diff --git a/Makefile b/Makefile
index c88f3160b6..eaf5c37137 100644
--- a/Makefile
+++ b/Makefile
@@ -173,6 +173,8 @@ posix_eagle_release:
 qurt_eagle_default:
 	$(call cmake-build,$@)
 
+eagle_default: posix_eagle_default qurt_eagle_default
+
 posix_eagle_default:
 	$(call cmake-build,$@)
 
diff --git a/Tools/adb_upload.sh b/Tools/adb_upload.sh
new file mode 100755
index 0000000000..166aa29716
--- /dev/null
+++ b/Tools/adb_upload.sh
@@ -0,0 +1,25 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+echo "Wait for device..."
+adb wait-for-device
+echo "Uploading..."
+
+# Get last argument
+for last; do true; done
+
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	adb push $arg $last
+	((i+=1))
+done
diff --git a/cmake/common/px4_base.cmake b/cmake/common/px4_base.cmake
index f10a475818..9e995301bf 100644
--- a/cmake/common/px4_base.cmake
+++ b/cmake/common/px4_base.cmake
@@ -443,6 +443,26 @@ function(px4_add_upload)
 		)
 endfunction()
 
+
+function(px4_add_adb_push)
+	px4_parse_function_args(
+		NAME px4_add_upload
+		ONE_VALUE OS BOARD OUT DEST
+		MULTI_VALUE FILES DEPENDS
+		REQUIRED OS BOARD OUT FILES DEPENDS DEST
+		ARGN ${ARGN})
+
+	add_custom_target(${OUT}
+		COMMAND ${CMAKE_SOURCE_DIR}/Tools/adb_upload.sh ${FILES} ${DEST}
+		DEPENDS ${DEPENDS}
+		WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+		COMMENT "uploading ${BUNDLE}"
+		VERBATIM
+		USES_TERMINAL
+		)
+endfunction()
+
+
 #=============================================================================
 #
 #	px4_add_common_flags
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 8fb19b8ff1..a87809d7bf 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -25,6 +25,15 @@ if ("${BOARD}" STREQUAL "eagle")
 		pthread m rt
 		-Wl,--end-group
 		)
+
+	px4_add_adb_push(OUT upload
+			 OS ${OS}
+			 BOARD ${BOARD}
+			 FILES ${CMAKE_CURRENT_BINARY_DIR}/mainapp
+				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config
+			 DEPENDS build_mainapp_apps
+			 DEST /home/linaro)
+
 else()
 	add_executable(mainapp
 		${CMAKE_SOURCE_DIR}/src/platforms/posix/main.cpp
diff --git a/src/firmware/qurt/CMakeLists.txt b/src/firmware/qurt/CMakeLists.txt
index bd17e56913..2687a84e32 100644
--- a/src/firmware/qurt/CMakeLists.txt
+++ b/src/firmware/qurt/CMakeLists.txt
@@ -15,7 +15,7 @@ if ("${QURT_ENABLE_STUBS}" STREQUAL "1")
                 ${CMAKE_CURRENT_BINARY_DIR}
                 ${FASTRPC_DSP_INCLUDES}
                 )
-	add_executable(mainapp 
+	add_executable(mainapp
 		${CMAKE_BINARY_DIR}/src/firmware/qurt/px4muorb_skel.c
 		${CMAKE_BINARY_DIR}/apps.h)
 
@@ -44,6 +44,15 @@ else()
 		${df_driver_libs}
 		m
 		)
+
+	px4_add_adb_push(OUT upload
+			 OS ${OS}
+			 BOARD ${BOARD}
+			 FILES ${CMAKE_CURRENT_BINARY_DIR}/libmainapp.so
+				 ${CMAKE_CURRENT_BINARY_DIR}/libpx4muorb_skel.so
+				 ${CMAKE_SOURCE_DIR}/posix-configs/eagle/flight/px4.config
+			 DEPENDS build_mainapp_dsp build_mainapp_dsp
+			 DEST /usr/share/data/adsp)
 endif()
 
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :