diff --git a/Tools/scripts/build_vrbrain_binaries.sh b/Tools/scripts/build_vrbrain_binaries.sh
new file mode 100644
index 0000000000..0d7901aaa7
--- /dev/null
+++ b/Tools/scripts/build_vrbrain_binaries.sh
@@ -0,0 +1,277 @@
+#!/bin/bash
+# script to build the latest binaries for each vehicle type, ready to upload
+# Andrew Tridgell, March 2013
+
+export PATH=$PATH:/bin:/usr/bin
+
+export TMPDIR=$PWD/build.tmp.$$
+echo $TMDIR
+rm -rf $TMPDIR
+echo "Building in $TMPDIR"
+
+date
+git checkout master
+githash=$(git rev-parse HEAD)
+
+hdate=$(date +"%Y-%m/%Y-%m-%d-%H:%m")
+mkdir -p binaries/$hdate
+binaries=$PWD/../buildlogs/binaries
+
+error_count=0
+
+. config.mk
+
+# checkout the right version of the tree
+checkout() {
+    branch="$1"
+    git stash
+    if [ "$branch" = "master" ]; then
+	vbranch="master"
+	vbranch2="master"
+    fi
+    if [ "$branch" = "for_merge" ]; then
+	vbranch="for_merge"
+	vbranch2="for_merge"
+    fi
+    if [ "$branch" = "for_merge-3.2" ]; then
+	vbranch="for_merge-3.2"
+	vbranch2="for_merge"
+    fi
+    if [ "$branch" = "tone_alarm" ]; then
+	vbranch="ToneAlarm"
+	vbranch2="ToneAlarm"
+    fi
+    if [ "$branch" = "tone_alarm-3.2" ]; then
+	vbranch="ToneAlarm-3.2"
+	vbranch2="ToneAlarm"
+    fi
+
+    echo "Checkout with branch $branch"
+
+    git remote update
+    git checkout -B "$vbranch" remotes/origin/"$vbranch"
+    git pull -v --progress  "origin" "$vbranch" || return 1
+
+    git log -1
+
+    pushd ../../vrbrain_nuttx
+    git remote update
+    git checkout -B "$vbranch2" remotes/origin/"$vbranch2"
+    git pull -v --progress  "origin" "$vbranch2" || {
+        popd
+        return 1
+    }
+    git log -1
+    popd
+
+    return 0
+}
+
+# check if we should skip this build because we have already
+# built this version
+skip_build() {
+    [ "$FORCE_BUILD" = "1" ] && return 1
+    tag="$1"
+    ddir="$2"
+    bname=$(basename $ddir)
+    ldir=$(dirname $(dirname $(dirname $ddir)))/$tag/$bname
+    [ -d "$ldir" ] || {
+	echo "$ldir doesn't exist - building"
+	return 1
+    }
+    oldversion=$(cat "$ldir/git-version.txt" | head -1)
+    newversion=$(git log -1 | head -1)
+    [ "$oldversion" = "$newversion" ] && {
+	echo "Skipping build - version match $newversion"
+	return 0
+    }
+    echo "$ldir needs rebuild"
+    return 1
+}
+
+addfwversion() {
+    destdir="$1"
+    git log -1 > "$destdir/git-version.txt"
+    [ -f APM_Config.h ] && {
+	version=$(grep 'define.THISFIRMWARE' *.pde 2> /dev/null | cut -d'"' -f2)
+	echo >> "$destdir/git-version.txt"
+	echo "APMVERSION: $version" >> "$destdir/git-version.txt"
+    }    
+}
+
+# copy the built firmware to the right directory
+copyit() {
+    file="$1"
+    dir="$2"
+    tag="$3"
+    bname=$(basename $dir)
+    tdir=$(dirname $(dirname $(dirname $dir)))/$tag/$bname
+    if [ "$tag" = "latest" ]; then
+	mkdir -p "$dir"
+	/bin/cp "$file" "$dir"
+	addfwversion "$dir"
+    fi
+    echo "Copying $file to $tdir"
+    mkdir -p "$tdir"
+    addfwversion "$tdir"
+
+    rsync "$file" "$tdir"
+}
+
+# build plane binaries
+build_arduplane() {
+    tag="$1"
+    echo "Building ArduPlane $tag binaries"
+    pushd ArduPlane
+    test -n "$VRBRAIN_ROOT" && {
+	echo "Building ArduPlane VRBRAIN binaries"
+	ddir=$binaries/Plane/$hdate/VRX
+        checkout $tag || {
+            echo "Failed checkout of ArduPlane VRBRAIN $tag"
+            error_count=$((error_count+1))
+            continue
+        }
+	skip_build $tag $ddir || {
+	    make vrbrain-clean &&
+	    make vrbrain || {
+                echo "Failed build of ArduPlane VRBRAIN $tag"
+                error_count=$((error_count+1))
+                continue
+            }
+	    copyit ArduPlane-vrbrain-v45.vrx $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v45.bin $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v45.hex $ddir $tag &&
+	    copyit ArduPlane-vrbrain-v51.vrx $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51.bin $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51.hex $ddir $tag &&
+	    copyit ArduPlane-vrbrain-v51P.vrx $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51P.bin $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51P.hex $ddir $tag &&
+	    copyit ArduPlane-vrbrain-v51Pro.vrx $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51Pro.bin $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51Pro.hex $ddir $tag &&
+	    copyit ArduPlane-vrbrain-v51ProP.vrx $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51ProP.bin $ddir $tag && 
+	    copyit ArduPlane-vrbrain-v51ProP.hex $ddir $tag &&
+	    copyit ArduPlane-vrubrain-v51.vrx $ddir $tag && 
+	    copyit ArduPlane-vrubrain-v51.bin $ddir $tag && 
+	    copyit ArduPlane-vrubrain-v51.hex $ddir $tag && 
+	    copyit ArduPlane-vrubrain-v51P.vrx $ddir $tag && 
+	    copyit ArduPlane-vrubrain-v51P.bin $ddir $tag && 
+	    copyit ArduPlane-vrubrain-v51P.hex $ddir $tag
+	}
+    }
+    checkout "master"
+    popd
+}
+
+# build copter binaries
+build_arducopter() {
+    tag="$1"
+    echo "Building ArduCopter $tag binaries from $(pwd)"
+    pushd ArduCopter
+    frames="quad tri hexa y6 octa octa-quad heli"
+    test -n "$VRBRAIN_ROOT" && {
+        checkout $tag || {
+            echo "Failed checkout of ArduCopter VRBRAIN $tag"
+            error_count=$((error_count+1))
+            checkout "master"
+            popd
+            return
+        }
+	make vrbrain-clean || return
+	for f in $frames quad-hil heli-hil; do
+	    echo "Building ArduCopter VRBRAIN-$f binaries"
+	    ddir="$binaries/Copter/$hdate/VRX-$f"
+	    skip_build $tag $ddir && continue
+            rm -rf ../Build.ArduCopter
+	    make vrbrain-$f || {
+                echo "Failed build of ArduCopter VRBRAIN $tag"
+                error_count=$((error_count+1))
+                continue
+            }
+	    copyit ArduCopter-vrbrain-v45.vrx $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v45.bin $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v45.hex $ddir $tag &&
+	    copyit ArduCopter-vrbrain-v51.vrx $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51.bin $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51.hex $ddir $tag &&
+	    copyit ArduCopter-vrbrain-v51P.vrx $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51P.bin $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51P.hex $ddir $tag &&
+	    copyit ArduCopter-vrbrain-v51Pro.vrx $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51Pro.bin $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51Pro.hex $ddir $tag &&
+	    copyit ArduCopter-vrbrain-v51ProP.vrx $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51ProP.bin $ddir $tag && 
+	    copyit ArduCopter-vrbrain-v51ProP.hex $ddir $tag &&
+	    copyit ArduCopter-vrubrain-v51.vrx $ddir $tag && 
+	    copyit ArduCopter-vrubrain-v51.bin $ddir $tag && 
+	    copyit ArduCopter-vrubrain-v51.hex $ddir $tag && 
+	    copyit ArduCopter-vrubrain-v51P.vrx $ddir $tag && 
+	    copyit ArduCopter-vrubrain-v51P.bin $ddir $tag && 
+	    copyit ArduCopter-vrubrain-v51P.hex $ddir $tag
+	done
+    }
+    checkout "master"
+    popd
+}
+
+# build rover binaries
+build_rover() {
+    tag="$1"
+    echo "Building APMrover2 $tag binaries from $(pwd)"
+    pushd APMrover2
+    test -n "$VRBRAIN_ROOT" && {
+	echo "Building APMrover2 VRBRAIN binaries"
+	ddir=$binaries/Rover/$hdate/VRX
+        checkout $tag || {
+            checkout "master"
+            popd
+            return
+        }
+	skip_build $tag $ddir || {
+	    make vrbrain-clean &&
+	    make vrbrain || {
+                echo "Failed build of APMrover2 VRBRAIN $tag"
+                error_count=$((error_count+1))
+                checkout APMrover2 "latest" ""
+                popd
+                return
+            }
+	    copyit APMrover2-vrbrain-v45.vrx $ddir $tag && 
+	    copyit APMrover2-vrbrain-v45.bin $ddir $tag && 
+	    copyit APMrover2-vrbrain-v45.hex $ddir $tag &&
+	    copyit APMrover2-vrbrain-v51.vrx $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51.bin $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51.hex $ddir $tag &&
+	    copyit APMrover2-vrbrain-v51P.vrx $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51P.bin $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51P.hex $ddir $tag &&
+	    copyit APMrover2-vrbrain-v51Pro.vrx $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51Pro.bin $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51Pro.hex $ddir $tag &&
+	    copyit APMrover2-vrbrain-v51ProP.vrx $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51ProP.bin $ddir $tag && 
+	    copyit APMrover2-vrbrain-v51ProP.hex $ddir $tag &&
+	    copyit APMrover2-vrubrain-v51.vrx $ddir $tag && 
+	    copyit APMrover2-vrubrain-v51.bin $ddir $tag && 
+	    copyit APMrover2-vrubrain-v51.hex $ddir $tag && 
+	    copyit APMrover2-vrubrain-v51P.vrx $ddir $tag && 
+	    copyit APMrover2-vrubrain-v51P.bin $ddir $tag && 
+	    copyit APMrover2-vrubrain-v51P.hex $ddir $tag
+	}
+    }
+    checkout "master"
+    popd
+}
+
+for build in for_merge for_merge-3.2 tone_alarm tone_alarm-3.2; do
+    build_arduplane $build
+    build_arducopter $build
+    build_rover $build
+done
+
+rm -rf $TMPDIR
+
+exit $error_count