diff --git a/Tools/scp_upload.sh b/Tools/scp_upload.sh
index 2659af37cd..3faebcb96c 100755
--- a/Tools/scp_upload.sh
+++ b/Tools/scp_upload.sh
@@ -1,4 +1,5 @@
 #!/bin/bash
+# upload script for network-connected devices via scp (eg Raspberry Pi)
 
 if [[ "$#" < 2 ]]; then
 	echo "usage: scp_upload.sh SRC1 [SRC2 ...] DEST"
@@ -13,20 +14,20 @@ else
 	echo "\$AUTOPILOT_HOST is set to $host"
 fi
 
-echo "Uploading..."
+user=pi
+if [ -n "${AUTOPILOT_USER}" ]; then
+	user=${AUTOPILOT_USER}
+fi
 
 # Get last argument
 for last; do true; done
 
-# Go through source files and push them one by one.
-i=0
-for arg
-do
-	if [[ $((i+1)) == "$#" ]]; then
-		break
-	fi
-	# echo "Pushing $arg to $last"
-	#adb push $arg $last
-	scp $arg pi@$host:$last
-	((i+=1))
-done
+# All except last argument
+length=$(($#-1))
+src_files=${@:1:$length}
+
+echo "Uploading $src_files..."
+
+# Upload files
+scp -r $src_files ${user}@${host}:$last
+
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index bca1455540..d1057fbfa0 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -53,11 +53,13 @@ elseif ("${BOARD}" STREQUAL "rpi")
 		-Wl,--end-group
 		)
 
+	file(GLOB RPI_CONFIG_FILES ${PX4_SOURCE_DIR}/posix-configs/rpi/*.config)
 	px4_add_scp_push(OUT upload
 			 OS ${OS}
 			 BOARD ${BOARD}
 			 FILES ${CMAKE_CURRENT_BINARY_DIR}/px4
-				 ${PX4_SOURCE_DIR}/posix-configs/rpi/px4.config
+				${RPI_CONFIG_FILES}
+				${PX4_SOURCE_DIR}/ROMFS
 			 DEPENDS px4
 			 DEST /home/pi)