diff --git a/libuavcan/CMakeLists.txt b/libuavcan/CMakeLists.txt
index 81f1114c53..b27702d701 100644
--- a/libuavcan/CMakeLists.txt
+++ b/libuavcan/CMakeLists.txt
@@ -34,7 +34,7 @@ endif ()
 execute_process(COMMAND ./setup.py build WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/dsdl_compiler)
 set(DSDLC_INPUTS "test/dsdl_test/root_ns_a" "test/dsdl_test/root_ns_b" "${CMAKE_SOURCE_DIR}/../dsdl/uavcan")
 set(DSDLC_OUTPUT "include/dsdlc_generated")
-add_custom_target(dsdlc dsdl_compiler/uavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
+add_custom_target(dsdlc dsdl_compiler/libuavcan_dsdlc ${DSDLC_INPUTS} -O${DSDLC_OUTPUT}
                   WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
 include_directories(${DSDLC_OUTPUT})
 
diff --git a/libuavcan/dsdl_compiler/uavcan_dsdlc b/libuavcan/dsdl_compiler/libuavcan_dsdlc
similarity index 87%
rename from libuavcan/dsdl_compiler/uavcan_dsdlc
rename to libuavcan/dsdl_compiler/libuavcan_dsdlc
index 0aa6ec6216..5b47830260 100755
--- a/libuavcan/dsdl_compiler/uavcan_dsdlc
+++ b/libuavcan/dsdl_compiler/libuavcan_dsdlc
@@ -1,13 +1,19 @@
 #!/usr/bin/env python3
 #
-# UAVCAN DSDL compiler
-# Probably it will be extended in future to add support for different programming languages.
+# UAVCAN DSDL compiler for libuavcan
 #
 # Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
 #
 
 import os, sys, logging, argparse
 
+RUNNING_FROM_SRC_DIR = os.path.abspath(__file__).endswith(os.path.join('libuavcan', 'dsdl_compiler', 'uavcan_dsdlc'))
+if RUNNING_FROM_SRC_DIR:
+    print('Running from the source directory')
+    scriptdir = os.path.dirname(os.path.abspath(__file__))
+    sys.path.append(os.path.join(scriptdir, '..', '..', 'pyuavcan'))
+    sys.path.append(os.path.join(scriptdir))
+
 def configure_logging(verbosity):
     fmt = '%(message)s'
     level = { 0: logging.WARNING, 1: logging.INFO, 2: logging.DEBUG }.get(verbosity or 0, logging.DEBUG)
@@ -17,13 +23,6 @@ def die(text):
     print(text, file=sys.stderr)
     exit(1)
 
-RUNNING_FROM_SRC_DIR = os.path.abspath(__file__).endswith(os.path.join('libuavcan', 'dsdl_compiler', 'uavcan_dsdlc'))
-if RUNNING_FROM_SRC_DIR:
-    print('Running from the source directory')
-    scriptdir = os.path.dirname(os.path.abspath(__file__))
-    sys.path.append(os.path.join(scriptdir, '..', '..', 'pyuavcan'))
-    sys.path.append(os.path.join(scriptdir))
-
 DEFAULT_OUTDIR = './dsdlc_generated'
 
 DESCRIPTION = '''UAVCAN DSDL compiler. Takes an input directory that contains an hierarchy of DSDL
@@ -38,9 +37,15 @@ args = argparser.parse_args()
 
 configure_logging(args.verbose)
 
+try:
+    extra_incdir = os.environ['UAVCAN_DSDL_INCLUDE_PATH'].split(':')
+    logging.info('Additional include directories: %s', extra_incdir)
+    args.incdir += extra_incdir
+except KeyError:
+    pass
+
 from libuavcan_dsdl_compiler import run as dsdlc_run
 try:
-    # TODO: collect include dirs from environment variable UAVCAN_DSDL_INCLUDE
     dsdlc_run(args.source_dir, args.incdir, args.outdir)
 except Exception as ex:
     logging.error('Compiler failure', exc_info=True)
diff --git a/libuavcan/dsdl_compiler/setup.py b/libuavcan/dsdl_compiler/setup.py
index 0b236890ab..6ebbc639b7 100755
--- a/libuavcan/dsdl_compiler/setup.py
+++ b/libuavcan/dsdl_compiler/setup.py
@@ -3,12 +3,12 @@
 from distutils.core import setup
 
 args = dict(
-    name='uavcan_dsdlc',
+    name='libuavcan_dsdl_compiler',
     version='0.1',
     description='UAVCAN DSDL compiler for libuavcan',
     packages=['libuavcan_dsdl_compiler'],
     package_data={'libuavcan_dsdl_compiler': ['data_type_template.tmpl']},
-    scripts=['uavcan_dsdlc'],
+    scripts=['libuavcan_dsdlc'],
     requires=['mako', 'pyuavcan'],
     author='Pavel Kirienko',
     author_email='pavel.kirienko@gmail.com',