diff --git a/conf/modules/module.dtd b/conf/modules/module.dtd
index aef95df2bf..7dad34996e 100644
--- a/conf/modules/module.dtd
+++ b/conf/modules/module.dtd
@@ -1,11 +1,12 @@
 <!-- Paparazzi Modules DTD -->
 
-<!ELEMENT module (doc,settings_file*,settings*,depends?,conflicts?,header,init*,periodic*,event*,datalink*,makefile*)>
+<!ELEMENT module (doc,settings_file*,settings*,depends?,conflicts?,autoload*,header,init*,periodic*,event*,datalink*,makefile*)>
 <!ELEMENT doc (description,(define|configure|section)*)>
 <!ELEMENT settings_file (file*)>
 <!ELEMENT settings (dl_settings?)>
 <!ELEMENT depends (#PCDATA)>
 <!ELEMENT conflicts (#PCDATA)>
+<!ELEMENT autoload EMPTY>
 <!ELEMENT header (file*)>
 <!ELEMENT init EMPTY>
 <!ELEMENT periodic EMPTY>
@@ -31,6 +32,10 @@
 name CDATA #REQUIRED
 dir CDATA #IMPLIED>
 
+<!ATTLIST autoload
+name CDATA #REQUIRED
+type CDATA #IMPLIED>
+
 <!ATTLIST header>
 
 <!ATTLIST init
diff --git a/sw/lib/ocaml/gen_common.ml b/sw/lib/ocaml/gen_common.ml
index a85945f466..56a8fd6a26 100644
--- a/sw/lib/ocaml/gen_common.ml
+++ b/sw/lib/ocaml/gen_common.ml
@@ -128,7 +128,7 @@ let module_name = fun xml ->
 exception Subsystem of string
 let get_module = fun m global_targets ->
   match Xml.tag m with
-  | "module" ->
+  | "module" | "autoload" ->
       let name = module_name m in
       let filename =
         let modtype = ExtXml.attrib_or_default m "type" "" in
@@ -158,7 +158,15 @@ let get_module = fun m global_targets ->
       let targets = Or (extra_targets, targets) in
       { name = name; xml = xml; file = file; filename = filename; vpath = vpath;
         param = Xml.children m; targets = targets }
-  | _ -> Xml2h.xml_error "module or load"
+  | _ -> Xml2h.xml_error "module, autoload or load"
+
+(** [get_autoloaded_modules module]
+ * Return a list of modules to be automaticaly added *)
+let get_autoloaded_modules = fun m ->
+  let m = get_module m (Var "") in
+  List.fold_left (fun l t ->
+    if ExtXml.tag_is t "autoload" then (get_module t (Var "") :: l) else l
+  ) [] (Xml.children m.xml)
 
 (** [test_targets target targets]
  * Test if [target] is allowed [targets]
@@ -195,9 +203,10 @@ let rec get_modules_of_airframe = fun ?target xml ->
     | Xml.Element (tag, _attrs, children) when is_module tag ->
         begin try
           let m = get_module xml targets in
+          let al = get_autoloaded_modules xml in
           List.fold_left
             (fun acc xml -> iter_modules targets acc xml)
-            (m :: modules) children
+            (m :: (al @ modules)) children
         with Subsystem file ->
           if subsystem_fallback then modules
           else failwith ("Unkown module " ^ file)