diff --git a/Makefile b/Makefile
index 2347b09bf3..c3ef7ad0df 100644
--- a/Makefile
+++ b/Makefile
@@ -63,11 +63,26 @@ MQUIET			 = --no-print-directory
 #
 # If the user has listed a config as a target, strip it out and override CONFIGS.
 #
+FIRMWARE_GOAL		 = firmware
 EXPLICIT_CONFIGS	:= $(filter $(CONFIGS),$(MAKECMDGOALS))
 ifneq ($(EXPLICIT_CONFIGS),)
 CONFIGS			:= $(EXPLICIT_CONFIGS)
 .PHONY:			$(EXPLICIT_CONFIGS)
 $(EXPLICIT_CONFIGS):	all
+
+#
+# If the user has asked to upload, they must have also specified exactly one
+# config.
+#
+ifneq ($(filter upload,$(MAKECMDGOALS)),)
+ifneq ($(words $(EXPLICIT_CONFIGS)),1)
+$(error In order to upload, exactly one board config must be specified)
+endif
+FIRMWARE_GOAL		 = upload
+.PHONY: upload
+upload:
+	@:
+endif
 endif
 
 #
@@ -100,7 +115,7 @@ $(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
 		-f $(PX4_MK_DIR)firmware.mk \
 		CONFIG=$(config) \
 		WORK_DIR=$(work_dir) \
-		firmware
+		$(FIRMWARE_GOAL)
 
 #
 # Build the NuttX export archives.
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index cce388d710..423bdb42a2 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -167,7 +167,7 @@ class uploader(object):
 
 	def __init__(self, portname, baudrate):
 		# open the port, keep the default timeout short so we can poll quickly
-		self.port = serial.Serial(portname, baudrate, timeout=0.25)
+		self.port = serial.Serial(portname, baudrate, timeout=0.5)
 
 	def close(self):
 		if self.port is not None:
diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk
index 83bba3a9b5..fff0e1c65c 100644
--- a/makefiles/firmware.mk
+++ b/makefiles/firmware.mk
@@ -424,7 +424,8 @@ $(PRODUCT_ELF):		$(OBJS) $(MODULE_OBJS) $(GLOBAL_DEPS) $(LINK_DEPS) $(MODULE_MKF
 upload:	$(PRODUCT_BUNDLE) $(PRODUCT_BIN)
 	$(Q) $(MAKE) -f $(PX4_MK_DIR)/upload.mk \
 		METHOD=serial \
-		PRODUCT=$(PRODUCT) \
+		CONFIG=$(CONFIG) \
+		BOARD=$(BOARD) \
 		BUNDLE=$(PRODUCT_BUNDLE) \
 		BIN=$(PRODUCT_BIN)
 
@@ -435,6 +436,7 @@ clean:			$(MODULE_CLEANS)
 	$(Q) $(REMOVE) $(OBJS) $(DEP_INCLUDES) $(EXTRA_CLEANS)
 	$(Q) $(RMDIR) $(NUTTX_EXPORT_DIR)
 
+
 #
 # DEP_INCLUDES is defined by the toolchain include in terms of $(OBJS)
 #
diff --git a/makefiles/module.mk b/makefiles/module.mk
index 1db0f6fee6..e2a1041e06 100644
--- a/makefiles/module.mk
+++ b/makefiles/module.mk
@@ -102,7 +102,7 @@
 ifeq ($(MODULE_MK),)
 $(error No module makefile specified)
 endif
-$(info %  MODULE_MK           = $(MODULE_MK))
+$(info %% MODULE_MK           = $(MODULE_MK))
 
 #
 # Get the board/toolchain config
@@ -147,6 +147,7 @@ $(MODULE_COMMAND_FILES): exclude = $(dir $@)COMMAND.$(command).*
 $(MODULE_COMMAND_FILES): $(GLOBAL_DEPS)
 	@$(REMOVE) -f $(exclude)
 	@$(MKDIR) -p $(dir $@)
+	@echo "CMD:     $(command)"
 	$(Q) $(TOUCH) $@
 endif
 
diff --git a/makefiles/upload.mk b/makefiles/upload.mk
index 5308aaa3ee..a1159d157a 100644
--- a/makefiles/upload.mk
+++ b/makefiles/upload.mk
@@ -21,11 +21,14 @@ ifeq ($(SERIAL_PORTS),)
 SERIAL_PORTS		 = "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0"
 endif
 
-.PHONY:	all upload-$(METHOD)-$(PRODUCT)
-all:	upload-$(METHOD)-$(PRODUCT)
+.PHONY:	all upload-$(METHOD)-$(BOARD)
+all:	upload-$(METHOD)-$(BOARD)
 
 upload-serial-px4fmu:	$(BUNDLE) $(UPLOADER)
-	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(PRODUCT_BUNDLE)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
+
+upload-serial-px4fmuv2:	$(BUNDLE) $(UPLOADER)
+	@python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE)
 
 #
 # JTAG firmware uploading with OpenOCD