diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index b5ed3cafcf..f3db944023 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -191,11 +191,16 @@ class uploader(object):
                 self.sn = b''
                 self.baudrate_bootloader = baudrate_bootloader
                 self.baudrate_flightstack = baudrate_flightstack
+                self.baudrate_flightstack_idx = -1
 
         def close(self):
                 if self.port is not None:
                         self.port.close()
 
+        def open(self):
+                if self.port is not None and not self.port.is_open:
+                    self.port.open()
+
         def __send(self, c):
                 # print("send " + binascii.hexlify(c))
                 self.port.write(c)
@@ -511,11 +516,25 @@ class uploader(object):
                 self.__reboot()
                 self.port.close()
 
+        def __next_baud_flightstack(self):
+                self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
+                if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack):
+                    return False
+
+                self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx]
+
+                return True
+
         def send_reboot(self):
+                if (not self.__next_baud_flightstack()):
+                    return False
+
+                print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
+                print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
+
                 try:
                     # try MAVLINK command first
                     self.port.flush()
-                    self.port.baudrate = self.baudrate_flightstack
                     self.__send(uploader.MAVLINK_REBOOT_ID1)
                     self.__send(uploader.MAVLINK_REBOOT_ID0)
                     # then try reboot via NSH
@@ -532,6 +551,8 @@ class uploader(object):
                     except Exception:
                         pass
 
+                return True
+
 
 # Detect python version
 if sys.version_info[0] < 3:
@@ -541,9 +562,9 @@ else:
 
 # Parse commandline arguments
 parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
+parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
 parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
-parser.add_argument('--baud-flightstack', action="store", type=int, default=57600, help="Baud rate of the serial port (default is 57600) when communicating with flight stack(Mavlink or NSH), only required for true serial ports.")
+parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
 parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
 parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
 parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
@@ -575,6 +596,8 @@ try:
             else:
                     portlist = patterns
 
+            baud_flightstack = [ int(x) for x in args.baud_flightstack.split(',') ]
+
             for port in portlist:
 
                     # print("Trying %s" % port)
@@ -584,15 +607,15 @@ try:
                             if "linux" in _platform:
                                     # Linux, don't open Mac OS and Win ports
                                     if "COM" not in port and "tty.usb" not in port:
-                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
+                                            up = uploader(port, args.baud_bootloader, baud_flightstack)
                             elif "darwin" in _platform:
                                     # OS X, don't open Windows and Linux ports
                                     if "COM" not in port and "ACM" not in port:
-                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
+                                            up = uploader(port, args.baud_bootloader, baud_flightstack)
                             elif "win" in _platform:
                                     # Windows, don't open POSIX ports
                                     if "/" not in port:
-                                            up = uploader(port, args.baud_bootloader, args.baud_flightstack)
+                                            up = uploader(port, args.baud_bootloader, baud_flightstack)
                     except Exception:
                             # open failed, rate-limit our attempts
                             time.sleep(0.05)
@@ -600,24 +623,31 @@ try:
                             # and loop to the next port
                             continue
 
-                    # port is open, try talking to it
-                    try:
-                            # identify the bootloader
-                            up.identify()
-                            print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+                    found_bootloader = False
+                    while (True):
+                            up.open()
 
-                    except Exception:
-                            # most probably a timeout talking to the port, no bootloader, try to reboot the board
-                            print("attempting reboot on %s..." % port)
-                            print("if the board does not respond, unplug and re-plug the USB connector.")
-                            up.send_reboot()
+                            # port is open, try talking to it
+                            try:
+                                    # identify the bootloader
+                                    up.identify()
+                                    found_bootloader = True
+                                    print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+                                    break
 
-                            # wait for the reboot, without we might run into Serial I/O Error 5
-                            time.sleep(0.5)
+                            except Exception:
+                                    if not up.send_reboot():
+                                        break
 
-                            # always close the port
-                            up.close()
-                            continue
+                                    # wait for the reboot, without we might run into Serial I/O Error 5
+                                    time.sleep(0.5)
+
+                                    # always close the port
+                                    up.close()
+
+                    if not found_bootloader:
+                        # Go to the next port
+                        continue
 
                     try:
                             # ok, we have a bootloader, try flashing it