LP-99 Decouple flight build

Moved flight make code into flight/Makefile. This should speed up rebuilds for GCS and keeps the top level Makefile tidier. Change-Id: I9d33cb5c223b6a8ed2821435a5d63ecf4b97c6b8
2025-01-30 15:52:12 +01:00 · 2015-08-02 16:01:14 +01:00 · 2015-08-02 16:01:14 +01:00 · e308039206
commit e308039206
parent d207f848ee
40 changed files with 531 additions and 507 deletions
--- a/256
+++ b/256
@ -47,11 +47,12 @@ export DL_DIR
 export TOOLS_DIR

 # Set up some macros for common directories within the tree
-export BUILD_DIR   := $(CURDIR)/build
-export PACKAGE_DIR := $(BUILD_DIR)/package
-export DIST_DIR    := $(BUILD_DIR)/dist
+export BUILD_DIR     := $(CURDIR)/build
+export PACKAGE_DIR   := $(BUILD_DIR)/package
+export DIST_DIR      := $(BUILD_DIR)/dist
+export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics

-DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR)
+DIRS := $(DL_DIR) $(TOOLS_DIR) $(BUILD_DIR) $(PACKAGE_DIR) $(DIST_DIR) $(OPGCSSYNTHDIR)

 # Naming for binaries and packaging etc,.
 export ORG_BIG_NAME := LibrePilot
@ -135,6 +136,9 @@ else ifeq ($(UNAME), Windows)
    UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator.exe
 endif

+export UAVOBJGENERATOR
+
+##############################
 #
 # All targets
 #
@ -195,55 +199,6 @@ uavobjects_clean:
 #
 ##############################

-# Define some pointers to the various important pieces of the flight code
-# to prevent these being repeated in every sub makefile
-export PIOS          := $(ROOT_DIR)/flight/pios
-export FLIGHTLIB     := $(ROOT_DIR)/flight/libraries
-export OPMODULEDIR   := $(ROOT_DIR)/flight/modules
-export OPUAVOBJ      := $(ROOT_DIR)/flight/uavobjects
-export OPUAVTALK     := $(ROOT_DIR)/flight/uavtalk
-export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight
-export OPGCSSYNTHDIR := $(BUILD_DIR)/gcs-synthetics
-
-DIRS += $(OPGCSSYNTHDIR)
-
-# Define supported board lists
-ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
-
-# Short names of each board (used to display board name in parallel builds)
-coptercontrol_short    := 'cc  '
-oplinkmini_short       := 'oplm'
-revolution_short       := 'revo'
-osd_short              := 'osd '
-revoproto_short        := 'revp'
-revonano_short         := 'revn'
-simposix_short         := 'posx'
-discoveryf4bare_short  := 'df4b'
-gpsplatinum_short      := 'gps9'
-
-# SimPosix only builds on Linux so drop it from the list for
-# all other platforms.
-ifneq ($(UNAME), Linux)
-    ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
-endif
-
-# Start out assuming that we'll build fw, bl and bu for all boards
-FW_BOARDS  := $(ALL_BOARDS)
-BL_BOARDS  := $(ALL_BOARDS)
-BU_BOARDS  := $(ALL_BOARDS)
-EF_BOARDS  := $(ALL_BOARDS)
-
-# SimPosix doesn't have a BL, BU or EF target so we need to
-# filter them out to prevent errors on the all_flight target.
-BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
-BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
-EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
-
-# Generate the targets for whatever boards are left in each list
-FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
-BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
-BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
-EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))

 # When building any of the "all_*" targets, tell all sub makefiles to display
 # additional details on each line of output to describe which build and target
@ -259,190 +214,10 @@ ifneq ($(word 2,$(MAKECMDGOALS)),)
    export ENABLE_MSG_EXTRA := yes
 endif

-# TEMPLATES (used to generate build rules)
+FLIGHT_OUT_DIR := $(BUILD_DIR)/firmware
+DIRS += $(FLIGHT_OUT_DIR)

-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define FW_TEMPLATE
-.PHONY: $(1) fw_$(1)
-$(1): fw_$(1)_opfw
-fw_$(1): fw_$(1)_opfw
-
-fw_$(1)_%: uavobjects_flight
-	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/fw_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/firmware && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=fw \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/firmware \
-		OUTDIR=$(BUILD_DIR)/fw_$(1) \
-		TARGET=fw_$(1) \
-		$$*
-
-.PHONY: $(1)_clean
-$(1)_clean: fw_$(1)_clean
-fw_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/fw_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define BL_TEMPLATE
-.PHONY: bl_$(1)
-bl_$(1): bl_$(1)_bin
-bl_$(1)_bino: bl_$(1)_bin
-
-bl_$(1)_%:
-	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/bl_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/boards/$(1)/bootloader && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=bl \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/boards/$(1)/bootloader \
-		OUTDIR=$(BUILD_DIR)/bl_$(1) \
-		TARGET=bl_$(1) \
-		$$*
-
-.PHONY: unbrick_$(1)
-unbrick_$(1): bl_$(1)_hex
-$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
-	$(V0) @$(ECHO) " UNBRICK    $(1) via $$(UNBRICK_TTY)"
-	$(V1) $(STM32FLASH_DIR)/stm32flash \
-		-w $(BUILD_DIR)/bl_$(1)/bl_$(1).hex \
-		-g 0x0 \
-		$$(UNBRICK_TTY)
-,
-	$(V0) @$(ECHO)
-	$(V0) @$(ECHO) "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
-	$(V0) @$(ECHO) "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
-)
-
-.PHONY: bl_$(1)_clean
-bl_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bl_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define BU_TEMPLATE
-.PHONY: bu_$(1)
-bu_$(1): bu_$(1)_opfw
-
-bu_$(1)_%: bl_$(1)_bino
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/bu_$(1)/dep
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/bootloader_updater && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=bu \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/bootloader_updater \
-		OUTDIR=$(BUILD_DIR)/bu_$(1) \
-		TARGET=bu_$(1) \
-		$$*
-
-.PHONY: bu_$(1)_clean
-bu_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/bu_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-# $(2) = Short name for board (e.g cc)
-define EF_TEMPLATE
-.PHONY: ef_$(1)
-ef_$(1): ef_$(1)_bin
-
-ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/ef_$(1)
-	$(V1) cd $(ROOT_DIR)/flight/targets/common/entire_flash && \
-		$$(MAKE) -r --no-print-directory \
-		BUILD_TYPE=ef \
-		BOARD_NAME=$(1) \
-		BOARD_SHORT_NAME=$(2) \
-		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
-		TOPDIR=$(ROOT_DIR)/flight/targets/common/entire_flash \
-		OUTDIR=$(BUILD_DIR)/ef_$(1) \
-		TARGET=ef_$(1) \
-		$$*
-
-.PHONY: ef_$(1)_clean
-ef_$(1)_clean:
-	@$(ECHO) " CLEAN      $(call toprel, $(BUILD_DIR)/ef_$(1))"
-	$(V1) $(RM) -fr $(BUILD_DIR)/ef_$(1)
-endef
-
-# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-define BOARD_PHONY_TEMPLATE
-.PHONY: all_$(1)
-all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
-all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
-all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
-all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
-
-.PHONY: all_$(1)_clean
-all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
-all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
-endef
-
-# Generate flight build rules
-.PHONY: all_fw all_fw_clean
-all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
-all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
-
-.PHONY: all_bl all_bl_clean
-all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
-all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
-
-.PHONY: all_bu all_bu_clean
-all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
-all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
-
-.PHONY: all_ef all_ef_clean
-all_ef:        $(EF_TARGETS)
-all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
-
-.PHONY: all_flight all_flight_clean
-all_flight:       all_fw all_bl all_bu all_ef
-all_flight_clean: all_fw_clean all_bl_clean all_bu_clean all_ef_clean
-
-# Expand the groups of targets for each board
-$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
-
-# Expand the firmware rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the bootloader rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the bootloader updater rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
-
-# Expand the entire-flash rules
-$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
-
-.PHONY: sim_win32
-sim_win32: sim_win32_exe
-
-sim_win32_%: uavobjects_flight
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/sitl_win32
-	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/OpenPilot --file=$(ROOT_DIR)/flight/targets/OpenPilot/Makefile.win32 $*
-
-.PHONY: sim_osx
-sim_osx: sim_osx_elf
-
-sim_osx_%: uavobjects_flight
-	$(V1) $(MKDIR) -p $(BUILD_DIR)/sim_osx
-	$(V1) $(MAKE) --no-print-directory \
-		-C $(ROOT_DIR)/flight/targets/SensorTest --file=$(ROOT_DIR)/flight/targets/SensorTest/Makefile.osx $*
+include $(ROOT_DIR)/flight/Makefile

 ##############################
 #
@ -686,18 +461,15 @@ endif
 # Packaging components
 #
 ##############################
-
 # Firmware files to package
-PACKAGE_FW_EXCLUDE  := fw_simposix $(if $(PACKAGE_FW_INCLUDE_DISCOVERYF4BARE),,fw_discoveryf4bare)
-PACKAGE_FW_TARGETS  := $(filter-out $(PACKAGE_FW_EXCLUDE), $(FW_TARGETS))
-PACKAGE_ELF_TARGETS := $(filter     fw_simposix, $(FW_TARGETS))
+PACKAGE_FW_TARGETS := fw_coptercontrol fw_oplinkmini fw_revolution fw_osd fw_revoproto fw_gpsplatinum fw_revonano

 # Rules to generate GCS resources used to embed firmware binaries into the GCS.
 # They are used later by the vehicle setup wizard to update board firmware.
 # To open a firmware image use ":/firmware/fw_coptercontrol.opfw"
 OPFW_RESOURCE := $(OPGCSSYNTHDIR)/opfw_resource.qrc
 OPFW_RESOURCE_PREFIX := ../../
-OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw))
+OPFW_FILES := $(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call toprel, $(FLIGHT_OUT_DIR)/$(fw_targ)/$(fw_targ).opfw))
 OPFW_CONTENTS := \
 <!DOCTYPE RCC><RCC version="1.0"> \
    <qresource prefix="/firmware"> \
@ -708,7 +480,7 @@ OPFW_CONTENTS := \
 .PHONY: opfw_resource
 opfw_resource: $(OPFW_RESOURCE)

-$(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
+$(OPFW_RESOURCE): $(PACKAGE_FW_TARGETS) | $(OPGCSSYNTHDIR)
 	@$(ECHO) Generating OPFW resource file $(call toprel, $@)
 	$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@

--- a/flight/Makefile
+++ b/flight/Makefile
@ -0,0 +1,256 @@
+export FLIGHT_MAKEFILE := TRUE
+export FLIGHT_ROOT_DIR := $(realpath $(dir $(lastword $(MAKEFILE_LIST))))
+export PIOS            := $(FLIGHT_ROOT_DIR)/pios
+export FLIGHTLIB       := $(FLIGHT_ROOT_DIR)/libraries
+export OPMODULEDIR     := $(FLIGHT_ROOT_DIR)/modules
+export OPUAVOBJ        := $(FLIGHT_ROOT_DIR)/uavobjects
+export OPUAVTALK       := $(FLIGHT_ROOT_DIR)/uavtalk
+export FLIGHT_OUT_DIR  ?= $(CURDIR)
+
+# Define supported board lists
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
+
+# Short names of each board (used to display board name in parallel builds)
+coptercontrol_short    := 'cc  '
+oplinkmini_short       := 'oplm'
+revolution_short       := 'revo'
+osd_short              := 'osd '
+revoproto_short        := 'revp'
+revonano_short         := 'revn'
+simposix_short         := 'posx'
+discoveryf4bare_short  := 'df4b'
+gpsplatinum_short      := 'gps9'
+
+# SimPosix only builds on Linux so drop it from the list for
+# all other platforms.
+ifneq ($(UNAME), Linux)
+    ALL_BOARDS := $(filter-out simposix, $(ALL_BOARDS))
+endif
+
+# Start out assuming that we'll build fw, bl and bu for all boards
+FW_BOARDS  := $(ALL_BOARDS)
+BL_BOARDS  := $(ALL_BOARDS)
+BU_BOARDS  := $(ALL_BOARDS)
+EF_BOARDS  := $(ALL_BOARDS)
+
+# SimPosix doesn't have a BL, BU or EF target so we need to
+# filter them out to prevent errors on the all_flight target.
+BL_BOARDS  := $(filter-out simposix, $(BL_BOARDS))
+BU_BOARDS  := $(filter-out simposix gpsplatinum, $(BU_BOARDS))
+EF_BOARDS  := $(filter-out simposix, $(EF_BOARDS))
+
+# Generate the targets for whatever boards are left in each list
+FW_TARGETS := $(addprefix fw_, $(FW_BOARDS))
+BL_TARGETS := $(addprefix bl_, $(BL_BOARDS))
+BU_TARGETS := $(addprefix bu_, $(BU_BOARDS))
+EF_TARGETS := $(addprefix ef_, $(EF_BOARDS))
+
+ALL_FLIGHT       := all_fw all_bl all_bu all_ef
+ALL_FLIGHT_CLEAN := $(addsuffix _clean,$(ALL_FLIGHT))
+
+.PHONY: all_flight all_flight_clean
+all_flight:       $(ALL_FLIGHT)
+all_flight_clean: $(ALL_FLIGHT_CLEAN)
+
+
+# TEMPLATES (used to generate build rules)
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define FW_TEMPLATE
+.PHONY: $(1) fw_$(1)
+$(1): fw_$(1)_opfw
+fw_$(1): fw_$(1)_opfw
+
+fw_$(1)_%: flight_uavobjects
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/fw_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=fw \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/firmware \
+		OUTDIR=$(FLIGHT_OUT_DIR)/fw_$(1) \
+		TARGET=fw_$(1) \
+		$$*
+
+.PHONY: $(1)_clean
+$(1)_clean: fw_$(1)_clean
+fw_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/fw_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/fw_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define BL_TEMPLATE
+.PHONY: bl_$(1)
+bl_$(1): bl_$(1)_bin
+bl_$(1)_bino: bl_$(1)_bin
+
+bl_$(1)_%:
+	$(V1) $$(ARM_GCC_VERSION_CHECK_TEMPLATE)
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bl_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=bl \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/boards/$(1)/bootloader \
+		OUTDIR=$(FLIGHT_OUT_DIR)/bl_$(1) \
+		TARGET=bl_$(1) \
+		$$*
+
+.PHONY: unbrick_$(1)
+unbrick_$(1): bl_$(1)_hex
+$(if $(filter-out undefined,$(origin UNBRICK_TTY)),
+	$(V0) @echo " UNBRICK    $(1) via $$(UNBRICK_TTY)"
+	$(V1) $(STM32FLASH_DIR)/stm32flash \
+		-w $(FLIGHT_OUT_DIR)/bl_$(1)/bl_$(1).hex \
+		-g 0x0 \
+		$$(UNBRICK_TTY)
+,
+	$(V0) @echo
+	$(V0) @echo "ERROR: You must specify UNBRICK_TTY=<serial-device> to use for unbricking."
+	$(V0) @echo "       eg. $$(MAKE) $$@ UNBRICK_TTY=/dev/ttyUSB0"
+)
+
+.PHONY: bl_$(1)_clean
+bl_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bl_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/bl_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define BU_TEMPLATE
+.PHONY: bu_$(1)
+bu_$(1): bu_$(1)_opfw
+
+bu_$(1)_%: bl_$(1)_bino
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/bu_$(1)/dep
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=bu \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/bootloader_updater \
+		OUTDIR=$(FLIGHT_OUT_DIR)/bu_$(1) \
+		TARGET=bu_$(1) \
+		$$*
+
+.PHONY: bu_$(1)_clean
+bu_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/bu_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/bu_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Short name for board (e.g cc)
+define EF_TEMPLATE
+.PHONY: ef_$(1)
+ef_$(1): ef_$(1)_bin
+
+ef_$(1)_%: bl_$(1)_bin fw_$(1)_opfw
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/ef_$(1)
+	$(V1) cd $(FLIGHT_ROOT_DIR)/targets/common/entire_flash && \
+		$$(MAKE) -r --no-print-directory \
+		BUILD_TYPE=ef \
+		BOARD_NAME=$(1) \
+		BOARD_SHORT_NAME=$(2) \
+		DFU_CMD="$(DFUUTIL_DIR)/bin/dfu-util" \
+		TOPDIR=$(FLIGHT_ROOT_DIR)/targets/common/entire_flash \
+		OUTDIR=$(FLIGHT_OUT_DIR)/ef_$(1) \
+		TARGET=ef_$(1) \
+		$$*
+
+.PHONY: ef_$(1)_clean
+ef_$(1)_clean:
+	@echo " CLEAN      $(call toprel, $(FLIGHT_OUT_DIR)/ef_$(1))"
+	$(V1) rm -fr $(FLIGHT_OUT_DIR)/ef_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+define BOARD_PHONY_TEMPLATE
+.PHONY: all_$(1)
+all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
+all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
+all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
+all_$(1): $$(filter ef_$(1), $$(EF_TARGETS))
+
+.PHONY: all_$(1)_clean
+all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
+endef
+
+
+# Generate flight build rules
+ .PHONY: first
+first: all_fw
+
+.PHONY: all_fw all_fw_clean
+all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
+all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
+
+.PHONY: all_bl all_bl_clean
+all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
+all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
+
+.PHONY: all_bu all_bu_clean
+all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
+all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
+
+.PHONY: all_ef all_ef_clean
+all_ef:        $(EF_TARGETS)
+all_ef_clean:  $(addsuffix _clean, $(EF_TARGETS))
+
+# Expand the groups of targets for each board
+$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
+
+# Expand the firmware rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the bootloader rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the bootloader updater rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_short))))
+
+# Expand the entire-flash rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call EF_TEMPLATE,$(board),$($(board)_short))))
+
+.PHONY: sim_win32
+sim_win32: sim_win32_exe
+
+sim_win32_%: flight_uavobjects
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sitl_win32
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(FLIGHT_ROOT_DIR)/targets/OpenPilot --file=$(FLIGHT_ROOT_DIR)/targets/OpenPilot/Makefile.win32 $*
+
+.PHONY: sim_osx
+sim_osx: sim_osx_elf
+
+sim_osx_%: flight_uavobjects
+	$(V1) mkdir -p $(FLIGHT_OUT_DIR)/sim_osx
+	$(V1) $(MAKE) --no-print-directory \
+		-C $(FLIGHT_ROOT_DIR)/targets/SensorTest --file=$(FLIGHT_ROOT_DIR)/targets/SensorTest/Makefile.osx $*
+
+##############################
+#
+# UAV Objects
+#
+##############################
+UAVOBJGENERATOR ?= $(shell which uavobjgenerator)
+
+UAVOBJ_XML_DIR := $(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition
+export FLIGHT_UAVOBJ_DIR := $(FLIGHT_OUT_DIR)/uavobjects
+
+.PHONY: flight_uavobjects
+flight_uavobjects: $(UAVOBJGENERATOR)
+	@mkdir -p $(FLIGHT_UAVOBJ_DIR)
+	$(V1) cd $(FLIGHT_UAVOBJ_DIR) && \
+	    $(UAVOBJGENERATOR) -flight $(UAVOBJ_XML_DIR) $(FLIGHT_ROOT_DIR)/..
+
--- a/flight/libraries/PyMite/platform/desktop/Makefile
+++ b/flight/libraries/PyMite/platform/desktop/Makefile
@ -43,4 +43,4 @@ $(TARGET)_nat.c $(TARGET)_img.c: $(PM_USR_SOURCES) pmfeatures.py

 clean :
 	$(MAKE) -C ../../vm clean
-	$(RM) $(TARGET).out $(OBJS) $(TARGET)_img.* $(TARGET)_nat.* pmfeatures.h
+	rm $(TARGET).out $(OBJS) $(TARGET)_img.* $(TARGET)_nat.* pmfeatures.h
--- a/flight/libraries/PyMite/pymite.mk
+++ b/flight/libraries/PyMite/pymite.mk
@ -40,13 +40,13 @@ PYSCRIPTS	+= $(wildcard $(FLIGHTPLANS)/*.py)
 $(PYSRC): | $(PYLIB) $(OUTDIR)/pmfeatures.h

 $(OUTDIR)/pmfeatures.h: $(PYSCRIPTS)
-	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	@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, $@)
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -s --memspace=flash \
 			-f $(PYMITEPLAT)/pmfeatures.py \
 			-o $(OUTDIR)/pmlib_img.c \
@ -61,7 +61,7 @@ $(OUTDIR)/pmlib_nat.c: $(PYSCRIPTS)
 $(OUTDIR)/pmlibusr_img.c: | $(OUTDIR)/pmlibusr_nat.c

 $(OUTDIR)/pmlibusr_nat.c: $(PYSCRIPTS)
-	@$(ECHO) $(MSG_PYMITEINIT) $(call toprel, $@)
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
 	$(V1) $(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -c -u \
 			-f $(PYMITEPLAT)/pmfeatures.py \
 			-o $(OUTDIR)/pmlibusr_img.c \
--- a/flight/libraries/rscode/Makefile
+++ b/flight/libraries/rscode/Makefile
@ -29,7 +29,7 @@ TARGETS = $(TARGET_LIB) $(TEST_PROGS)
 all: $(TARGETS)

 $(TARGET_LIB): $(LIB_OBJS)
-	$(RM) $@
+	rm $@
 	$(AR) cq $@ $(LIB_OBJS)
 	if [ "$(RANLIB)" ]; then $(RANLIB) $@; fi

--- a/flight/make/apps-defs.mk
+++ b/flight/make/apps-defs.mk
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -138,7 +138,7 @@ SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c
 # Declare all non-optional modules as built-in to force inclusion.
 # Built-in modules are always enabled and cannot be disabled.
 MODNAMES := $(notdir $(subst /revolution,,$(MODULES)))
-MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell $(ECHO) $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
+MODULES_BUILTIN := $(foreach mod, $(MODNAMES), -DMODULE_$(shell echo $(mod) | tr '[:lower:]' '[:upper:]')_BUILTIN)
 CDEFS += $(MODULES_BUILTIN)

 # List C source files here which must be compiled in ARM-Mode (no -mthumb).
@ -177,7 +177,7 @@ EXTRAINCDIRS += $(MATHLIBINC)
 EXTRAINCDIRS += $(PIDLIBINC)
 EXTRAINCDIRS += $(OPUAVOBJINC)
 EXTRAINCDIRS += $(OPUAVTALKINC)
-EXTRAINCDIRS += $(OPUAVSYNTHDIR)
+EXTRAINCDIRS += $(FLIGHT_UAVOBJ_DIR)

 # Modules
 EXTRAINCDIRS += $(foreach mod, $(OPTMODULES) $(MODULES), $(OPMODULEDIR)/$(mod)/inc) $(OPMODULEDIR)/System/inc
--- a/flight/make/boot-defs.mk
+++ b/flight/make/boot-defs.mk
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

--- a/flight/make/common-defs.mk
+++ b/flight/make/common-defs.mk
@ -16,7 +16,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -234,7 +234,7 @@ endif

 # 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, $@)
+#	@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
@ -292,30 +292,30 @@ $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
 # Target: clean project
 clean:
 	@echo $(MSG_CLEANING)
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).map
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).elf
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).hex
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).sym
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).lss
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).bin.o
-	$(V1) $(RM) -f $(OUTDIR)/$(TARGET).opfw
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.c)
-	$(V1) $(RM) -f $(wildcard $(OUTDIR)/*.h)
-	$(V1) $(RM) -f $(ALLOBJ)
-	$(V1) $(RM) -f $(LSTFILES)
-	$(V1) $(RM) -f $(DEPFILES)
-	$(V1) $(RM) -f $(SRC:.c=.s)
-	$(V1) $(RM) -f $(SRCARM:.c=.s)
-	$(V1) $(RM) -f $(CPPSRC:.cpp=.s)
-	$(V1) $(RM) -f $(CPPSRCARM:.cpp=.s)
+	$(V1) rm -f $(OUTDIR)/$(TARGET).map
+	$(V1) rm -f $(OUTDIR)/$(TARGET).elf
+	$(V1) rm -f $(OUTDIR)/$(TARGET).hex
+	$(V1) rm -f $(OUTDIR)/$(TARGET).bin
+	$(V1) rm -f $(OUTDIR)/$(TARGET).sym
+	$(V1) rm -f $(OUTDIR)/$(TARGET).lss
+	$(V1) rm -f $(OUTDIR)/$(TARGET).bin.o
+	$(V1) rm -f $(OUTDIR)/$(TARGET).opfw
+	$(V1) rm -f $(wildcard $(OUTDIR)/*.c)
+	$(V1) rm -f $(wildcard $(OUTDIR)/*.h)
+	$(V1) rm -f $(ALLOBJ)
+	$(V1) rm -f $(LSTFILES)
+	$(V1) rm -f $(DEPFILES)
+	$(V1) rm -f $(SRC:.c=.s)
+	$(V1) rm -f $(SRCARM:.c=.s)
+	$(V1) rm -f $(CPPSRC:.cpp=.s)
+	$(V1) rm -f $(CPPSRCARM:.cpp=.s)

 # Create output files directory
 # all known MS Windows OS define the ComSpec environment variable
-$(shell $(MKDIR) -p $(OUTDIR) 2>/dev/null)
+$(shell mkdir -p $(OUTDIR) 2>/dev/null)

 # Include the dependency files.
-include $(shell $(MKDIR) -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)
+-include $(shell mkdir -p $(OUTDIR)/dep 2>/dev/null) $(wildcard $(OUTDIR)/dep/*)

 # Listing of phony targets.
 .PHONY: all build clean install
--- a/flight/make/firmware-defs.mk
+++ b/flight/make/firmware-defs.mk
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -70,7 +70,7 @@ MSG_FLASH_IMG        = $(QUOTE) FLASH_IMG $(MSG_EXTRA) $(QUOTE)

 # Function for converting an absolute path to one relative
 # to the top of the source tree.
-toprel = $(subst $(realpath $(ROOT_DIR))/,,$(abspath $(1)))
+toprel = $(subst $(realpath $(FLIGHT_ROOT_DIR))/,,$(abspath $(1)))

 # Function to replace special characters like is done for the symbols.
 replace_special_chars = $(subst +,_,$(subst ~,_,$(subst @,_,$(subst :,_,$(subst -,_,$(subst .,_,$(subst /,_,$1)))))))
@ -82,25 +82,25 @@ gccversion:

 # Create final output file (.hex) from ELF output file.
 %.hex: %.elf
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O ihex $< $@

 # Create stripped output file (.elf.stripped) from ELF output file.
 %.elf.stripped: %.elf
-	@$(ECHO) $(MSG_STRIP_FILE) $(call toprel, $@)
+	@echo $(MSG_STRIP_FILE) $(call toprel, $@)
 	$(V1) $(STRIP) --strip-unneeded $< -o $@

 # Create final output file (.bin) from ELF output file.
 %.bin: %.elf
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O binary $< $@

 %.bin: %.o
-	@$(ECHO) $(MSG_LOAD_FILE) $(call toprel, $@)
+	@echo $(MSG_LOAD_FILE) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -O binary $< $@

 %.bin.o: %.bin
-	@$(ECHO) $(MSG_BIN_OBJ) $(call toprel, $@)
+	@echo $(MSG_BIN_OBJ) $(call toprel, $@)
 	$(V1) $(OBJCOPY) -I binary -O elf32-littlearm --binary-architecture arm \
 		--rename-section .data=.rodata,alloc,load,readonly,data,contents \
 		--wildcard \
@ -112,12 +112,12 @@ gccversion:
 # Create extended listing file/disassambly from ELF output file.
 # using objdump testing: option -C
 %.lss: %.elf
-	@$(ECHO) $(MSG_EXTENDED_LISTING) $(call toprel, $@)
+	@echo $(MSG_EXTENDED_LISTING) $(call toprel, $@)
 	$(V1) $(OBJDUMP) -h -S -C -r $< > $@

 # Create a symbol table from ELF output file.
 %.sym: %.elf
-	@$(ECHO) $(MSG_SYMBOL_TABLE) $(call toprel, $@)
+	@echo $(MSG_SYMBOL_TABLE) $(call toprel, $@)
 	$(V1) $(NM) -n $< > $@

 define SIZE_TEMPLATE
@ -126,7 +126,7 @@ size: $(1)_size

 .PHONY: $(1)_size
 $(1)_size: $(1)
-	@$(ECHO) $(MSG_SIZE) $$(call toprel, $$<)
+	@echo $(MSG_SIZE) $$(call toprel, $$<)
 	$(V1) $(SIZE) -A $$<
 endef

@ -137,62 +137,62 @@ endef
 define OPFW_TEMPLATE
 FORCE:

-$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
-	@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
+$(1).firmware_info.c: $(1) $(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template FORCE
+	@echo $(MSG_FWINFO) $$(call toprel, $$@)
 	$(V1) $(VERSION_INFO) \
-		--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
+		--template=$(FLIGHT_ROOT_DIR)/templates/firmware_info.c.template \
 		--outfile=$$@ \
 		--image=$(1) \
 		--type=$(2) \
 		--revision=$(3) \
-		--uavodir=$(ROOT_DIR)/shared/uavobjectdefinition
+		--uavodir=$(FLIGHT_ROOT_DIR)/../shared/uavobjectdefinition

 $(eval $(call COMPILE_C_TEMPLATE, $(1).firmware_info.c))

 $(OUTDIR)/$(notdir $(basename $(1))).opfw : $(1) $(1).firmware_info.bin
-	@$(ECHO) $(MSG_OPFIRMWARE) $$(call toprel, $$@)
-	$(V1) $(CAT) $(1) $(1).firmware_info.bin > $$@
+	@echo $(MSG_OPFIRMWARE) $$(call toprel, $$@)
+	$(V1) cat $(1) $(1).firmware_info.bin > $$@
 endef

 # Assemble: create object files from assembler source files.
 define ASSEMBLE_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_ASSEMBLING) $$(call toprel, $$<)
+	@echo $(MSG_ASSEMBLING) $$(call toprel, $$<)
 	$(V1) $(CC) -c $(THUMB) $$(ASFLAGS) $$< -o $$@
 endef

 # Assemble: create object files from assembler source files. ARM-only
 define ASSEMBLE_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
+	@echo $(MSG_ASSEMBLING_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -c $$(ASFLAGS) $$< -o $$@
 endef

 # Compile: create object files from C source files.
 define COMPILE_C_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILING) $$(call toprel, $$<)
+	@echo $(MSG_COMPILING) $$(call toprel, $$<)
 	$(V1) $(CC) -c $(THUMB) $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 endef

 # Compile: create object files from C source files. ARM-only
 define COMPILE_C_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILING_ARM) $$(call toprel, $$<)
+	@echo $(MSG_COMPILING_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -c $$(CFLAGS) $$(CONLYFLAGS) $$(CPPFLAGS) $$< -o $$@
 endef

 # Compile: create object files from C++ source files.
 define COMPILE_CXX_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILINGCXX) $$(call toprel, $$<)
+	@echo $(MSG_COMPILINGCXX) $$(call toprel, $$<)
 	$(V1) $(CXX) -c $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 endef

 # Compile: create object files from C++ source files. ARM-only
 define COMPILE_CXX_ARM_TEMPLATE
 $(OUTDIR)/$(notdir $(basename $(1))).o : $(1)
-	@$(ECHO) $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
+	@echo $(MSG_COMPILINGCXX_ARM) $$(call toprel, $$<)
 	$(V1) $(CPP) -c $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $$< -o $$@
 endef

@ -204,7 +204,7 @@ define ARCHIVE_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2)
 $(1):  $(2)
-	@$(ECHO) $(MSG_ARCHIVING) $$(call toprel, $$@)
+	@echo $(MSG_ARCHIVING) $$(call toprel, $$@)
 ifeq ($(3),)
 	$(V1) $(AR) rcs $$@ $(2)
 else
@ -228,7 +228,7 @@ define LINK_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2) $(3)
 $(1):  $(2) $(3)
-	@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
+	@echo $(MSG_LINKING) $$(call toprel, $$@)
 	$(V1) $(CC) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 endef

@ -239,21 +239,21 @@ define LINK_CXX_TEMPLATE
 .SECONDARY : $(1)
 .PRECIOUS : $(2) $(3)
 $(1):  $(2) $(3)
-	@$(ECHO) $(MSG_LINKING) $$(call toprel, $$@)
+	@echo $(MSG_LINKING) $$(call toprel, $$@)
 	$(V1) $(CXX) $(THUMB) $$(CFLAGS) $$(CPPFLAGS) $$(CXXFLAGS) $(2) $(3) --output $$@ $$(LDFLAGS)
 endef

 # Compile: create assembler files from C source files. ARM/Thumb
 define PARTIAL_COMPILE_TEMPLATE
 $($(1):.c=.s) : %.s : %.c
-	@$(ECHO) $(MSG_ASMFROMC) $$(call toprel, $$<)
+	@echo $(MSG_ASMFROMC) $$(call toprel, $$<)
 	$(V1) $(CC) $(THUMB) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef

 # Compile: create assembler files from C source files. ARM only
 define PARTIAL_COMPILE_ARM_TEMPLATE
 $($(1):.c=.s) : %.s : %.c
-	@$(ECHO) $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
+	@echo $(MSG_ASMFROMC_ARM) $$(call toprel, $$<)
 	$(V1) $(CC) -S $$(CFLAGS) $$(CONLYFLAGS) $$< -o $$@
 endef

@ -270,7 +270,7 @@ define JTAG_TEMPLATE
 # debug level
 OOCD_JTAG_SETUP  = -d0
 # interface and board/target settings (using the OOCD target-library here)
-OOCD_JTAG_SETUP += -s $(ROOT_DIR)/flight/Project/OpenOCD
+OOCD_JTAG_SETUP += -s $(FLIGHT_ROOT_DIR)/Project/OpenOCD
 OOCD_JTAG_SETUP += -f $(4) -f $(5)

 # initialize
@ -282,7 +282,7 @@ OOCD_BOARD_RESET += -c "reset halt"

 .PHONY: program
 program: $(1)
-	@$(ECHO) $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
+	@echo $(MSG_JTAG_PROGRAM) $$(call toprel, $$<)
 	$(V1) $(OPENOCD) \
 		$$(OOCD_JTAG_SETUP) \
 		$$(OOCD_BOARD_RESET) \
@ -293,7 +293,7 @@ program: $(1)

 .PHONY: wipe
 wipe:
-	@$(ECHO) $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
+	@echo $(MSG_JTAG_WIPE) wiping $(3) bytes starting from $(2)
 	$(V1) $(OPENOCD) \
 		$$(OOCD_JTAG_SETUP) \
 		$$(OOCD_BOARD_RESET) \
--- a/flight/targets/boards/coptercontrol/bootloader/Makefile
+++ b/flight/targets/boards/coptercontrol/bootloader/Makefile
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -25,9 +25,9 @@ endif
 SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk

 $(info Making bootloader for CopterControl, board revision $(BOARD_REVISION))
 $(info Use BOARD_REVISION=1 for CC, BOARD_REVISION=2 for CC3D (default))
--- a/flight/targets/boards/coptercontrol/firmware/Makefile
+++ b/flight/targets/boards/coptercontrol/firmware/Makefile
@ -18,12 +18,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # ARM DSP library
 USE_DSP_LIB ?= NO
@ -88,60 +88,60 @@ ifndef TESTAPP
    SRC += $(OPUAVOBJ)/eventdispatcher.c

    ## UAVObjects
-    SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
-    SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
-    SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
-    SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
-    SRC += $(OPUAVSYNTHDIR)/faultsettings.c
-    SRC += $(OPUAVSYNTHDIR)/flightstatus.c
-    SRC += $(OPUAVSYNTHDIR)/systemstats.c
-    SRC += $(OPUAVSYNTHDIR)/systemalarms.c
-    SRC += $(OPUAVSYNTHDIR)/systemsettings.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationstatus.c
-    SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
-    SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
-    SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
-    SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
-    SRC += $(OPUAVSYNTHDIR)/accelstate.c
-    SRC += $(OPUAVSYNTHDIR)/accelgyrosettings.c
-    SRC += $(OPUAVSYNTHDIR)/gyrostate.c
-    SRC += $(OPUAVSYNTHDIR)/attitudestate.c
-    SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
-    SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
-    SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
-    SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
-    SRC += $(OPUAVSYNTHDIR)/mixersettings.c
-    SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
-    SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
-    SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
-    SRC += $(OPUAVSYNTHDIR)/cameradesired.c
-    SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
-    SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
-    SRC += $(OPUAVSYNTHDIR)/gpssettings.c
-    SRC += $(OPUAVSYNTHDIR)/hwsettings.c
-    SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
-    SRC += $(OPUAVSYNTHDIR)/receiverstatus.c
-    SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
-    SRC += $(OPUAVSYNTHDIR)/ratedesired.c
-    SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
-    SRC += $(OPUAVSYNTHDIR)/txpidstatus.c
-    SRC += $(OPUAVSYNTHDIR)/mpugyroaccelsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/accessorydesired.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/objectpersistence.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gcstelemetrystats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flighttelemetrystats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/faultsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flightstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemstats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemalarms.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationdesired.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationsettingsbank1.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationsettingsbank2.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationsettingsbank3.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/stabilizationbank.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/actuatorcommand.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/actuatordesired.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/actuatorsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/accelstate.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/accelgyrosettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gyrostate.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/attitudestate.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/manualcontrolcommand.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/watchdogstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/manualcontrolsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flightmodesettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/mixersettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/firmwareiapobj.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/attitudesettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/camerastabsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/cameradesired.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpspositionsensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpsvelocitysensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpssettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/hwsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/receiveractivity.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/receiverstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/mixerstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/ratedesired.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/txpidsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/txpidstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/mpugyroaccelsettings.c
    # Command line option for Gcsreceiver module
    ifeq ($(GCSRECEIVER), YES)
-        SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
+        SRC += $(FLIGHT_UAVOBJ_DIR)/gcsreceiver.c
    endif
    # Enable Diag tasks and UAVOs needed
    ifeq ($(DIAG_TASKS), YES)
        CDEFS += -DDIAG_TASKS
-        SRC += $(OPUAVSYNTHDIR)/taskinfo.c
-        SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
-        SRC += $(OPUAVSYNTHDIR)/perfcounter.c
-        SRC += $(OPUAVSYNTHDIR)/i2cstats.c
+        SRC += $(FLIGHT_UAVOBJ_DIR)/taskinfo.c
+        SRC += $(FLIGHT_UAVOBJ_DIR)/callbackinfo.c
+        SRC += $(FLIGHT_UAVOBJ_DIR)/perfcounter.c
+        SRC += $(FLIGHT_UAVOBJ_DIR)/i2cstats.c
    endif
 else
    ## Test Code
@ -149,5 +149,5 @@ else
    SRC += $(OPTESTS)/$(TESTAPP).c
 endif

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/discoveryf4bare/bootloader/Makefile
+++ b/flight/targets/boards/discoveryf4bare/bootloader/Makefile
@ -17,11 +17,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/discoveryf4bare/firmware/Makefile
+++ b/flight/targets/boards/discoveryf4bare/firmware/Makefile
@ -18,12 +18,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #####

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # REVO C++ support 
 USE_CXX = YES
@ -112,5 +112,5 @@ endif
 include $(FLIGHTLIB)/rscode/library.mk
 #include $(FLIGHTLIB)/PyMite/pymite.mk

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
+++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
@ -126,5 +126,5 @@ UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
--- a/flight/targets/boards/gpsplatinum/bootloader/Makefile
+++ b/flight/targets/boards/gpsplatinum/bootloader/Makefile
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -25,7 +25,7 @@ PIOS_OMITS_USB = YES
 PIOS_APPS_MINIMAL = YES

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 ## The standard CMSIS startup
 SRC += $(CMSIS_DEVICEDIR)/system_stm32f0xx.c
@ -35,6 +35,6 @@ SRC += $(FLIGHTLIB)/fifo_buffer.c



-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk

--- a/flight/targets/boards/gpsplatinum/firmware/Makefile
+++ b/flight/targets/boards/gpsplatinum/firmware/Makefile
@ -18,12 +18,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # ARM DSP library
 USE_DSP_LIB ?= NO
@ -53,11 +53,11 @@ SRC += $(PIOSCOMMON)/pios_ubx_dcc.c
 SRC += $(PIOSCOMMON)/pios_flash_jedec.c

 ## UAVObjects
-SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
-SRC += $(OPUAVSYNTHDIR)/systemstats.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/firmwareiapobj.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/systemstats.c

 PIOS_OMITS_USB = YES
 PIOS_APPS_MINIMAL = YES

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/oplinkmini/bootloader/Makefile
+++ b/flight/targets/boards/oplinkmini/bootloader/Makefile
@ -17,7 +17,7 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

@ -25,9 +25,9 @@ endif
 SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk

 BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
 BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
--- a/flight/targets/boards/oplinkmini/firmware/Makefile
+++ b/flight/targets/boards/oplinkmini/firmware/Makefile
@ -17,12 +17,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # ARM DSP library
 override USE_DSP_LIB := NO
@ -54,11 +54,11 @@ ifndef TESTAPP
    SRC += $(FLIGHTLIB)/sha1.c

    ## UAVObjects
-    SRC += $(OPUAVSYNTHDIR)/oplinkstatus.c
-    SRC += $(OPUAVSYNTHDIR)/oplinksettings.c
-    SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
-    SRC += $(OPUAVSYNTHDIR)/oplinkreceiver.c
-    SRC += $(OPUAVSYNTHDIR)/radiocombridgestats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/oplinkstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/oplinksettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/objectpersistence.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/oplinkreceiver.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/radiocombridgestats.c
 else
    ## Test Code
    SRC += $(OPTESTS)/test_common.c
@ -68,5 +68,5 @@ endif
 # Optional component libraries
 include $(FLIGHTLIB)/rscode/library.mk

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/osd/bootloader/Makefile
+++ b/flight/targets/boards/osd/bootloader/Makefile
@ -17,11 +17,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/osd/firmware/Makefile
+++ b/flight/targets/boards/osd/firmware/Makefile
@ -17,12 +17,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # ARM DSP library
 override USE_DSP_LIB := NO
@ -77,34 +77,34 @@ ifndef TESTAPP
    SRC += $(FLIGHTLIB)/auxmagsupport.c

    ## UAVObjects
-    SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
-    SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
-    SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
-    SRC += $(OPUAVSYNTHDIR)/flightstatus.c
-    SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
-    SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
-    SRC += $(OPUAVSYNTHDIR)/systemstats.c
-    SRC += $(OPUAVSYNTHDIR)/systemalarms.c
-    SRC += $(OPUAVSYNTHDIR)/systemsettings.c
-    SRC += $(OPUAVSYNTHDIR)/attitudestate.c
-    SRC += $(OPUAVSYNTHDIR)/i2cstats.c
-    SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
-    SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
-    SRC += $(OPUAVSYNTHDIR)/hwsettings.c
-    SRC += $(OPUAVSYNTHDIR)/taskinfo.c
-    SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
-    SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
-    SRC += $(OPUAVSYNTHDIR)/homelocation.c
-    SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
-    SRC += $(OPUAVSYNTHDIR)/gpssatellites.c
-    SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
-    SRC += $(OPUAVSYNTHDIR)/gpstime.c
-    SRC += $(OPUAVSYNTHDIR)/gpssettings.c
-    SRC += $(OPUAVSYNTHDIR)/osdsettings.c
-    SRC += $(OPUAVSYNTHDIR)/barosensor.c
-    SRC += $(OPUAVSYNTHDIR)/magsensor.c
-    SRC += $(OPUAVSYNTHDIR)/auxmagsensor.c
-    SRC += $(OPUAVSYNTHDIR)/gpsextendedstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/objectpersistence.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gcstelemetrystats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flighttelemetrystats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flightstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/flightmodesettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/manualcontrolsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemstats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemalarms.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/systemsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/attitudestate.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/i2cstats.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/watchdogstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/firmwareiapobj.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/hwsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/taskinfo.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/callbackinfo.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/mixerstatus.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/homelocation.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpspositionsensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpssatellites.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpsvelocitysensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpstime.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpssettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/osdsettings.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/barosensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/magsensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/auxmagsensor.c
+    SRC += $(FLIGHT_UAVOBJ_DIR)/gpsextendedstatus.c
 else
    ## Test Code
    SRC += $(OPTESTS)/test_common.c
@ -114,5 +114,5 @@ endif
 # Optional component libraries
 include $(PIOS)/common/libraries/dosfs/library.mk

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revolution/bootloader/Makefile
+++ b/flight/targets/boards/revolution/bootloader/Makefile
@ -17,11 +17,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revolution/firmware/Makefile
+++ b/flight/targets/boards/revolution/firmware/Makefile
@ -18,12 +18,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #####

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # REVO C++ support 
 USE_CXX = YES
@ -112,5 +112,5 @@ include $(FLIGHTLIB)/rscode/library.mk
 #include $(FLIGHTLIB)/PyMite/pymite.mk


-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revolution/firmware/Makefile.osx
+++ b/flight/targets/boards/revolution/firmware/Makefile.osx
@ -112,7 +112,6 @@ PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans

-UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python

 # List C source files here. (C dependencies are automatically generated.)
@ -141,7 +140,7 @@ SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
-SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/uavobjectsinit.c
 else
 ## TESTCODE
 SRC += $(OPTESTS)/test_common.c
@ -152,11 +151,11 @@ endif

 ## UAVOBJECTS
 ifndef TESTAPP
-#include $(UAVOBJSYNTHDIR)/Makefile.inc
+#include $(FLIGHT_UAVOBJ_DIR)/Makefile.inc
 include ./UAVObjects.inc

 UAVOBJSRCFILENAMES += attitudesimulated
-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

 SRC += $(UAVOBJSRC)
@ -221,7 +220,7 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHT_UAVOBJ_DIR)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
@ -367,7 +366,7 @@ OBJCOPY = $(ARM_SDK_PREFIX)objcopy
 OBJDUMP = $(ARM_SDK_PREFIX)objdump
 SIZE    = $(ARM_SDK_PREFIX)size
 NM      = $(ARM_SDK_PREFIX)nm
-REMOVE  = $(RM) -f
+REMOVE  = rm -f



--- a/flight/targets/boards/revolution/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revolution/firmware/UAVObjects.inc
@ -126,5 +126,5 @@ UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
--- a/flight/targets/boards/revonano/bootloader/Makefile
+++ b/flight/targets/boards/revonano/bootloader/Makefile
@ -17,11 +17,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revonano/firmware/Makefile
+++ b/flight/targets/boards/revonano/firmware/Makefile
@ -17,12 +17,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #####

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # REVO C++ support 
 USE_CXX = YES
@ -106,5 +106,5 @@ endif
 # Optional component libraries


-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revonano/firmware/Makefile.osx
+++ b/flight/targets/boards/revonano/firmware/Makefile.osx
@ -112,7 +112,6 @@ PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans

-UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python

 # List C source files here. (C dependencies are automatically generated.)
@ -141,7 +140,7 @@ SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
-SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/uavobjectsinit.c
 else
 ## TESTCODE
 SRC += $(OPTESTS)/test_common.c
@ -152,11 +151,11 @@ endif

 ## UAVOBJECTS
 ifndef TESTAPP
-#include $(UAVOBJSYNTHDIR)/Makefile.inc
+#include $(FLIGHT_UAVOBJ_DIR)/Makefile.inc
 include ./UAVObjects.inc

 UAVOBJSRCFILENAMES += attitudesimulated
-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

 SRC += $(UAVOBJSRC)
@ -221,7 +220,7 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHT_UAVOBJ_DIR)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
@ -367,7 +366,7 @@ OBJCOPY = $(ARM_SDK_PREFIX)objcopy
 OBJDUMP = $(ARM_SDK_PREFIX)objdump
 SIZE    = $(ARM_SDK_PREFIX)size
 NM      = $(ARM_SDK_PREFIX)nm
-REMOVE  = $(RM) -f
+REMOVE  = rm -f



--- a/flight/targets/boards/revonano/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revonano/firmware/UAVObjects.inc
@ -126,5 +126,5 @@ UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation
 UAVOBJSRCFILENAMES += perfcounter

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
--- a/flight/targets/boards/revoproto/bootloader/Makefile
+++ b/flight/targets/boards/revoproto/bootloader/Makefile
@ -17,11 +17,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
-include $(ROOT_DIR)/make/boot-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/boot-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revoproto/firmware/Makefile
+++ b/flight/targets/boards/revoproto/firmware/Makefile
@ -18,12 +18,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #####

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # REVO C++ support 
 USE_CXX = YES
@ -105,5 +105,5 @@ endif
 # Optional component libraries
 #include $(FLIGHTLIB)/PyMite/pymite.mk

-include $(ROOT_DIR)/make/apps-defs.mk
-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/apps-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/boards/revoproto/firmware/Makefile.osx
+++ b/flight/targets/boards/revoproto/firmware/Makefile.osx
@ -118,7 +118,6 @@ PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans

-UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python

 # List C source files here. (C dependencies are automatically generated.)
@ -145,14 +144,14 @@ SRC += $(OPSYSTEM)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
-SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/uavobjectsinit.c



 include $(WHEREAMI)/UAVObjects.inc

 UAVOBJSRCFILENAMES += attitudesimulated
-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

 SRC += $(UAVOBJSRC)
@ -222,7 +221,7 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHT_UAVOBJ_DIR)
 EXTRAINCDIRS  += $(PIOS)
 EXTRAINCDIRS  += $(PIOSINC)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
@ -369,7 +368,7 @@ OBJCOPY = $(ARM_SDK_PREFIX)objcopy
 OBJDUMP = $(ARM_SDK_PREFIX)objdump
 SIZE    = $(ARM_SDK_PREFIX)size
 NM      = $(ARM_SDK_PREFIX)nm
-REMOVE  = $(RM) -f
+REMOVE  = rm -f



--- a/flight/targets/boards/revoproto/firmware/UAVObjects.inc
+++ b/flight/targets/boards/revoproto/firmware/UAVObjects.inc
@ -125,5 +125,5 @@ UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
--- a/flight/targets/boards/simposix/firmware/Makefile
+++ b/flight/targets/boards/simposix/firmware/Makefile
@ -27,7 +27,7 @@ override ARM_SDK_PREFIX :=
 override THUMB :=

 include ../board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # Set developer code and compile options
 # Set to YES for debugging
@ -71,7 +71,6 @@ PIOSCORECOMMON = $(PIOS)/common
 PIOSCOMMONLIB = $(PIOS)/common/libraries
 BOOT = 
 BOOTINC = 
-UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight

 # optional component libraries
 include $(PIOS)/common/libraries/FreeRTOS/library.mk
@ -99,7 +98,7 @@ SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/uavobjectpersistence.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c
-SRC += $(UAVOBJSYNTHDIR)/uavobjectsinit.c
+SRC += $(FLIGHT_UAVOBJ_DIR)/uavobjectsinit.c

 SRC += $(FLIGHTLIB)/CoordinateConversions.c
 SRC += $(FLIGHTLIB)/fifo_buffer.c
@ -145,13 +144,13 @@ EXTRAINCDIRS  += $(OPUAVTALK)
 EXTRAINCDIRS  += $(OPUAVTALKINC)
 EXTRAINCDIRS  += $(OPUAVOBJ)
 EXTRAINCDIRS  += $(OPUAVOBJINC)
-EXTRAINCDIRS  += $(UAVOBJSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHT_UAVOBJ_DIR)
 EXTRAINCDIRS  += $(FLIGHTLIBINC)
 EXTRAINCDIRS  += $(MATHLIBINC)
 EXTRAINCDIRS  += $(PIDLIBINC)
 EXTRAINCDIRS  += $(PIOSCOMMON)
 EXTRAINCDIRS  += $(CMSISDIR)
-EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
+EXTRAINCDIRS  += $(FLIGHT_UAVOBJ_DIR)
 EXTRAINCDIRS  += $(BOOTINC)

 EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
@ -290,7 +289,7 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))


 # Define programs and commands.
-REMOVE  = $(RM) -f
+REMOVE  = rm -f

 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@ -424,16 +423,16 @@ gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTD

 # Generate code for module initialization
 ${OUTDIR}/InitMods.c: Makefile
-	$(V1) $(ECHO) $(MSG_MODINIT $(call toprel, $@))
-	$(V1) $(ECHO) $(QUOTE)// Autogenerated file$(QUOTE) > ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)void InitModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)void StartModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Start();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
-	$(V1) $(ECHO) $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(MSG_MODINIT $(call toprel, $@))
+	$(V1) echo $(QUOTE)// Autogenerated file$(QUOTE) > ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}$(QUOTE)  >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)void InitModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)void StartModules() {$(QUOTE) >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)${foreach MOD, ${MODNAMES}, ${MOD}Start();}$(QUOTE)  >> ${OUTDIR}/InitMods.c
+	$(V1) echo $(QUOTE)}$(QUOTE) >> ${OUTDIR}/InitMods.c

 # Listing of phony targets.
 .PHONY : all build clean clean_list install
--- a/flight/targets/boards/simposix/firmware/UAVObjects.inc
+++ b/flight/targets/boards/simposix/firmware/UAVObjects.inc
@ -120,5 +120,5 @@ UAVOBJSRCFILENAMES += ekfconfiguration
 UAVOBJSRCFILENAMES += ekfstatevariance
 UAVOBJSRCFILENAMES += takeofflocation

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
--- a/flight/targets/common/bootloader_updater/Makefile
+++ b/flight/targets/common/bootloader_updater/Makefile
@ -16,12 +16,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../../boards/$(BOARD_NAME)/board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # ARM DSP library
 override USE_DSP_LIB := NO
@ -72,6 +72,6 @@ EXTRAINCDIRS += $(PIOSCOMMON)
 EXTRAINCDIRS += $(OPSYSTEMINC)

 # Link: create ELF output file from object files.
-EXTRAOBJ := $(BUILD_DIR)/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o
+EXTRAOBJ := $(FLIGHT_OUT_DIR)/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o

-include $(ROOT_DIR)/make/common-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/common-defs.mk
--- a/flight/targets/common/entire_flash/Makefile
+++ b/flight/targets/common/entire_flash/Makefile
@ -16,12 +16,12 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

 include ../../boards/$(BOARD_NAME)/board-info.mk
-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 # Paths
 TOPDIR		= .
@ -36,12 +36,12 @@ endif
 .PHONY: bin
 bin: $(OUTDIR)/$(TARGET).bin

-BL_BIN = $(BUILD_DIR)/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
-FW_BIN = $(BUILD_DIR)/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
+BL_BIN = $(FLIGHT_OUT_DIR)/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
+FW_BIN = $(FLIGHT_OUT_DIR)/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
 FWINFO_BIN = $(FW_BIN).firmware_info.bin

 $(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN)
-	$(V0) @$(ECHO) $(MSG_FLASH_IMG) $@
+	$(V0) @echo $(MSG_FLASH_IMG) $@
 	$(V1) $(ENTIRE_FLASH) \
 		$(EF_VERBOSE) \
 		--bl-bank-base=$(BL_BANK_BASE) \
--- a/flight/tests/lednotification/Makefile
+++ b/flight/tests/lednotification/Makefile
@ -26,11 +26,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 EXTRAINCDIRS += $(TOPDIR)
 EXTRAINCDIRS += $(PIOS)/inc
@ -40,4 +40,4 @@ EXTRAINCDIRS += $(FLIGHTLIB)
 SRC += $(FLIGHTLIB)/optypes.c
 SRC += $(PIOS)/common/pios_notify.c

-include $(ROOT_DIR)/make/unittest.mk
+include $(FLIGHT_ROOT_DIR)/make/unittest.mk
--- a/flight/tests/logfs/Makefile
+++ b/flight/tests/logfs/Makefile
@ -24,11 +24,11 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 EXTRAINCDIRS += $(TOPDIR)
 EXTRAINCDIRS += $(PIOS)/inc
@ -37,4 +37,4 @@ SRC += $(PIOS)/common/pios_flashfs_logfs.c

 CFLAGS += "-DFLASH_IMAGE_FILE=\"$(OUTDIR)/theflash.bin\""

-include $(ROOT_DIR)/make/unittest.mk
+include $(FLIGHT_ROOT_DIR)/make/unittest.mk
--- a/flight/tests/math/Makefile
+++ b/flight/tests/math/Makefile
@ -25,14 +25,14 @@
 # 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 #

-ifndef TOP_LEVEL_MAKEFILE
+ifndef FLIGHT_MAKEFILE
    $(error Top level Makefile must be used to build this target)
 endif

-include $(ROOT_DIR)/make/firmware-defs.mk
+include $(FLIGHT_ROOT_DIR)/make/firmware-defs.mk

 EXTRAINCDIRS += $(TOPDIR)
-EXTRAINCDIRS += $(ROOT_DIR)/flight/libraries/math
+EXTRAINCDIRS += $(FLIGHT_ROOT_DIR)/flight/libraries/math
 EXTRAINCDIRS += $(PIOS)/inc

-include $(ROOT_DIR)/make/unittest.mk
+include $(FLIGHT_ROOT_DIR)/make/unittest.mk
--- a/flight/uavobjects/Makefile.inc.template
+++ b/flight/uavobjects/Makefile.inc.template
@ -37,5 +37,5 @@

 UAVOBJSRCFILENAMES = $(UAVOBJFILENAMES)

-UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
+UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(FLIGHT_UAVOBJ_DIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )