diff --git a/conf/Makefile.arm-linux b/conf/Makefile.arm-linux
index 9d39b2365e..98027327bb 100644
--- a/conf/Makefile.arm-linux
+++ b/conf/Makefile.arm-linux
@@ -33,7 +33,8 @@ include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux-toolchain
 # Define some ARM specifc flags
 
 ifdef HARD_FLOAT
-FLOAT_ABI ?=
+# e.g. for BBB or gumstix with armhf distribution
+FLOAT_ABI ?= -mfloat-abi=hard -mfpu=neon -ffast-math
 else
 FLOAT_ABI ?= -mfloat-abi=softfp -mfpu=vfp
 endif
diff --git a/conf/Makefile.bbb b/conf/Makefile.bbb
new file mode 100644
index 0000000000..2654a0855a
--- /dev/null
+++ b/conf/Makefile.bbb
@@ -0,0 +1,42 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Copyright (C) 2015 Felix Ruess <felix.ruess@gmail.com>
+#
+# 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.arm-linux
+# after setting some hard float options
+#
+
+HARD_FLOAT=yes
+
+include $(PAPARAZZI_SRC)/conf/Makefile.arm-linux
+
+HOST ?= 192.168.7.2
+TARGET_DIR ?= ~/
+# upload to BBB
+upload program: $(OBJDIR)/$(TARGET).elf
+ifdef USER
+	scp -B $(OBJDIR)/$(TARGET).elf $(USER)@$(HOST):$(TARGET_DIR)
+else
+	scp -B $(OBJDIR)/$(TARGET).elf $(HOST):$(TARGET_DIR)
+endif
+
+# Listing of phony targets.
+.PHONY : upload program
diff --git a/conf/airframes/examples/beagle_bone_black.xml b/conf/airframes/examples/beagle_bone_black.xml
new file mode 100644
index 0000000000..c3d281ded2
--- /dev/null
+++ b/conf/airframes/examples/beagle_bone_black.xml
@@ -0,0 +1,27 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+<!-- BeagleBoneBlack test airframe -->
+
+<airframe name="test_bbb">
+
+  <firmware name="test_progs">
+    <target name="test_settings"            board="beagle_bone_black">
+      <!-- use UDP telemetry -->
+      <configure name="MODEM_DEV" value="UDP0"/>
+      <configure name="MODEM_HOST" value="192.168.178.255"/>
+    </target>
+    <target name="test_uart_echo"           board="beagle_bone_black">
+      <define name="USE_UART4"/>
+      <define name="UART4_BAUD" value="B9600"/>
+      <configure name="PERIODIC_FREQUENCY" value="5"/>
+    </target>
+    <target name="test_telemetry"           board="beagle_bone_black"/>
+
+    <configure name="DEBUG_INFO" value="yes"/>
+    <configure name="OPT" value="0"/>
+    <!-- upload to USER@HOST -->
+    <configure name="HOST" value="192.168.178.183"/>
+    <configure name="USER" value="ubuntu"/>
+  </firmware>
+
+</airframe>
diff --git a/conf/boards/beagle_bone_black.makefile b/conf/boards/beagle_bone_black.makefile
new file mode 100644
index 0000000000..351b637713
--- /dev/null
+++ b/conf/boards/beagle_bone_black.makefile
@@ -0,0 +1,42 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# beagle_bone_black.makefile
+#
+
+BOARD=beagle_bone_black
+BOARD_CFG=\"boards/$(BOARD).h\"
+
+ARCH=linux
+$(TARGET).ARCHDIR = $(ARCH)
+# include conf/Makefile.bbb (to set hard-float, etc) instead of only Makefile.linux
+$(TARGET).MAKEFILE = bbb
+
+# -----------------------------------------------------------------------
+
+# The GPS sensor is connected trough USB so we have to define the device
+GPS_PORT           ?= UART1
+GPS_BAUD           ?= B57600
+
+# The datalink default uses UDP
+#MODEM_DEV          ?= UDP0
+MODEM_HOST         ?= 192.168.1.255
+
+#
+# UART4 (RX P9_11, TX P9_13)
+#
+MODEM_PORT ?= UART4
+MODEM_BAUD ?= B57600
+$(TARGET).CFLAGS   += -DUART4_DEV=\"/dev/ttyO4\"
+
+
+# handle linux signals by hand (CTRL-C twice to stop)
+#$(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL
+
+# -----------------------------------------------------------------------
+
+# default LED configuration
+RADIO_CONTROL_LED			?= none
+BARO_LED           			?= none
+AHRS_ALIGNER_LED   			?= none
+GPS_LED            			?= none
+SYS_TIME_LED       			?= none
diff --git a/sw/airborne/arch/linux/led_hw.h b/sw/airborne/arch/linux/led_hw.h
index b06db63e43..ce84086c8e 100644
--- a/sw/airborne/arch/linux/led_hw.h
+++ b/sw/airborne/arch/linux/led_hw.h
@@ -29,13 +29,20 @@
 #define LED_HW_H_
 
 #include <stdint.h>
+#include BOARD_CONFIG
 
+#if defined BOARD_ARDRONE2_SDK || defined BOARD_ARDRONE2_RAW
 extern uint32_t led_hw_values;
-
 #define LED_INIT(i) { led_hw_values &= ~(1<<i); }
 #define LED_ON(i) { led_hw_values |= (1<<i); }
 #define LED_OFF(i) { led_hw_values &= ~(1<<i); }
 #define LED_TOGGLE(i) { led_hw_values ^= (1<<i); }
+#else
+#define LED_INIT(i)   {}
+#define LED_ON(i)     {}
+#define LED_OFF(i)    {}
+#define LED_TOGGLE(i) {}
+#endif
 
 #define LED_PERIODIC() {}
 
diff --git a/sw/airborne/boards/beagle_bone_black.h b/sw/airborne/boards/beagle_bone_black.h
new file mode 100644
index 0000000000..8a8f20617c
--- /dev/null
+++ b/sw/airborne/boards/beagle_bone_black.h
@@ -0,0 +1,6 @@
+#ifndef CONFIG_BEAGLE_BONE_BLACK
+#define CONFIG_BEAGLE_BONE_BLACK
+
+// these are not the defines you are looking for...
+
+#endif /* CONFIG_BEAGLE_BONE_BLACK */