diff --git a/ArduPlane/createTags b/ArduPlane/createTags
index e13937801d..df38cc23ca 100755
--- a/ArduPlane/createTags
+++ b/ArduPlane/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Rover/createTags b/Rover/createTags
index e13937801d..df38cc23ca 100755
--- a/Rover/createTags
+++ b/Rover/createTags
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #" Autocompletion enabled vim for arduino pde's
 
 ctags -RV --language-force=C++ --c++-kinds=+p --fields=+iaS --extra=+q  \
diff --git a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
index 437e267d03..162ab16d12 100755
--- a/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
+++ b/Tools/Linux_HAL_Essentials/pru/aiopru/start_test
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 #make debug
 #make test
 if [ ! -L /sys/class/gpio/gpio80 ] || [ ! -e /sys/class/gpio/gpio80 ] ; then
diff --git a/Tools/Linux_HAL_Essentials/startup.sh b/Tools/Linux_HAL_Essentials/startup.sh
index 82b3847f87..b5fd5f0607 100755
--- a/Tools/Linux_HAL_Essentials/startup.sh
+++ b/Tools/Linux_HAL_Essentials/startup.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 if [ "`echo $1`" = "load" ]; then
     echo "Loading Test_Capes..."
diff --git a/Tools/Replay/plotit.sh b/Tools/Replay/plotit.sh
index 59a2fea56f..68bd9f1c7e 100755
--- a/Tools/Replay/plotit.sh
+++ b/Tools/Replay/plotit.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 cmd="plot "
 echo $#
diff --git a/Tools/UDP_Proxy/start_proxies.sh b/Tools/UDP_Proxy/start_proxies.sh
index 4763d0cd92..3e8ef97671 100755
--- a/Tools/UDP_Proxy/start_proxies.sh
+++ b/Tools/UDP_Proxy/start_proxies.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # an example script that starts udpproxy for multiple ports under GNU
 # screen, allowing for unattended operation of the proxy for long
 # periods
diff --git a/Tools/autotest/run_in_terminal_window.sh b/Tools/autotest/run_in_terminal_window.sh
index 7a83f1c565..ac5c8e792d 100755
--- a/Tools/autotest/run_in_terminal_window.sh
+++ b/Tools/autotest/run_in_terminal_window.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Try to run a command in an appropriate type of terminal window
 # depending on whats available
diff --git a/Tools/debug/gdb_crashdump.sh b/Tools/debug/gdb_crashdump.sh
index 89f6b4d66c..917ffa7503 100755
--- a/Tools/debug/gdb_crashdump.sh
+++ b/Tools/debug/gdb_crashdump.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to more easily get a backtrace from an ArduPilot crash_dump.bin
 
diff --git a/Tools/environment_install/APM_install.sh b/Tools/environment_install/APM_install.sh
index acb7a1fbae..869687dbff 100755
--- a/Tools/environment_install/APM_install.sh
+++ b/Tools/environment_install/APM_install.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 #A simple script to install the APM SITL environment into cygwin
 
diff --git a/Tools/environment_install/install-ROS-ubuntu.sh b/Tools/environment_install/install-ROS-ubuntu.sh
index 565670f5a5..435560ac4f 100755
--- a/Tools/environment_install/install-ROS-ubuntu.sh
+++ b/Tools/environment_install/install-ROS-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 # set -x
diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh
index 52b94eca23..965815ec71 100755
--- a/Tools/environment_install/install-prereqs-arch.sh
+++ b/Tools/environment_install/install-prereqs-arch.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 set -e
 set -x
 
diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index 6486b007d6..de2cd666ef 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
@@ -42,7 +42,7 @@ echo "Checking homebrew..."
 $(which -s brew) ||
 {
     echo "installing homebrew..."
-    /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
+    /usr/bin/env bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
 } 
 echo "Homebrew installed"
 
diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 594aa33708..0107c24a33 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 set -e
 set -x
diff --git a/Tools/environment_install/ubuntu-18.04-python3.sh b/Tools/environment_install/ubuntu-18.04-python3.sh
index a82a4138a4..1b0df324fd 100755
--- a/Tools/environment_install/ubuntu-18.04-python3.sh
+++ b/Tools/environment_install/ubuntu-18.04-python3.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/geotag/geotag.sh b/Tools/geotag/geotag.sh
index 58703fd43c..02b3034256 100755
--- a/Tools/geotag/geotag.sh
+++ b/Tools/geotag/geotag.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Advanced geotagging tool by André Kjellstrup
 ######################################################################  VARIABLES ########################
diff --git a/Tools/gittools/git-commit-subsystems b/Tools/gittools/git-commit-subsystems
index 4ef3805996..a06fa7dc54 100755
--- a/Tools/gittools/git-commit-subsystems
+++ b/Tools/gittools/git-commit-subsystems
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/git-subsystems-split b/Tools/gittools/git-subsystems-split
index 1810aea893..a8fd097872 100755
--- a/Tools/gittools/git-subsystems-split
+++ b/Tools/gittools/git-subsystems-split
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 SCRIPT_DIR=$(dirname $(realpath ${BASH_SOURCE[0]}))
 GIT_DIR=$(git rev-parse --git-dir)
diff --git a/Tools/gittools/path-libraries.sh b/Tools/gittools/path-libraries.sh
index 14aaf4f2e3..711931776c 100755
--- a/Tools/gittools/path-libraries.sh
+++ b/Tools/gittools/path-libraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/gittools/path-nonlibraries.sh b/Tools/gittools/path-nonlibraries.sh
index 7010e292cf..dd52ad0d41 100755
--- a/Tools/gittools/path-nonlibraries.sh
+++ b/Tools/gittools/path-nonlibraries.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 usage() {
     cat >&$1 <<EOF
diff --git a/Tools/scripts/CAN/can_sitl.sh b/Tools/scripts/CAN/can_sitl.sh
index 65aa2339a5..54be78e2cd 100755
--- a/Tools/scripts/CAN/can_sitl.sh
+++ b/Tools/scripts/CAN/can_sitl.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # this script sets up SITL to be able to attach to real CAN devices
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/CAN/can_sitl_nodev.sh b/Tools/scripts/CAN/can_sitl_nodev.sh
index d31514c802..8928061c30 100755
--- a/Tools/scripts/CAN/can_sitl_nodev.sh
+++ b/Tools/scripts/CAN/can_sitl_nodev.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # once run, you can configure SITL for CAN just like a real board, with the CAN parameters
 #
diff --git a/Tools/scripts/build-jsbsim.sh b/Tools/scripts/build-jsbsim.sh
index 9e84927015..a138194955 100755
--- a/Tools/scripts/build-jsbsim.sh
+++ b/Tools/scripts/build-jsbsim.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_all.sh b/Tools/scripts/build_all.sh
index 5a3eaf8413..590c115305 100755
--- a/Tools/scripts/build_all.sh
+++ b/Tools/scripts/build_all.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_appveyor.sh b/Tools/scripts/build_appveyor.sh
index 23de342765..d392bbe4e0 100755
--- a/Tools/scripts/build_appveyor.sh
+++ b/Tools/scripts/build_appveyor.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # script to build 32 bit cygwin binaries for SITL
 
 export PATH="/usr/local/bin:/usr/bin:/bin"
diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 53bd889e5a..8b42e0a3c0 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 export PATH=$HOME/.local/bin:/usr/local/bin:$HOME/prefix/bin:$HOME/gcc/active/bin:$PATH
 export PYTHONUNBUFFERED=1
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index 4dbc66c4bf..ec491de589 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # useful script to test all the different build types that we support.
 # This helps when doing large merges
 # Andrew Tridgell, November 2011
diff --git a/Tools/scripts/build_docs.sh b/Tools/scripts/build_docs.sh
index acc4899a95..9c183e5d98 100755
--- a/Tools/scripts/build_docs.sh
+++ b/Tools/scripts/build_docs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_examples.sh b/Tools/scripts/build_examples.sh
index 5543f0ad16..127754df83 100755
--- a/Tools/scripts/build_examples.sh
+++ b/Tools/scripts/build_examples.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 
diff --git a/Tools/scripts/build_log_message_documentation.sh b/Tools/scripts/build_log_message_documentation.sh
index 1ec04d08f9..14bdcbd69f 100755
--- a/Tools/scripts/build_log_message_documentation.sh
+++ b/Tools/scripts/build_log_message_documentation.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/build_parameters.sh b/Tools/scripts/build_parameters.sh
index b0ee979a6a..50c01e53bb 100755
--- a/Tools/scripts/build_parameters.sh
+++ b/Tools/scripts/build_parameters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 set -e
 set -x
diff --git a/Tools/scripts/configure-ci.sh b/Tools/scripts/configure-ci.sh
index a547b729fc..207ee51959 100755
--- a/Tools/scripts/configure-ci.sh
+++ b/Tools/scripts/configure-ci.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Install dependencies and configure the environment for CI build testing
 
 set -ex
diff --git a/Tools/scripts/cygwin_build.sh b/Tools/scripts/cygwin_build.sh
index 7761bd5ae3..204acbe9cc 100755
--- a/Tools/scripts/cygwin_build.sh
+++ b/Tools/scripts/cygwin_build.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # script to build cygwin binaries for using in MissionPlanner
 # the contents of artifacts directory is uploaded to:
diff --git a/Tools/scripts/esp32_get_idf.sh b/Tools/scripts/esp32_get_idf.sh
index 4ad61e15e9..f7e8318b47 100755
--- a/Tools/scripts/esp32_get_idf.sh
+++ b/Tools/scripts/esp32_get_idf.sh
@@ -1,5 +1,4 @@
-#!/bin/bash 
-
+#!/usr/bin/env bash
 # if you have modules/esp_idf setup as a submodule, then leave it as a submodule and switch branches
 if [ ! -d modules ]; then
 echo "this script needs to be run from the root of your repo, sorry, giving up."
@@ -60,4 +59,4 @@ git submodule update --init --recursive
 cd ../..
 echo "after changing IDF versions [ such as between 4.2 and 4.4 ] you should re-run these in your console:"
 echo "./modules/esp_idf/install.sh"
-echo "source ./modules/esp_idf/export.sh"
\ No newline at end of file
+echo "source ./modules/esp_idf/export.sh"
diff --git a/Tools/scripts/fix_libraries_includes.sh b/Tools/scripts/fix_libraries_includes.sh
index 8e3ac17f53..171fa598da 100755
--- a/Tools/scripts/fix_libraries_includes.sh
+++ b/Tools/scripts/fix_libraries_includes.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 src=$(realpath $(dirname $BASH_SOURCE)/../../)
 base=$src/libraries
diff --git a/Tools/scripts/format.sh b/Tools/scripts/format.sh
index cef831de59..4ad18ba18c 100755
--- a/Tools/scripts/format.sh
+++ b/Tools/scripts/format.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 function format {
 	DIR=$1
 	find $DIR -regex ".*\.\(h\|cpp\|pde\)" -exec astyle {} \;
diff --git a/Tools/scripts/macos_remote_upload.sh b/Tools/scripts/macos_remote_upload.sh
index 2d27eabeb4..399d39929b 100755
--- a/Tools/scripts/macos_remote_upload.sh
+++ b/Tools/scripts/macos_remote_upload.sh
@@ -14,4 +14,4 @@ ssh $USER_HOST /bin/bash << ENDSSH
 source ~/.bash_profile
 $tmpdir/uploader.py $tmpdir/$filename
 rm -r $tmpdir
-ENDSSH
\ No newline at end of file
+ENDSSH
diff --git a/Tools/scripts/run_luacheck.sh b/Tools/scripts/run_luacheck.sh
index 43e0af5d0e..7b613634fb 100755
--- a/Tools/scripts/run_luacheck.sh
+++ b/Tools/scripts/run_luacheck.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Run lua check for all lua files passing AP specific config
 # Can also pass any number of arguments that are passed onto luacheck
 # for example the path of a single script could be given
diff --git a/Tools/scripts/unpack_mp.sh b/Tools/scripts/unpack_mp.sh
index 3719836f67..b75966e7b9 100755
--- a/Tools/scripts/unpack_mp.sh
+++ b/Tools/scripts/unpack_mp.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # unpack latest MissionPlanner*.zip on firmware.ardupilot.org
 # to facilitate upgrade of existing MissionPlanner installs
diff --git a/Tools/vagrant/initvagrant-desktop.sh b/Tools/vagrant/initvagrant-desktop.sh
index 702c78d5b0..f9299044e0 100755
--- a/Tools/vagrant/initvagrant-desktop.sh
+++ b/Tools/vagrant/initvagrant-desktop.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 set -e
diff --git a/Tools/vagrant/initvagrant-trusty64.sh b/Tools/vagrant/initvagrant-trusty64.sh
index e820d91ad0..318be2cb94 100755
--- a/Tools/vagrant/initvagrant-trusty64.sh
+++ b/Tools/vagrant/initvagrant-trusty64.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # this script is run by the root user in the virtual machine
 
diff --git a/Tools/vagrant/initvagrant.sh b/Tools/vagrant/initvagrant.sh
index 08bd7d81c3..acb0f48281 100755
--- a/Tools/vagrant/initvagrant.sh
+++ b/Tools/vagrant/initvagrant.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 echo "---------- $0 start ----------"
 
 # this script is run by the root user in the virtual machine
diff --git a/docs/build-apmrover2.sh b/docs/build-apmrover2.sh
index 0bb15a9537..d3180ffb76 100755
--- a/docs/build-apmrover2.sh
+++ b/docs/build-apmrover2.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arducopter.sh b/docs/build-arducopter.sh
index ef8dd9e13f..67db80ca2c 100755
--- a/docs/build-arducopter.sh
+++ b/docs/build-arducopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-arduplane.sh b/docs/build-arduplane.sh
index 125d430288..35ccddd35d 100755
--- a/docs/build-arduplane.sh
+++ b/docs/build-arduplane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-ardusub.sh b/docs/build-ardusub.sh
index b34490428c..eed18f8ee6 100755
--- a/docs/build-ardusub.sh
+++ b/docs/build-ardusub.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/docs/build-libs.sh b/docs/build-libs.sh
index 0a843a5427..9d796bdd39 100755
--- a/docs/build-libs.sh
+++ b/docs/build-libs.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 cd $DIR/..
diff --git a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
index 9aa4549541..387192b96f 100755
--- a/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
+++ b/libraries/AP_Motors/examples/AP_Motors_test/MotorTestSweep.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 # Build and run the motors example stability test at a range of yaw headroom and throttle average max values
 # Output results to files for comparison
 
diff --git a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
index fa67876008..6e95e303ae 100755
--- a/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
+++ b/libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # two planes flying together doing aerobatics
 
diff --git a/libraries/SITL/examples/Airsim/follow-copter.sh b/libraries/SITL/examples/Airsim/follow-copter.sh
index 47625999c8..302f85ac33 100755
--- a/libraries/SITL/examples/Airsim/follow-copter.sh
+++ b/libraries/SITL/examples/Airsim/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Airsim/multi_vehicle.sh b/libraries/SITL/examples/Airsim/multi_vehicle.sh
index f02717e6fc..f227173d40 100755
--- a/libraries/SITL/examples/Airsim/multi_vehicle.sh
+++ b/libraries/SITL/examples/Airsim/multi_vehicle.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Example script for multi-vehicle simulation with AirSim and usage with ROS
 # see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
diff --git a/libraries/SITL/examples/Follow/plane_quad.sh b/libraries/SITL/examples/Follow/plane_quad.sh
index 171bcdff20..1b6310cc50 100755
--- a/libraries/SITL/examples/Follow/plane_quad.sh
+++ b/libraries/SITL/examples/Follow/plane_quad.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # a quad following a plane
 
diff --git a/libraries/SITL/examples/Morse/start_follow.sh b/libraries/SITL/examples/Morse/start_follow.sh
index e213eaeb8d..43bc88e180 100755
--- a/libraries/SITL/examples/Morse/start_follow.sh
+++ b/libraries/SITL/examples/Morse/start_follow.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/dronePlus.sh b/libraries/SITL/examples/Webots/dronePlus.sh
index 171a0f4850..6b3b3b0876 100755
--- a/libraries/SITL/examples/Webots/dronePlus.sh
+++ b/libraries/SITL/examples/Webots/dronePlus.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTricopter.sh b/libraries/SITL/examples/Webots/droneTricopter.sh
index ac6f520ac2..256f3cdbe2 100755
--- a/libraries/SITL/examples/Webots/droneTricopter.sh
+++ b/libraries/SITL/examples/Webots/droneTricopter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneTwoTricopters.sh b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
index 3553228de3..9833af3422 100755
--- a/libraries/SITL/examples/Webots/droneTwoTricopters.sh
+++ b/libraries/SITL/examples/Webots/droneTwoTricopters.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 
diff --git a/libraries/SITL/examples/Webots/droneX.sh b/libraries/SITL/examples/Webots/droneX.sh
index 45d18874c1..0c29da5877 100755
--- a/libraries/SITL/examples/Webots/droneX.sh
+++ b/libraries/SITL/examples/Webots/droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
index 064a7d8125..0564cb8bc0 100755
--- a/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
+++ b/libraries/SITL/examples/Webots/droneX_TwoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX.sh b/libraries/SITL/examples/Webots/pyramids_droneX.sh
index d40d123d0c..02328840b1 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
index 0081fe283b..d9064a0e63 100755
--- a/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
+++ b/libraries/SITL/examples/Webots/pyramids_droneX_twoDrones.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/Webots/rover.sh b/libraries/SITL/examples/Webots/rover.sh
index 187d731526..568495d519 100755
--- a/libraries/SITL/examples/Webots/rover.sh
+++ b/libraries/SITL/examples/Webots/rover.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # assume we start the script from the root directory
 ROOTDIR=$PWD
diff --git a/libraries/SITL/examples/follow-copter.sh b/libraries/SITL/examples/follow-copter.sh
index 8dbeebc75f..5ef7c21858 100755
--- a/libraries/SITL/examples/follow-copter.sh
+++ b/libraries/SITL/examples/follow-copter.sh
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 # Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP
 # $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
diff --git a/libraries/SITL/examples/follow-mavproxy.sh b/libraries/SITL/examples/follow-mavproxy.sh
index 54cbc889e2..0fa14fd857 100755
--- a/libraries/SITL/examples/follow-mavproxy.sh
+++ b/libraries/SITL/examples/follow-mavproxy.sh
@@ -1,3 +1,3 @@
-#!/bin/bash
+#!/usr/bin/env bash
 
 mavproxy.py --master=mcast: --console --map --cmd='map set showgpspos 0; map set showgps2pos 0;'
diff --git a/libraries/doc/updateDocs b/libraries/doc/updateDocs
index 50cf459f4a..a0d60b7b26 100755
--- a/libraries/doc/updateDocs
+++ b/libraries/doc/updateDocs
@@ -1,4 +1,4 @@
-#!/bin/bash
+#!/usr/bin/env bash
 rm -rf html
 svn cleanup
 svn update html