diff --git a/flight/Libraries/PyMite/pymite.mk b/flight/Libraries/PyMite/pymite.mk
index 02da15a5d..c009d416f 100644
--- a/flight/Libraries/PyMite/pymite.mk
+++ b/flight/Libraries/PyMite/pymite.mk
@@ -1,41 +1,75 @@
 #
-# Rules to add PYMite to a PiOS target
+# Rules to add PyMite flight plan interpreter
 #
 
-PYMITE = $(FLIGHTLIB)/PyMite
-PYMITELIB = $(PYMITE)/lib
-PYMITEPLAT = $(PYMITE)/platform/openpilot
-PYMITETOOLS = $(PYMITE)/tools
-PYMITEVM = $(PYMITE)/vm
-PYMITEINC = $(PYMITEVM)
-PYMITEINC += $(PYMITEPLAT)
-PYMITEINC += $(OUTDIR)
+# Paths
+PYMITE		:= $(FLIGHTLIB)/PyMite
+PYMITELIB	:= $(PYMITE)/lib
+PYMITEPLAT	:= $(PYMITE)/platform/openpilot
+PYMITETOOLS	:= $(PYMITE)/tools
+PYMITEVM	:= $(PYMITE)/vm
+PYMITEINC	:= $(PYMITEVM)
+PYMITEINC	+= $(PYMITEPLAT)
+PYMITEINC	+= $(OUTDIR)
 
-# List C source files here. (C dependencies are automatically generated.)
-# use file-extension c for "c-only"-files
+# Flight plans
+FLIGHTPLANLIB	?= $(OPMODULEDIR)/FlightPlan/lib
+FLIGHTPLANS	?= $(OPMODULEDIR)/FlightPlan/flightplans
 
-## PyMite files and modules
-SRC += $(OUTDIR)/pmlib_img.c
-SRC += $(OUTDIR)/pmlib_nat.c
-SRC += $(OUTDIR)/pmlibusr_img.c
-SRC += $(OUTDIR)/pmlibusr_nat.c
-PYSRC += $(wildcard ${PYMITEVM}/*.c)
-PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
-PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += $(PYSRC)
+# Extra modules
+PYMODULES	?= FlightPlan
 
-EXTRAINCDIRS  += $(PYMITEINC)
+# Modules
+PYSRC		+= $(foreach mod, $(PYMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
 
-# Generate intermediate code
-gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+# PyMite virtual machine and platform files
+PYSRC		+= $(wildcard $(PYMITEVM)/*.c)
+PYSRC		+= $(wildcard $(PYMITEPLAT)/*.c)
 
-$(PYSRC): gencode
+# Autogenerated files
+PYLIB		+= $(addprefix $(OUTDIR)/, pmlib_img.c pmlib_nat.c)
+PYLIB		+= $(addprefix $(OUTDIR)/, pmlibusr_img.c pmlibusr_nat.c)
 
-PYTHON = python
+# Scripts
+PYSCRIPTS	+= $(wildcard $(PYMITELIB)/*.py)
+PYSCRIPTS	+= $(wildcard $(PYMITEPLAT)/*.py)
+PYSCRIPTS	+= $(wildcard $(FLIGHTPLANLIB)/*.py)
+PYSCRIPTS	+= $(wildcard $(FLIGHTPLANS)/*.py)
 
 # Generate code for PyMite
-${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
-	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
-	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
+$(PYSRC): | $(PYLIB) $(OUTDIR)/pmfeatures.h
+
+$(OUTDIR)/pmfeatures.h: $(PYSCRIPTS)
+	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	$(V1) $(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $@
+
+$(OUTDIR)/pmlib_img.c: | $(OUTDIR)/pmlib_nat.c
+
+$(OUTDIR)/pmlib_nat.c: $(PYSCRIPTS)
+	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -s --memspace=flash \
+			-f $(PYMITEPLAT)/pmfeatures.py \
+			-o $(OUTDIR)/pmlib_img.c \
+			--native-file=$(OUTDIR)/pmlib_nat.c \
+			$(PYMITELIB)/list.py \
+			$(PYMITELIB)/dict.py \
+			$(PYMITELIB)/__bi.py \
+			$(PYMITELIB)/sys.py \
+			$(PYMITELIB)/string.py \
+			$(wildcard $(FLIGHTPLANLIB)/*.py)
+
+$(OUTDIR)/pmlibusr_img.c: | $(OUTDIR)/pmlibusr_nat.c
+
+$(OUTDIR)/pmlibusr_nat.c: $(PYSCRIPTS)
+	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -u \
+			-f $(PYMITEPLAT)/pmfeatures.py \
+			-o $(OUTDIR)/pmlibusr_img.c \
+			--native-file=$(OUTDIR)/pmlibusr_nat.c \
+			$(FLIGHTPLANS)/test.py
+
+# Add to the source and include lists
+SRC		+= $(PYSRC)
+SRC		+= $(PYLIB)
+EXTRAINCDIRS	+= $(PYMITEINC)
+EXTRAINCDIRS	+= $(foreach mod, $(PYMODULES), $(OPMODULEDIR)/$(mod)/inc)
diff --git a/flight/targets/RevoMini/Makefile b/flight/targets/RevoMini/Makefile
index cd0eb15dc..f432a535a 100644
--- a/flight/targets/RevoMini/Makefile
+++ b/flight/targets/RevoMini/Makefile
@@ -92,6 +92,7 @@ endif
 
 # Optional component libraries
 include $(FLIGHTLIB)/rscode/library.mk
+#include $(FLIGHTLIB)/PyMite/pymite.mk
 
 include $(ROOT_DIR)/make/apps-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk
diff --git a/flight/targets/Revolution/Makefile b/flight/targets/Revolution/Makefile
index 4f0ecf458..60ae27377 100644
--- a/flight/targets/Revolution/Makefile
+++ b/flight/targets/Revolution/Makefile
@@ -90,5 +90,8 @@ else
     SRC += $(OPTESTS)/$(TESTAPP).c
 endif
 
+# Optional component libraries
+#include $(FLIGHTLIB)/PyMite/pymite.mk
+
 include $(ROOT_DIR)/make/apps-defs.mk
 include $(ROOT_DIR)/make/common-defs.mk