diff --git a/README_waf.txt b/README_waf.txt
index 038418ae5d..c0a3912582 100644
--- a/README_waf.txt
+++ b/README_waf.txt
@@ -26,13 +26,13 @@ It's possible to build for just a vehicle or an example by specifying it as the
 target:
 
     # From the top directory
-    waf --target ArduCopter
+    waf --targets bin/ArduCopter
 
     # List all the targets available
     waf list
 
 There are also shortcuts for vehicle builds, for example:
-    # Shortcut for waf --targets ArduCopter
+    # Shortcut for waf --targets bin/ArduCopter
     waf copter
 
 By default all the files produced by the build will be inside the build/
diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index c8a3ac2292..6d01c0e900 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -93,16 +93,11 @@ def program(bld, blddestdir='bin',
 
     kw['features'] = common_features(bld) + kw.get('features', [])
 
-    if blddestdir == 'bin':
-        name = program_name
-    else:
-        name = blddestdir + '/' + program_name
-
-    target = bld.bldnode.find_or_declare(blddestdir + '/' + program_name)
+    target = blddestdir + '/' + program_name
 
     bld.program(
         target=target,
-        name=name,
+        name=target,
         **kw
     )
 
diff --git a/wscript b/wscript
index 8ab30d9aeb..a9f2136854 100644
--- a/wscript
+++ b/wscript
@@ -186,6 +186,6 @@ class CheckContext(BuildContext):
     '''executes tests after build'''
     cmd = 'check'
 
-copter = ardupilotwaf.build_shortcut(targets='ArduCopter')
-plane = ardupilotwaf.build_shortcut(targets='ArduPlane')
-rover = ardupilotwaf.build_shortcut(targets='APMrover2')
+copter = ardupilotwaf.build_shortcut(targets='bin/ArduCopter')
+plane = ardupilotwaf.build_shortcut(targets='bin/ArduPlane')
+rover = ardupilotwaf.build_shortcut(targets='bin/APMrover2')