diff --git a/conf/Makefile.stm32-upload b/conf/Makefile.stm32-upload
index 35ed7f8a76..68e369451a 100644
--- a/conf/Makefile.stm32-upload
+++ b/conf/Makefile.stm32-upload
@@ -84,6 +84,15 @@ ifeq ($(VERIFY),1)
 	$(Q)rm -f $(OBJDIR)/verify.bla
 endif
 
+#
+# DFU flash with STM32CubeProgrammer
+else ifeq ($(FLASH_MODE),DFU_CUBE)
+
+CUBE_PROGRAMMER = /usr/local/STMicroelectronics/STM32Cube/STM32CubeProgrammer/bin/STM32_Programmer_CLI
+
+upload: $(OBJDIR)/$(TARGET).elf
+	$(CUBE_PROGRAMMER) -c port=usb1 -d $^
+
 #
 # serial flash mode
 else ifeq ($(FLASH_MODE),SERIAL)
diff --git a/conf/flash_modes.xml b/conf/flash_modes.xml
index a248ca7e56..ea17ba902a 100644
--- a/conf/flash_modes.xml
+++ b/conf/flash_modes.xml
@@ -36,6 +36,22 @@
       <board name="holybro_.*"/>
     </boards>
   </mode>
+  <mode name="USB CubeProgrammer">
+    <variable name="FLASH_MODE" value="DFU_CUBE"/>
+    <boards>
+      <board name="apogee_.*"/>
+      <board name="li[s]?a_mx_.*"/>
+      <board name="elle*"/>
+      <board name="openpilot_revo.*"/>
+      <board name="chimera_.*"/>
+      <board name="tawaki_.*"/>
+      <board name="crazybee_f4_.*"/>
+      <board name="crazyflie_.*"/>
+      <board name="nucleo.*"/>
+      <board name="matek_.*"/>
+      <board name="holybro_.*"/>
+    </boards>
+  </mode>
   <mode name="STLink (SWD)">
     <variable name="FLASH_MODE" value="STLINK"/>
     <boards>