diff --git a/APMrover2/Makefile.waf b/APMrover2/Makefile.waf
index 36a1c8da3c..cff2179a2e 100644
--- a/APMrover2/Makefile.waf
+++ b/APMrover2/Makefile.waf
@@ -1,2 +1,2 @@
-BUILD_VEHICLE = rover
-include ../Makefile.waf
+all:
+	@$(MAKE) -C ../ -f Makefile.waf rover
diff --git a/ArduCopter/Makefile.waf b/ArduCopter/Makefile.waf
index b6a4d6133e..505aa5979a 100644
--- a/ArduCopter/Makefile.waf
+++ b/ArduCopter/Makefile.waf
@@ -1,2 +1,2 @@
-BUILD_VEHICLE = copter
-include ../Makefile.waf
+all:
+	@$(MAKE) -C ../ -f Makefile.waf copter
diff --git a/ArduPlane/Makefile.waf b/ArduPlane/Makefile.waf
index 1d88f6261c..acf47090e1 100644
--- a/ArduPlane/Makefile.waf
+++ b/ArduPlane/Makefile.waf
@@ -1,2 +1,2 @@
-BUILD_VEHICLE = plane
-include ../Makefile.waf
+all:
+	@$(MAKE) -C ../  -f Makefile.waf plane
diff --git a/Makefile.waf b/Makefile.waf
index f16c71a3a0..9e3a727bf3 100644
--- a/Makefile.waf
+++ b/Makefile.waf
@@ -11,12 +11,8 @@ copter_DIR = ArduCopter
 plane_DIR = ArduPlane
 rover_DIR = APMrover2
 
-ifneq ($(BUILD_VEHICLE),)
-all: $(BUILD_VEHICLE)
-else
 all: $(WAF_BINARY)
 	@$(WAF) build
-endif
 
 $(WAF_BINARY):
 	@git submodule init && git submodule update