diff --git a/flight/AHRS/Makefile b/flight/AHRS/Makefile
index eb8dd2f04..545794ff6 100644
--- a/flight/AHRS/Makefile
+++ b/flight/AHRS/Makefile
@@ -287,7 +287,7 @@ OOCD_EXE=openocd
 # debug level
 OOCD_CL=-d0
 # interface and board/target settings (using the OOCD target-library here)
-OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.cfg -f ../Project/OpenOCD/stm32.cfg
+OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.ahrs.cfg -f ../Project/OpenOCD/stm32.cfg
 # initialize
 OOCD_CL+=-c init
 # show the targets
diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index 832dd66f1..da92947dd 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -429,7 +429,7 @@ OOCD_EXE=openocd
 # debug level
 OOCD_CL=-d0
 # interface and board/target settings (using the OOCD target-library here)
-OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.cfg -f ../Project/OpenOCD/stm32.cfg
+OOCD_CL+=-f ../Project/OpenOCD/floss-jtag.openpilot.cfg -f ../Project/OpenOCD/stm32.cfg
 # initialize
 OOCD_CL+=-c init
 # show the targets
diff --git a/flight/Project/OpenOCD/floss-jtag.ahrs.cfg b/flight/Project/OpenOCD/floss-jtag.ahrs.cfg
new file mode 100644
index 000000000..f2555e55a
--- /dev/null
+++ b/flight/Project/OpenOCD/floss-jtag.ahrs.cfg
@@ -0,0 +1,15 @@
+#
+# 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.cfg b/flight/Project/OpenOCD/floss-jtag.cfg
deleted file mode 100644
index 7c85c8b5b..000000000
--- a/flight/Project/OpenOCD/floss-jtag.cfg
+++ /dev/null
@@ -1,9 +0,0 @@
-#
-# Floss JTAG
-#
-
-interface ft2232
-ft2232_vid_pid 0x0403 0x6010
-ft2232_device_desc "Dual RS232-HS"
-ft2232_layout "usbjtag"
-ft2232_latency 2
diff --git a/flight/Project/OpenOCD/floss-jtag.openpilot.cfg b/flight/Project/OpenOCD/floss-jtag.openpilot.cfg
new file mode 100644
index 000000000..d61d776b0
--- /dev/null
+++ b/flight/Project/OpenOCD/floss-jtag.openpilot.cfg
@@ -0,0 +1,15 @@
+#
+# 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/gdb/ahrs b/flight/Project/gdb/ahrs
index 23ff2ff49..2e16499b5 100644
--- a/flight/Project/gdb/ahrs
+++ b/flight/Project/gdb/ahrs
@@ -1,4 +1,4 @@
-target remote localhost:3333
+target remote localhost:3334
 monitor reset halt
 monitor cortex_m3 vector_catch all
 file ./build/ahrs/AHRS.elf