diff --git a/conf/Makefile.arm-linux b/conf/Makefile.arm-linux
index 98027327bb..3efce866b2 100644
--- a/conf/Makefile.arm-linux
+++ b/conf/Makefile.arm-linux
@@ -39,12 +39,12 @@ else
 FLOAT_ABI ?= -mfloat-abi=softfp -mfpu=vfp
 endif
 
-ARCH_FLAGS ?= -mtune=cortex-a8 -march=armv7-a
+ARCH_CFLAGS ?= -mtune=cortex-a8 -march=armv7-a
 
 # add ARM specifc flags to CFLAGS, LDFLAGS
-CFLAGS += $(FLOAT_ABI) $(ARCH_FLAGS)
+CFLAGS += $(FLOAT_ABI) $(ARCH_CFLAGS)
 LDFLAGS += $(FLOAT_ABI)
-CXXFLAGS += $(FLOAT_ABI) $(ARCH_FLAGS)
+CXXFLAGS += $(FLOAT_ABI) $(ARCH_CFLAGS)
 
 # include the common linux Makefile (common CFLAGS, actual targets)
 include $(PAPARAZZI_SRC)/conf/Makefile.linux
diff --git a/conf/boards/ardrone2_raw.makefile b/conf/boards/ardrone2_raw.makefile
index a747b653af..eed9e4c415 100644
--- a/conf/boards/ardrone2_raw.makefile
+++ b/conf/boards/ardrone2_raw.makefile
@@ -42,6 +42,10 @@ $(TARGET).CFLAGS +=-DARDRONE2_RAW
 # handle linux signals by hand
 $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL
 
+# Link static (Done for GLIBC)
+$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
+$(TARGET).LDFLAGS += -static
+
 # -----------------------------------------------------------------------
 
 # default LED configuration
diff --git a/conf/boards/bebop.makefile b/conf/boards/bebop.makefile
index fbc695aac3..6f00e27cff 100644
--- a/conf/boards/bebop.makefile
+++ b/conf/boards/bebop.makefile
@@ -34,6 +34,10 @@ $(TARGET).CFLAGS += -DUSE_LINUX_SIGNAL
 # Compile the video specific parts
 $(TARGET).srcs +=  $(SRC_BOARD)/video.c
 
+# Link static (Done for GLIBC)
+$(TARGET).CFLAGS += -DLINUX_LINK_STATIC
+$(TARGET).LDFLAGS += -static
+
 # -----------------------------------------------------------------------
 
 # default LED configuration
diff --git a/sw/airborne/arch/linux/udp_socket.c b/sw/airborne/arch/linux/udp_socket.c
index ac20f53bab..64be511c2b 100644
--- a/sw/airborne/arch/linux/udp_socket.c
+++ b/sw/airborne/arch/linux/udp_socket.c
@@ -40,7 +40,7 @@
 /**
  * Create UDP socket and bind it.
  * @param[out] sock   pointer to already allocated UdpSocket struct
- * @param[in]  host      hostname/address
+ * @param[in]  host      ip address or hostname (hostname not possible if static linking)
  * @param[in]  port_out  output port
  * @param[in]  port_in   input port (set to < 0 to disable)
  * @param[in]  broadcast if TRUE enable broadcasting
@@ -52,6 +52,7 @@ int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port
     return -1;
   }
 
+#ifndef LINUX_LINK_STATIC
   /* try to convert host ipv4 address to binary format */
   struct in_addr host_ip;
   if (!inet_aton(host, &host_ip)) {
@@ -71,6 +72,7 @@ int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port
       return -1;
     }
   }
+#endif
 
   // Create the socket with the correct protocl
   sock->sockfd = socket(PF_INET, SOCK_DGRAM, 0);
@@ -96,7 +98,11 @@ int udp_socket_create(struct UdpSocket *sock, char *host, int port_out, int port
   // set the output/destination address for use in sendto later
   sock->addr_out.sin_family = PF_INET;
   sock->addr_out.sin_port = htons(port_out);
+#ifndef LINUX_LINK_STATIC
   sock->addr_out.sin_addr.s_addr = host_ip.s_addr;
+#else
+  sock->addr_out.sin_addr.s_addr = inet_addr(host);
+#endif
   return 0;
 }