diff --git a/flight/PiOS/Common/Libraries/CMSIS2/library.mk b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
index a2b8636ea..d965c1b63 100644
--- a/flight/PiOS/Common/Libraries/CMSIS2/library.mk
+++ b/flight/PiOS/Common/Libraries/CMSIS2/library.mk
@@ -4,3 +4,26 @@
 
 CMSIS2_DIR		:=	$(dir $(lastword $(MAKEFILE_LIST)))
 EXTRAINCDIRS		+=	$(CMSIS2_DIR)/Include
+
+# Rules to build the ARM DSP library
+ifeq ($(USE_DSP_LIB), YES)
+
+DSPLIB_NAME		:=	dsp
+CMSIS_DSPLIB		:=	$(CMSIS2_DIR)/DSP_Lib/Source
+
+# Compile all files into output directory
+DSPLIB_SRC		:=	$(wildcard $(CMSIS_DSPLIB)/*/*.c)
+DSPLIB_SRCBASE		:=	$(notdir $(basename $(DSPLIB_SRC)))
+$(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
+
+# Define the object files directory and a list of object files for the library
+DSPLIB_OBJDIR		=	$(OUTDIR)
+DSPLIB_OBJ		=	$(addprefix $(DSPLIB_OBJDIR)/, $(addsuffix .o, $(DSPLIB_SRCBASE)))
+
+# Create a library file
+$(eval $(call ARCHIVE_TEMPLATE, $(OUTDIR)/lib$(DSPLIB_NAME).a, $(DSPLIB_OBJ), $(DSPLIB_OBJDIR)))
+
+# Add library to the list of linked objects
+ALLLIB			+=	$(OUTDIR)/lib$(DSPLIB_NAME).a
+
+endif