diff --git a/conf/Makefile.ardrone2 b/conf/Makefile.ardrone2
new file mode 100644
index 0000000000..fc5f0bb565
--- /dev/null
+++ b/conf/Makefile.ardrone2
@@ -0,0 +1,85 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2013 The Paparazzi Team
+#
+# This file is part of paparazzi.
+#
+# paparazzi is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2, or (at your option)
+# any later version.
+#
+# paparazzi is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with paparazzi; see the file COPYING.  If not, see
+# <http://www.gnu.org/licenses/>.
+#
+
+#
+# This Makefile uses the generic Makefile.omap and adds upload rules for the ARDrone2
+#
+
+include $(PAPARAZZI_SRC)/conf/Makefile.omap
+
+DRONE = $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/ardrone2.py
+
+# Allow modules or other raw makefiles to add actions to the upload
+upload_extra:
+
+
+# Program the device and start it.
+load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
+	$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
+	$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
+	$(Q)$(DRONE) status
+
+
+# Program the device and start it.
+load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
+
+	# Kill the application
+	-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
+
+	# Make the target dir and edit the config
+	-{ 												\
+	  echo "mkdir -p $(TARGET_DIR)";				\
+	  echo "if grep -q \"start_paparazzi *= \" /data/config.ini; then sed -i 's/\(start_paparazzi *= *\).*/\\\1$(ARDRONE2_START_PAPARAZZI)/g' /data/config.ini; else echo \"start_paparazzi = $(ARDRONE2_START_PAPARAZZI)\" >> /data/config.ini; fi"; \
+      echo "if grep -q \"wifi_mode *= \" /data/config.ini; then sed -i 's/\(wifi_mode *= *\).*/\\\1$(ARDRONE2_WIFI_MODE)/g' /data/config.ini; else echo \"wifi_mode = $(ARDRONE2_WIFI_MODE)\" >> /data/config.ini; fi"; \
+      echo "if grep -q \"ssid_single_player *= \" /data/config.ini; then sed -i 's/\(ssid_single_player *= *\).*/\\\1$(ARDRONE2_SSID)/g' /data/config.ini; else echo \"ssid_single_player = $(ARDRONE2_SSID)\" >> /data/config.ini; fi"; \
+      echo "if grep -q \"static_ip_address_base *= \" /data/config.ini; then sed -i 's/\(static_ip_address_base *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_BASE)/g' /data/config.ini; else echo \"static_ip_address_base = $(ARDRONE2_IP_ADDRESS_BASE)\" >> /data/config.ini; fi"; \
+      echo "if grep -q \"static_ip_address_probe *= \" /data/config.ini; then sed -i 's/\(static_ip_address_probe *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_PROBE)/g' /data/config.ini; else echo \"static_ip_address_probe = $(ARDRONE2_IP_ADDRESS_PROBE)\" >> /data/config.ini; fi"; \
+	} | telnet $(HOST)
+
+	# Upload the drivers and new application
+	{																								\
+	  echo "binary";																				\
+	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko";		\
+	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/check_update.sh check_update.sh";		    \
+	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/wifi_setup.sh wifi_setup.sh";		        \
+	  echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf";									\
+	  echo "quit";																					\
+	} | ftp -n $(HOST)
+
+	# Upload the modules and start the application
+	-{ 															\
+	  echo "mv /data/video/check_update.sh /bin/";				\
+	  echo "mv /data/video/wifi_setup.sh /bin/";				\
+	  echo "chmod 777 /bin/check_update.sh"         			\
+	  echo "chmod 777 /bin/wifi_setup.sh"          			 	\
+	  echo "insmod $(TARGET_DIR)/cdc-acm.ko";					\
+	  echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf";				\
+	  echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &";	\
+	} | telnet $(HOST)
+
+ifeq ($(ARDRONE2_REBOOT),1)
+	-{ 										\
+	  echo "reboot";						\
+	} | telnet $(HOST)
+endif
+
+# Listing of phony targets.
+.PHONY : upload_extra load upload program load2 upload2 program2
diff --git a/conf/Makefile.omap b/conf/Makefile.omap
index 255003a070..09d4556fdc 100644
--- a/conf/Makefile.omap
+++ b/conf/Makefile.omap
@@ -79,65 +79,6 @@ $(OBJDIR):
 
 elf: $(OBJDIR)/$(TARGET).elf
 
-# Allow modules or other raw makefiles to add actions to the upload
-upload_extra:
-
-
-DRONE = $(PAPARAZZI_HOME)/sw/ext/ardrone2_drivers/ardrone2.py
-
-# Program the device and start it.
-load upload program: upload_extra $(OBJDIR)/$(TARGET).elf
-	$(Q)$(DRONE) insmod $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko
-	$(Q)$(DRONE) upload_paparazzi $(OBJDIR)/$(TARGET).elf $(SUB_DIR)
-	$(Q)$(DRONE) status
-
-
-# Program the device and start it.
-load2 upload2 program2: $(OBJDIR)/$(TARGET).elf
-
-	# Kill the application
-	-echo "killall -9 $(TARGET).elf" | telnet $(HOST)
-
-	# Make the target dir and edit the config
-	-{ 												\
-	  echo "mkdir -p $(TARGET_DIR)";				\
-	  echo "if grep -q \"start_paparazzi *= \" /data/config.ini; then sed -i 's/\(start_paparazzi *= *\).*/\\\1$(ARDRONE2_START_PAPARAZZI)/g' /data/config.ini; else echo \"start_paparazzi = $(ARDRONE2_START_PAPARAZZI)\" >> /data/config.ini; fi"; \
-      echo "if grep -q \"wifi_mode *= \" /data/config.ini; then sed -i 's/\(wifi_mode *= *\).*/\\\1$(ARDRONE2_WIFI_MODE)/g' /data/config.ini; else echo \"wifi_mode = $(ARDRONE2_WIFI_MODE)\" >> /data/config.ini; fi"; \
-      echo "if grep -q \"ssid_single_player *= \" /data/config.ini; then sed -i 's/\(ssid_single_player *= *\).*/\\\1$(ARDRONE2_SSID)/g' /data/config.ini; else echo \"ssid_single_player = $(ARDRONE2_SSID)\" >> /data/config.ini; fi"; \
-      echo "if grep -q \"static_ip_address_base *= \" /data/config.ini; then sed -i 's/\(static_ip_address_base *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_BASE)/g' /data/config.ini; else echo \"static_ip_address_base = $(ARDRONE2_IP_ADDRESS_BASE)\" >> /data/config.ini; fi"; \
-      echo "if grep -q \"static_ip_address_probe *= \" /data/config.ini; then sed -i 's/\(static_ip_address_probe *= *\).*/\\\1$(ARDRONE2_IP_ADDRESS_PROBE)/g' /data/config.ini; else echo \"static_ip_address_probe = $(ARDRONE2_IP_ADDRESS_PROBE)\" >> /data/config.ini; fi"; \
-	} | telnet $(HOST)
-
-	# Upload the drivers and new application
-	{																								\
-	  echo "binary";																				\
-	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/cdc-acm.ko /$(SUB_DIR)/cdc-acm.ko";		\
-	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/check_update.sh check_update.sh";		    \
-	  echo "put $(PAPARAZZI_SRC)/sw/ext/ardrone2_drivers/wifi_setup.sh wifi_setup.sh";		        \
-	  echo "put $(OBJDIR)/$(TARGET).elf /$(SUB_DIR)/$(TARGET).elf";									\
-	  echo "quit";																					\
-	} | ftp -n $(HOST)
-
-	# Upload the modules and start the application
-	-{ 															\
-	  echo "mv /data/video/check_update.sh /bin/";				\
-	  echo "mv /data/video/wifi_setup.sh /bin/";				\
-	  echo "chmod 777 /bin/check_update.sh"         			\
-	  echo "chmod 777 /bin/wifi_setup.sh"          			 	\
-	  echo "insmod $(TARGET_DIR)/cdc-acm.ko";					\
-	  echo "chmod 777 $(TARGET_DIR)/$(TARGET).elf";				\
-	  echo "$(TARGET_DIR)/$(TARGET).elf > /dev/null 2>&1 &";	\
-	} | telnet $(HOST)
-
-ifeq ($(ARDRONE2_REBOOT),1)
-	-{ 										\
-	  echo "reboot";						\
-	} | telnet $(HOST)
-endif
-
-
-
-
 # Link: create ELF output file from object files.
 .SECONDARY : $(OBJDIR)/$(TARGET).elf
 .PRECIOUS :   $(OBJ_C_OMAP) $(OBJ_CPP_OMAP)
diff --git a/conf/boards/ardrone2_raw.makefile b/conf/boards/ardrone2_raw.makefile
index b97997b11b..4d6fdaa5e9 100644
--- a/conf/boards/ardrone2_raw.makefile
+++ b/conf/boards/ardrone2_raw.makefile
@@ -12,6 +12,8 @@ BOARD_CFG=\"boards/$(BOARD)$(BOARD_VERSION)_$(BOARD_TYPE).h\"
 
 ARCH=omap
 $(TARGET).ARCHDIR = $(ARCH)
+# include conf/Makefile.ardrone2 (with specific upload rules) instead of only Makefile.omap:
+ap.MAKEFILE = ardrone2
 
 # -----------------------------------------------------------------------
 USER=foobar
diff --git a/conf/boards/ardrone2_sdk.makefile b/conf/boards/ardrone2_sdk.makefile
index 6ee6311af1..8e2ee43f7e 100644
--- a/conf/boards/ardrone2_sdk.makefile
+++ b/conf/boards/ardrone2_sdk.makefile
@@ -12,6 +12,8 @@ BOARD_CFG=\"boards/$(BOARD)$(BOARD_VERSION)_$(BOARD_TYPE).h\"
 
 ARCH=omap
 $(TARGET).ARCHDIR = $(ARCH)
+# include conf/Makefile.ardrone2 (with specific upload rules) instead of only Makefile.omap:
+ap.MAKEFILE = ardrone2
 
 # -----------------------------------------------------------------------
 USER=foobar