diff --git a/Makefile b/Makefile
index 5fc2892067..29c9dd78ef 100644
--- a/Makefile
+++ b/Makefile
@@ -167,6 +167,9 @@ ext:
 	$(MAKE) -C $(EXT)
 	$(MAKE) -C $(TOOLS)/bluegiga_usb_dongle
 
+opencv_bebop:
+	$(MAKE) -C $(EXT) opencv_bebop
+
 #
 # make misc subdirs
 #
@@ -305,7 +308,7 @@ test: test_math test_examples
 test_examples: all
 	CONF_XML=conf/conf_tests.xml prove tests/aircrafts/
 
-test_all_confs: all
+test_all_confs: all opencv_bebop
 	$(Q)$(eval $CONFS:=$(shell ./find_confs.py))
 	@echo "************\nFound $(words $($CONFS)) config files: $($CONFS)"
 	$(Q)$(foreach conf,$($CONFS),echo "\n************\nTesting all aircrafts in conf: $(conf)\n************" && (CONF_XML=$(conf) prove tests/aircrafts/ || echo "failed $(conf)" >> TEST_ALL_CONFS_FAILED);) test -f TEST_ALL_CONFS_FAILED && cat TEST_ALL_CONFS_FAILED && rm -f TEST_ALL_CONFS_FAILED && exit 1; exit 0
@@ -322,6 +325,6 @@ test_sim: all
 
 .PHONY: all print_build_version _print_building _save_build_version update_google_version init dox ground_segment ground_segment.opt \
 subdirs $(SUBDIRS) conf ext libpprz libpprzlink cockpit cockpit.opt tmtc tmtc.opt generators\
-static sim_static lpctools commands \
+static sim_static lpctools commands opencv_bebop\
 clean cleanspaces ab_clean dist_clean distclean dist_clean_irreversible \
 test test_examples test_math test_sim test_all_confs
diff --git a/sw/ext/Makefile b/sw/ext/Makefile
index a3daba3fe9..8ca466eb32 100644
--- a/sw/ext/Makefile
+++ b/sw/ext/Makefile
@@ -38,13 +38,13 @@ all: libopencm3 luftboot chibios fatfs libsbp mavlink
 # update (and init if needed) all submodules
 update_submodules:
 	$(Q)if [ -d $(PAPARAZZI_SRC)/.git ]; then \
-		cd $(PAPARAZZI_SRC) && git submodule update --init; \
+		cd $(PAPARAZZI_SRC) && git submodule update --init --recursive; \
 	fi
 
 # update (and init if needed) a specific submodule
 %.update:
 	$(Q)if [ -d $(PAPARAZZI_SRC)/.git ]; then \
-		cd $(PAPARAZZI_SRC) && git submodule update --init sw/ext/$*; \
+		cd $(PAPARAZZI_SRC) && git submodule update --init --recursive sw/ext/$*; \
 	fi
 
 # only build currentl checkout of libopencm3
@@ -82,6 +82,11 @@ pprzlink: pprzlink.update pprzlink.build
 pprzlink.build:
 	$(Q)$(MAKE) -C pprzlink
 
+opencv_bebop: opencv_bebop.update opencv_bebop.build
+
+opencv_bebop.build:
+	$(Q)$(MAKE) -C opencv_bebop
+
 clean:
 	$(Q)if [ -f libopencm3/Makefile ]; then \
 		$(MAKE) -C $(EXT_DIR)/libopencm3 clean; \
@@ -89,6 +94,9 @@ clean:
 	$(Q)if [ -f luftboot/src/Makefile ]; then \
 		$(MAKE) -C luftboot/src clean; \
 	fi
+	$(Q)if [ -f opencv_bebop/Makefile ]; then \
+		$(MAKE) -C opencv_bebop clean; \
+	fi
 
 .NOTPARALLEL: libopencm3 luftboot
-.PHONY: all clean update_submodules libopencm3 luftboot chibios fatfs luftboot_flash libopencm3.build luftboot.build mavlink.build
+.PHONY: all clean update_submodules libopencm3 luftboot chibios fatfs luftboot_flash libopencm3.build luftboot.build mavlink.build libsbp pprzlink pprzlink.build opencv_bebop opencv_bebop.build