bootloaders/BootloaderUpdater/Makefile
+++ b/flight/Bootloaders/BootloaderUpdater/Makefile
@@ -64,8 +64,8 @@ USE_THUMB_MODE = YES
 # - MODEL used for linker-script name (-T) and passed as define
 # - BOARD just passed as define (optional)
 MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    ?= NULL
+CHIP     = STM32F103CBT
+BOARD    ?= NULL
 MODEL	 ?= NULL
 
 ifeq ($(USE_BOOTLOADER), YES)
@@ -330,41 +330,15 @@ else
 	quote = 
 endif
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 CC      = $(TCHAIN_PREFIX)gcc
diff --git a/flight/Bootloaders/CopterControl/Makefile b/flight/Bootloaders/CopterControl/Makefile
index ce0f9020b..89ed0d53d 100644
--- a/flight/Bootloaders/CopterControl/Makefile
+++ b/flight/Bootloaders/CopterControl/Makefile
@@ -370,40 +370,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/Bootloaders/OpenPilot/Makefile b/flight/Bootloaders/OpenPilot/Makefile
index 41d527d0d..81cce20e3 100644
--- a/flight/Bootloaders/OpenPilot/Makefile
+++ b/flight/Bootloaders/OpenPilot/Makefile
@@ -371,40 +371,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/Bootloaders/PipXtreme/Makefile b/flight/Bootloaders/PipXtreme/Makefile
index fe8a29636..7ec9e819d 100644
--- a/flight/Bootloaders/PipXtreme/Makefile
+++ b/flight/Bootloaders/PipXtreme/Makefile
@@ -370,40 +370,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_stm32f10x_$(MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/CopterControl/Makefile b/flight/CopterControl/Makefile
index 960d7c13c..a6ff62c70 100644
--- a/flight/CopterControl/Makefile
+++ b/flight/CopterControl/Makefile
@@ -478,31 +478,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -510,7 +487,6 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/INS/Makefile b/flight/INS/Makefile
index 28ec16803..8e0423a45 100644
--- a/flight/INS/Makefile
+++ b/flight/INS/Makefile
@@ -313,39 +313,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
+# # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index 7f029c515..e281af9bd 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -460,31 +460,8 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OOCD_EXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
 OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
@@ -492,7 +469,7 @@ OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
+
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/PipXtreme/Makefile b/flight/PipXtreme/Makefile
index b05faff07..0a78e561b 100644
--- a/flight/PipXtreme/Makefile
+++ b/flight/PipXtreme/Makefile
@@ -349,40 +349,15 @@ LDFLAGS += -lc -lgcc
 # Set linker-script name depending on selected submodel name
 LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
 
-# ---------------------------------------------------------------------------
-# Options for OpenOCD flash-programming
-# see openocd.pdf/openocd.texi for further information
-#
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf
-# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
-OOCD_EXE=openocd
-# debug level
-OOCD_CL=-d0
-# interface and board/target settings (using the OOCD target-library here)
-UNAME := $(shell uname)
-ifeq ($(UNAME), Darwin)
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg -f ../Project/OpenOCD/stm32.cfg
-else
-  OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.pipxtreme.cfg -f ../Project/OpenOCD/stm32.cfg
-endif
-# initialize
-OOCD_CL+=-c init
-# show the targets
-OOCD_CL+=-c targets
-# commands to prepare flash-write
-OOCD_CL+= -c "reset halt"
-# flash erase 
-OOCD_CL+=-c "stm32x mass_erase 0"
-# flash-write
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)" 
+OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
+# Program                                                                                                                                                                                                                            
+OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
 # Verify
 OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
 OOCD_CL+=-c shutdown
-# ---------------------------------------------------------------------------
-
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
diff --git a/flight/Project/OpenOCD/floss-jtag.ahrs.cfg b/flight/Project/OpenOCD/floss-jtag.ahrs.cfg
deleted file mode 100644
index f2555e55a..000000000
--- a/flight/Project/OpenOCD/floss-jtag.ahrs.cfg
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Floss JTAG for AHRS
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:103"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6667
-telnet_port 4445
diff --git a/flight/Project/OpenOCD/floss-jtag.openpilot.cfg b/flight/Project/OpenOCD/floss-jtag.openpilot.cfg
deleted file mode 100644
index d61d776b0..000000000
--- a/flight/Project/OpenOCD/floss-jtag.openpilot.cfg
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3333
-tcl_port 6666
-telnet_port 4444
diff --git a/flight/Project/OpenOCD/floss-jtag.openpilot.osx.cfg b/flight/Project/OpenOCD/floss-jtag.openpilot.osx.cfg
deleted file mode 100644
index cd5f8a28e..000000000
--- a/flight/Project/OpenOCD/floss-jtag.openpilot.osx.cfg
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-#ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3333
-tcl_port 6666
-telnet_port 4444
diff --git a/flight/Project/OpenOCD/floss-jtag.pipxtreme.cfg b/flight/Project/OpenOCD/floss-jtag.pipxtreme.cfg
deleted file mode 100644
index f2555e55a..000000000
--- a/flight/Project/OpenOCD/floss-jtag.pipxtreme.cfg
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Floss JTAG for AHRS
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:103"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6667
-telnet_port 4445
diff --git a/flight/Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg b/flight/Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg
deleted file mode 100644
index a2214c6f4..000000000
--- a/flight/Project/OpenOCD/floss-jtag.pipxtreme.osx.cfg
+++ /dev/null
@@ -1,15 +0,0 @@
-#
-# Floss JTAG OpenPilot
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-#ft2232_device_desc "Dual RS232-HS"
-#ft2232_bus_addr "002:088"
-#ft2232_serial "1234567890"
-ft2232_layout "usbjtag"
-ft2232_latency 2
-
-gdb_port 3334
-tcl_port 6666
-telnet_port 4444
diff --git a/flight/Project/OpenOCD/floss-jtag.cfg b/flight/Project/OpenOCD/floss-jtag.reva.cfg
similarity index 100%
rename from flight/Project/OpenOCD/floss-jtag.cfg
rename to flight/Project/OpenOCD/floss-jtag.reva.cfg
diff --git a/flight/Project/OpenOCD/floss-jtag.ahrs.osx.cfg b/flight/Project/OpenOCD/foss-jtag.revb.ahrs.cfg
similarity index 100%
rename from flight/Project/OpenOCD/floss-jtag.ahrs.osx.cfg
rename to flight/Project/OpenOCD/foss-jtag.revb.ahrs.cfg
diff --git a/flight/Project/OpenOCD/floss-jtag-revb.cfg b/flight/Project/OpenOCD/foss-jtag.revb.cfg
similarity index 100%
rename from flight/Project/OpenOCD/floss-jtag-revb.cfg
rename to flight/Project/OpenOCD/foss-jtag.revb.cfg
diff --git a/flight/Project/gdb/pipx b/flight/Project/gdb/pipx
index 4645698f4..d2b25a138 100644
--- a/flight/Project/gdb/pipx
+++ b/flight/Project/gdb/pipx
@@ -1,5 +1,5 @@
 define connect
-	target remote localhost:3334
+	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
 	file ./Build/PipXtreme.elf
 end
diff --git a/hardware/Production/FOSS JTAG/BOM/FOSS JTAG BOM.xls b/hardware/Production/FOSS JTAG/BOM/FOSS JTAG BOM.xls
index ea7a0ed66..059d89d42 100644
Binary files a/hardware/Production/FOSS JTAG/BOM/FOSS JTAG BOM.xls and b/hardware/Production/FOSS JTAG/BOM/FOSS JTAG BOM.xls differ
diff --git a/hardware/Production/FOSS JTAG/FOSS JTAG Schematic.pdf b/hardware/Production/FOSS JTAG/FOSS JTAG Schematic.pdf
index 1af4acad3..34ef09845 100644
Binary files a/hardware/Production/FOSS JTAG/FOSS JTAG Schematic.pdf and b/hardware/Production/FOSS JTAG/FOSS JTAG Schematic.pdf differ
diff --git a/hardware/Production/FOSS JTAG/FOSS JTAG.SchDoc b/hardware/Production/FOSS JTAG/FOSS JTAG.SchDoc
index 442023ba6..10851e5e7 100644
Binary files a/hardware/Production/FOSS JTAG/FOSS JTAG.SchDoc and b/hardware/Production/FOSS JTAG/FOSS JTAG.SchDoc differ
diff --git a/make/firmware-defs.mk b/make/firmware-defs.mk
index aff57a816..91f03f2a4 100644
--- a/make/firmware-defs.mk
+++ b/make/firmware-defs.mk
@@ -143,3 +143,25 @@ $($(1):.c=.s) : %.s : %.c
 	$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef
 
+# ---------------------------------------------------------------------------
+#  # Options for OpenOCD flash-programming
+# see openocd.pdf/openocd.texi for further information
+# #
+# OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf                                                                                                                                                                                               
+# if OpenOCD is in the $PATH just set OPENOCDEXE=openocd
+OOCD_EXE=openocd
+# debug level
+OOCD_CL=-d0
+# interface and board/target settings (using the OOCD target-library here)
+OOCD_CL+=-s $(TOP)/flight/Project/OpenOCD
+OOCD_CL+=-f foss-jtag.revb.cfg -f stm32.cfg
+
+# initialize
+OOCD_CL+=-c init
+# show the targets
+OOCD_CL+=-c targets
+# commands to prepare flash-write
+OOCD_CL+= -c "reset halt"
+# flash erase
+OOCD_CL+=-c "stm32x mass_erase 0"
+# flash-write