diff --git a/make/winx86/README.txt b/make/winx86/README.txt
index 6024dd118..fb383fa17 100644
--- a/make/winx86/README.txt
+++ b/make/winx86/README.txt
@@ -37,17 +37,18 @@ locations (but any other locations are fine as well):
  - QtSDK             in C:\Qt\2010.05
  - msysGit           in %ProgramFiles%\Git
  - Unicode NSIS      in %ProgramFiles%\NSIS\Unicode
+ - OpenOCD           in C:\OpenOCD\0.4.0\bin
 
 Also it is assumed that you have the C:\Program Files\Git\cmd\ directory in
 the PATH. Usually this is the case for msysGit installation if you have chosen
 the 2nd option: put only git and gitk in the PATH (it is recommended option).
 
-Now you need to copy two files to your msysGit installation folders.
+Now you need to copy few files to your msysGit installation folders.
 Assuming that you installed the msysGit into C:\Program Files\Git\,
 you have to copy:
 
-   make\winx86\bin\make    ->  C:\Program Files\Git\bin\
-   make\winx86\cmd\sh.cmd  ->  C:\Program Files\Git\cmd\
+   make\winx86\bin\*  ->  C:\Program Files\Git\bin\
+   make\winx86\cmd\*  ->  C:\Program Files\Git\cmd\
 
 If you have msysGit installed into another directory, you need to update paths
 accordingly. Also if you have tools installed into different directories and
diff --git a/make/winx86/bin/install b/make/winx86/bin/install
new file mode 100644
index 000000000..fae28bf23
--- /dev/null
+++ b/make/winx86/bin/install
@@ -0,0 +1,15 @@
+#!/bin/sh
+#
+# simple install command replacement for Windows
+#
+# This file should be put into C:\Program Files\Git\bin\ subdirectory
+# (or similar, depeding on where the msysGit package was installed)
+# to provide a make command to unix-like build environment on Windows.
+#
+# See also:
+#   README.txt
+#   http://wiki.openpilot.org/display/Doc/GCS+Development+on+Windows
+#   http://wiki.openpilot.org/display/Doc/Firmware+Development+on+Windows
+#
+
+cp -f $*
diff --git a/make/winx86/bin/make b/make/winx86/bin/make
index 4d475bff6..d4bf11224 100644
--- a/make/winx86/bin/make
+++ b/make/winx86/bin/make
@@ -1,6 +1,8 @@
 #!/bin/sh
 #
-# This file is to be put into C:\Program Files\Git\bin\ subdirectory
+# make command replacement for Windows
+#
+# This file should be put into C:\Program Files\Git\bin\ subdirectory
 # (or similar, depeding on where the msysGit package was installed)
 # to provide a make command to unix-like build environment on Windows.
 #
diff --git a/make/winx86/cmd/make.sh b/make/winx86/cmd/make.sh
index 70ff64114..a2ae771d5 100644
--- a/make/winx86/cmd/make.sh
+++ b/make/winx86/cmd/make.sh
@@ -1 +1,9 @@
+#
+# make command replacement to run from command prompt under bash
+#
+# This file should be put into C:\Program Files\Git\cmd\ subdirectory
+# (or similar, depeding on where the msysGit package was installed)
+# to provide a shell prompt in the unix-like build environment on Windows.
+#
+
 exec /bin/make $*
diff --git a/make/winx86/cmd/sh.cmd b/make/winx86/cmd/sh.cmd
index b3b276fb2..d82c7ec99 100644
--- a/make/winx86/cmd/sh.cmd
+++ b/make/winx86/cmd/sh.cmd
@@ -1,6 +1,6 @@
 @echo off
 rem
-rem This file is to be put into C:\Program Files\Git\cmd\ subdirectory
+rem This file should be put into C:\Program Files\Git\cmd\ subdirectory
 rem (or similar, depeding on where the msysGit package was installed)
 rem to provide a shell prompt in the unix-like build environment on Windows.
 rem
@@ -56,6 +56,7 @@ call :which QTSDK         "C:\Qt\2010.05\qt\bin"         qmake.exe
 call :which CODESOURCERY  "C:\CodeSourcery\bin"          cs-make.exe
 call :which PYTHON        "C:\Python27"                  python.exe
 call :which UNSIS         "%ProgramFiles%\NSIS\Unicode"  makensis.exe
+call :which OPENOCDBIN    "C:\OpenOCD\0.4.0\bin"         openocd.exe
 
 if "%NOT_FOUND%" == "" goto set_path
 
diff --git a/release/Makefile b/release/Makefile
index a1a45de3b..bf9817b25 100644
--- a/release/Makefile
+++ b/release/Makefile
@@ -4,12 +4,8 @@
 # Tried the best to support parallel (-j) builds. But since this Makefile
 # uses other Makefiles to build few targets which in turn have similar
 # dependencies on uavobjects and other generated files, it is difficult
-# to support parallel builds perfectly.
-#
-# Looks like it works for -j8, but fails for -j (unlimited jobs).
-# So probably not a bad idea is to build release in single thread.
-#
-#.NOTPARALLEL:
+# to support parallel builds perfectly. But at least it was tested with
+# -j (unlimited job number) on Windows and Linux.
 
 # Locate the root of the tree
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
@@ -41,9 +37,11 @@ help:
 	@echo
 	@echo "   [Release build and packaging]"
 	@echo "     release              - Build and package the OpenPilot release"
+	@echo "     release_flight       - Build and package the OpenPilot flight firmware"
 	@echo
 	@echo "   Notes:"
 	@echo "     - the build directory will be removed first on every run"
+	@echo "       unless CLEAN_BUILD=NO is defined (recommended for testing only)"
 	@echo "     - release packages will be placed in $(RELEASE_DIR)"
 	@echo
 
@@ -52,7 +50,9 @@ uavobjects: all_clean
 	$(V1) $(MAKE) -C $(ROOT_DIR) $@
 
 all_clean:
+ifneq ($(CLEAN_BUILD), NO)
 	$(V1) $(MAKE) -C $(ROOT_DIR) $@
+endif
 
 # Install template:
 #   $1 = target