diff --git a/mk/environ.mk b/mk/environ.mk
index 3311d074cc..304d915bf7 100644
--- a/mk/environ.mk
+++ b/mk/environ.mk
@@ -173,6 +173,11 @@ HAL_BOARD = HAL_BOARD_LINUX
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 endif
 
+ifneq ($(findstring minlure, $(MAKECMDGOALS)),)
+HAL_BOARD = HAL_BOARD_LINUX
+HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_LINUX_MINLURE
+endif
+
 ifneq ($(findstring vrbrain, $(MAKECMDGOALS)),)
 HAL_BOARD = HAL_BOARD_VRBRAIN
 HAL_BOARD_SUBTYPE = HAL_BOARD_SUBTYPE_NONE
diff --git a/mk/help.mk b/mk/help.mk
index b4ff616ef7..3b73542f09 100644
--- a/mk/help.mk
+++ b/mk/help.mk
@@ -34,3 +34,4 @@ help:
 	@echo "  bebop - the Parrot Bebop"
 	@echo "  raspilot - the RaspberryPi + pilot cape combination"
 	@echo "  erleboard - the ErleBoard legacy design"
+	@echo "  minlure - the drone lure for MinnowBoard and others"
diff --git a/mk/targets.mk b/mk/targets.mk
index 2e12f604b2..987bfd7c00 100644
--- a/mk/targets.mk
+++ b/mk/targets.mk
@@ -50,6 +50,10 @@ bebop: HAL_BOARD = HAL_BOARD_LINUX
 bebop: TOOLCHAIN = BBONE
 bebop: all
 
+minlure: HAL_BOARD = HAL_BOARD_LINUX
+minlure: TOOLCHAIN = NATIVE
+minlure: all
+
 navio: HAL_BOARD = HAL_BOARD_LINUX
 navio: TOOLCHAIN = RPI
 navio: all
@@ -81,7 +85,7 @@ empty: all
 
 # cope with copter and hil targets
 FRAMES = quad tri hexa y6 octa octa-quad heli single coax obc nologging
-BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini
+BOARDS = apm1 apm2 apm2beta apm1-1280 px4 px4-v1 px4-v2 sitl flymaple linux vrbrain vrbrain-v40 vrbrain-v45 vrbrainv-50 vrbrain-v51 vrbrain-v52 vrubrain-v51 vrubrain-v52 vrhero-v10 erle pxf navio raspilot bbbmini minlure
 
 define frame_template
 $(1)-$(2) : EXTRAFLAGS += "-DFRAME_CONFIG=$(shell echo $(2) | tr a-z A-Z | sed s/-/_/g)_FRAME "