diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 1f276c8fc5..fe6c9da787 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -277,6 +277,11 @@ class bebop(linux):
     def configure_env(self, cfg, env):
         super(bebop, self).configure_env(cfg, env)
 
+        cfg.check_cfg(package='libiio', mandatory=False, global_define=True,
+                args = ['--libs', '--cflags'])
+
+        env.LIB += cfg.env.LIB_LIBIIO
+
         env.DEFINES.update(
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_LINUX_BEBOP',
         )
diff --git a/Tools/ardupilotwaf/toolchain.py b/Tools/ardupilotwaf/toolchain.py
index e09728dc77..b2764e9d9d 100644
--- a/Tools/ardupilotwaf/toolchain.py
+++ b/Tools/ardupilotwaf/toolchain.py
@@ -125,6 +125,7 @@ def configure(cfg):
     _filter_supported_cxx_compilers('g++', 'clang++')
 
     cfg.env.AR = cfg.env.TOOLCHAIN + '-ar'
+    cfg.env.PKGCONFIG = cfg.env.TOOLCHAIN + '-pkg-config'
     cfg.msg('Using toolchain', cfg.env.TOOLCHAIN)
     cfg.load('compiler_cxx compiler_c')