diff --git a/conf/Makefile.geode b/conf/Makefile.geode
index eb63bdbeaf..fb3d7ee745 100644
--- a/conf/Makefile.geode
+++ b/conf/Makefile.geode
@@ -58,7 +58,11 @@ COBJGEODE = $(SRCGEODE:%.c=$(OBJDIR)/%.o)
 
 all: build
 
-build: elf
+build: $(OBJDIR) elf
+
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 elf: $(OBJDIR)/$(TARGET).elf
 
@@ -77,7 +81,7 @@ load upload program: $(OBJDIR)/$(TARGET).elf
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
 
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
@@ -86,11 +90,8 @@ $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 # Dependencies
 #
 
-$(OBJDIR)/.depend:
-	@echo DEPEND $@
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.jsbsim b/conf/Makefile.jsbsim
index 3b591724c1..a2e00922f0 100644
--- a/conf/Makefile.jsbsim
+++ b/conf/Makefile.jsbsim
@@ -49,12 +49,15 @@ $(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
 $(TARGET).objso	= $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
 $(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
 
-all compile: check_jsbsim $(OBJDIR)/simsitl
+all compile: check_jsbsim $(OBJDIR) $(OBJDIR)/simsitl
 
 
 check_jsbsim:
 	@echo Paparazzi jsbsim package found: $(JSBSIM_PKG)
 
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 $(OBJDIR)/simsitl : $($(TARGET).objs)
 	@echo LD $@
@@ -80,23 +83,22 @@ $(OBJDIR)/%.s: %.cpp
 $(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
+	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
 
 $(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
+	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
 
 .PHONY: all compile check_jsbsim
 
+
 #
 # Dependencies
 #
-$(OBJDIR)/.depend:
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	@echo DEPEND $@
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.lpc21 b/conf/Makefile.lpc21
index b2fb117e9d..80fd9c2e16 100644
--- a/conf/Makefile.lpc21
+++ b/conf/Makefile.lpc21
@@ -169,7 +169,11 @@ ALL_ASFLAGS = -mcpu=$(MCU) $(THUMB_IW) -I. -x assembler-with-cpp $(ASFLAGS)
 # Default target.
 all: printcommands sizebefore build sizeafter
 
-build: elf hex lss sym
+build: $(OBJDIR) elf hex lss sym
+
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 elf: $(OBJDIR)/$(TARGET).elf
 hex: $(OBJDIR)/$(TARGET).hex
@@ -228,11 +232,11 @@ endif
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
 
 $(OBJDIR)/%.o : $(SRC_ARCH)/lpcusb/%.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
-	$(Q)$(CC) -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(ALL_CFLAGS) $(CONLYFLAGS) $< -o $@
 
 
 # grab files in var/$(AIRCRAFT)/$(TARGET) aka $(OBJDIR)
@@ -260,11 +264,8 @@ $(AOBJARM) : $(OBJDIR)/%.o : $(SRC_ARCH)/%.S
 # Dependencies
 #
 
-$(OBJDIR)/.depend:
-	@echo DEPEND $@
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.omap b/conf/Makefile.omap
index 9cc359d7cd..876099cbec 100644
--- a/conf/Makefile.omap
+++ b/conf/Makefile.omap
@@ -42,7 +42,7 @@ CFLAGS += -fno-short-enums
 # CFLAGS += -malignment-traps
 CFLAGS += -Wall -Wcast-qual -Wimplicit -Wcast-align
 CFLAGS += -Wpointer-arith -Wswitch
-CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused 
+CFLAGS += -Wredundant-decls -Wreturn-type -Wshadow -Wunused
 #-Wno-unused-result
 #CFLAGS += -Wa,-adhlns=$(OBJDIR)/$(notdir $(subst $(suffix $<),.lst,$<))
 #CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -71,7 +71,11 @@ OBJ_CPP_OMAP = $(SRC_CPP_OMAP:%.cpp=$(OBJDIR)/%.o)
 
 all: build
 
-build: elf
+build: $(OBJDIR) elf
+
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 elf: $(OBJDIR)/$(TARGET).elf
 
@@ -166,13 +170,13 @@ endif
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
 
 # Compile: create object files from C++ source files
 $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
 	@echo CXX $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CXX) -c $(CXXFLAGS) $< -o $@
+	$(Q)$(CXX) -MMD -c $(CXXFLAGS) $< -o $@
 
 
 # Listing of phony targets.
@@ -182,13 +186,8 @@ $(OBJDIR)/%.o : %.cpp $(OBJDIR)/../Makefile.ac
 # Dependencies
 #
 
-$(OBJDIR)/.depend:
-	@echo DEPEND $@
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
-ifneq ($(MAKECMDGOALS),erase)
--include $(OBJDIR)/.depend
-endif
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.pentium-m b/conf/Makefile.pentium-m
index ada3f1046d..04f4771137 100644
--- a/conf/Makefile.pentium-m
+++ b/conf/Makefile.pentium-m
@@ -67,7 +67,11 @@ COBJGEODE = $(SRCGEODE:%.c=$(OBJDIR)/%.o)
 
 all: build
 
-build: elf
+build: $(OBJDIR) elf
+
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 elf: $(OBJDIR)/$(TARGET).elf
 
@@ -92,7 +96,7 @@ endif
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
 
 # Listing of phony targets.
 .PHONY : all build elf clean clean_list
@@ -101,11 +105,8 @@ $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 # Dependencies
 #
 
-$(OBJDIR)/.depend:
-	@echo DEPEND $@
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.sim b/conf/Makefile.sim
index 40657cc54b..14b015a00c 100644
--- a/conf/Makefile.sim
+++ b/conf/Makefile.sim
@@ -83,7 +83,11 @@ $(TARGET).srcsnd = $(notdir $($(TARGET).srcs))
 $(TARGET).objso	= $($(TARGET).srcs:%.c=$(OBJDIR)/%.o)
 $(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
 
-all compile: $(OBJDIR)/simsitl
+all compile: $(OBJDIR) $(OBJDIR)/simsitl
+
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
 
 # shared library of the C autopilot part
 autopilot.so : $($(TARGET).objs)
@@ -125,23 +129,21 @@ $(OBJDIR)/%.s: %.cpp
 $(OBJDIR)/%.o: %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
+	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
 
 $(OBJDIR)/%.o: %.cpp $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) $(CFLAGS) -c -o $@ $<
+	$(Q)$(CC) -MMD $(CFLAGS) -c -o $@ $<
 
 .PHONY: all compile
 
 #
 # Dependencies
 #
-$(OBJDIR)/.depend:
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	@echo DEPEND $@
-	$(Q)$(CC) -MM -MG $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif
diff --git a/conf/Makefile.stm32 b/conf/Makefile.stm32
index fa39dbb7cf..ba400c1769 100644
--- a/conf/Makefile.stm32
+++ b/conf/Makefile.stm32
@@ -178,9 +178,13 @@ ODFLAGS = -S
 # Default target.
 all: printcommands sizebefore build sizeafter
 
-build: elf bin hex
+build: $(OBJDIR) elf bin hex
 # lss sym
 
+$(OBJDIR):
+	@echo CREATING object dir $(OBJDIR)
+	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
+
 elf: $(OBJDIR)/$(TARGET).elf
 bin: $(OBJDIR)/$(TARGET).bin
 hex: $(OBJDIR)/$(TARGET).hex
@@ -219,7 +223,7 @@ sym: $(OBJDIR)/$(TARGET).sym
 $(OBJDIR)/%.o : %.c $(OBJDIR)/../Makefile.ac
 	@echo CC $@
 	$(Q)test -d $(dir $@) || mkdir -p $(dir $@)
-	$(Q)$(CC) -c $(CFLAGS) $< -o $@
+	$(Q)$(CC) -MMD -c $(CFLAGS) $< -o $@
 
 # Assemble: create object files from assembler source files. ARM/Thumb
 $(AOBJ) : $(OBJDIR)/%.o : %.S
@@ -237,11 +241,8 @@ include $(PAPARAZZI_SRC)/conf/Makefile.stm32-upload
 # Dependencies
 #
 
-$(OBJDIR)/.depend:
-	@echo DEPEND $@
-	@test -d $(OBJDIR) || mkdir -p $(OBJDIR)
-	$(Q)$(CC) -MM -MG $(THUMB) $(CFLAGS) $($(TARGET).srcs) | sed 's|\([^\.]*\.o\)|$(OBJDIR)/\1|' > $@
+DEPS = $(addprefix $(OBJDIR)/,$($(TARGET).srcs:.c=.d))
 
 ifneq ($(MAKECMDGOALS),clean)
--include $(OBJDIR)/.depend
+-include $(DEPS)
 endif