diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index cdf657fb4c..f7987de43d 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -811,6 +811,7 @@ class skyviper_v2450_px4(px4_v3):
             LAND_DETECTOR_ACCEL_MAX = 2
         )
         env.PX4_RC_S_SCRIPT = 'init.d/rcS_no_microSD'
+        env.BUILD_ABIN = True
 
 class px4_v4(px4):
     name = 'px4-v4'
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index e08ade3c32..8c4c7331c4 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -63,7 +63,7 @@ class generate_fw(Task.Task):
     run_str='${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \
     python ${UPLOAD_TOOLS}/px_mkfw.py --image ${SRC}.bin \
     --prototype ${BUILDROOT}/apj.prototype > ${TGT} && \
-    ${CHIBIOS_SCRIPTS}/make_abin.sh ${SRC}.bin ${SRC}.abin'
+    ${TOOLS_SCRIPTS}/make_abin.sh ${SRC}.bin ${SRC}.abin'
     always_run = True
     def keyword(self):
         return "Generating"
@@ -117,6 +117,7 @@ def configure(cfg):
     env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image')
     env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf')
     env.CHIBIOS_SCRIPTS = srcpath('libraries/AP_HAL_ChibiOS/hwdef/scripts')
+    env.TOOLS_SCRIPTS = srcpath('Tools/scripts')
     env.APJ_TOOL = srcpath('Tools/scripts/apj_tool.py')
     env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*')
 
diff --git a/Tools/ardupilotwaf/px4.py b/Tools/ardupilotwaf/px4.py
index 3c5af7560f..506e6d4a90 100644
--- a/Tools/ardupilotwaf/px4.py
+++ b/Tools/ardupilotwaf/px4.py
@@ -72,6 +72,24 @@ class px4_copy(Task.Task):
     def __str__(self):
         return self.outputs[0].path_from(self.generator.bld.bldnode)
 
+class create_abin(Task.Task):
+    '''create an abin file - used for uploading to a skyviper'''
+    color = 'CYAN'
+
+    def run(self):
+        from subprocess import call
+        elf_name = self.inputs[0].abspath()
+        bin_name = elf_name + ".bin"
+        abin_name = self.outputs[0].abspath()
+        call(['arm-none-eabi-objcopy', '-Obinary', elf_name, bin_name])
+        call(['Tools/scripts/make_abin.sh', bin_name, abin_name])
+
+    def keyword(self):
+        return "Creating abin for %s to" % self.inputs[0].name
+
+    def __str__(self):
+        return self.outputs[0].path_from(self.generator.bld.bldnode)
+
 class px4_add_git_hashes(Task.Task):
     run_str = '${PYTHON} ${PX4_ADD_GIT_HASHES} --ardupilot ${PX4_APM_ROOT} --px4 ${PX4_ROOT} --nuttx ${PX4_NUTTX_ROOT} ${SRC} ${TGT}'
     color = 'CYAN'
@@ -159,6 +177,11 @@ def px4_firmware(self):
     cp_elf.set_run_after(fw_task)
     _firmware_semaphorish_tasks.append(cp_elf)
 
+    if self.env.BUILD_ABIN:
+        fw_abin_dest = self.bld.bldnode.make_node(os.path.join(self.program_dir, self.program_name + '.abin'))
+        create_abin = self.create_task('create_abin', fw_elf, fw_abin_dest)
+        create_abin.set_run_after(fw_task)
+
     self.build_summary = dict(
         target=self.name,
         binary=fw_elf_dest.path_from(self.bld.bldnode),