diff --git a/mk/apm.mk b/mk/apm.mk
index 908b6f5c58..7845d9e538 100644
--- a/mk/apm.mk
+++ b/mk/apm.mk
@@ -42,6 +42,10 @@ ifeq ($(HAL_BOARD),HAL_BOARD_PX4)
 include $(MK_DIR)/board_px4.mk
 endif
 
+ifeq ($(HAL_BOARD),HAL_BOARD_VRBRAIN)
+include $(MK_DIR)/board_vrbrain.mk
+endif
+
 ifeq ($(HAL_BOARD),HAL_BOARD_FLYMAPLE)
 include $(MK_DIR)/board_flymaple.mk
 endif
diff --git a/mk/configure.mk b/mk/configure.mk
index ad00713b42..0c6a00a91f 100644
--- a/mk/configure.mk
+++ b/mk/configure.mk
@@ -18,8 +18,17 @@ endif
 	@echo  \# uncomment and fill in the path to Arduino if installed in an exotic location >> $(SKETCHBOOK)/config.mk
 	@echo  \# ARDUINO = /path/to/Arduino  >> $(SKETCHBOOK)/config.mk
 	@echo  >> $(SKETCHBOOK)/config.mk
+######################## PX4 ####################################	
 	@echo \# PX4Firmware tree: fill in the path to PX4Firmware repository from github.com/diydrones: >> $(SKETCHBOOK)/config.mk
 	@echo PX4_ROOT=../PX4Firmware >> $(SKETCHBOOK)/config.mk
 	@echo  >> $(SKETCHBOOK)/config.mk
 	@echo \# PX4NuttX tree: fill in the path to PX4NuttX repository from github.com/diydrones: >> $(SKETCHBOOK)/config.mk
 	@echo NUTTX_SRC=../PX4NuttX/nuttx >> $(SKETCHBOOK)/config.mk
+###################### VRBRAIN ##################################	
+	@echo \# VRBRAIN Firmware tree: >> $(SKETCHBOOK)/config.mk
+	@echo VRBRAIN_ROOT=../VRBRAINFirmware >> $(SKETCHBOOK)/config.mk
+	@echo  >> $(SKETCHBOOK)/config.mk
+	@echo \# VRBRAIN NuttX tree: >> $(SKETCHBOOK)/config.mk
+	@echo VRBRAIN_NUTTX_SRC=../VRBRAINFirmware/NuttX/nuttx >> $(SKETCHBOOK)/config.mk
+	@echo  >> $(SKETCHBOOK)/config.mk
+	
\ No newline at end of file
diff --git a/mk/environ.mk b/mk/environ.mk
index deeb8bb0eb..4b721456ba 100644
--- a/mk/environ.mk
+++ b/mk/environ.mk
@@ -72,7 +72,15 @@ ifneq ($(findstring px4, $(MAKECMDGOALS)),)
 # when building px4 we need all sources to be inside the sketchbook directory
 # as the NuttX build system relies on it
 BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
-else
+endif
+
+ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
+# when building vrbrain we need all sources to be inside the sketchbook directory
+# as the NuttX build system relies on it
+BUILDROOT		:=	$(SKETCHBOOK)/Build.$(SKETCH)
+endif
+
+ifeq ($(BUILDROOT),)
 BUILDROOT		:=	$(abspath $(TMPDIR)/$(SKETCH).build)
 endif
 
diff --git a/mk/sketch_sources.mk b/mk/sketch_sources.mk
index 5ae990c2a8..2e36247893 100644
--- a/mk/sketch_sources.mk
+++ b/mk/sketch_sources.mk
@@ -53,7 +53,8 @@ SKETCHLIBNAMES		:=	$(notdir $(SKETCHLIBS))
 SKETCHLIBSRCDIRS	:=	$(SKETCHLIBS) $(addsuffix /utility,$(SKETCHLIBS))
 SKETCHLIBSRCS		:=	$(wildcard $(foreach suffix,$(SRCSUFFIXES),$(addsuffix /$(suffix),$(SKETCHLIBSRCDIRS))))
 SKETCHLIBOBJS		:=	$(addsuffix .o,$(basename $(subst $(SKETCHBOOK),$(BUILDROOT),$(SKETCHLIBSRCS))))
-SKETCHLIBINCLUDES	:=	$(addprefix -I,$(SKETCHLIBS))
+SKETCHLIBINCLUDES	:=	$(addprefix -I,$(SRCROOT))
+SKETCHLIBINCLUDES	+=	$(addprefix -I,$(SKETCHLIBS))
 SKETCHLIBSRCSRELATIVE	:=	$(subst $(SKETCHBOOK)/,,$(SKETCHLIBSRCS))
 
 ifeq ($(VERBOSE),)
diff --git a/mk/targets.mk b/mk/targets.mk
index 3b1967ec97..60f6bf70e8 100644
--- a/mk/targets.mk
+++ b/mk/targets.mk
@@ -40,7 +40,7 @@ empty: all
 
 # cope with copter and hil targets
 FRAMES = quad tri hexa y6 octa octa-quad heli single
-BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux
+BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v4 vrbrainv-5 vrhero-v1
 
 define frame_template
 $(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "