diff --git a/Tools/completion/completion.zsh b/Tools/completion/completion.zsh
new file mode 100644
index 0000000000..dab98d3673
--- /dev/null
+++ b/Tools/completion/completion.zsh
@@ -0,0 +1,5 @@
+#!/usr/bin/env zsh
+
+_AP_COMPLETION_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd)
+fpath+=$_AP_COMPLETION_DIR/zsh/
+
diff --git a/Tools/completion/zsh/_sim_vehicle b/Tools/completion/zsh/_sim_vehicle
new file mode 100644
index 0000000000..c849af47a2
--- /dev/null
+++ b/Tools/completion/zsh/_sim_vehicle
@@ -0,0 +1,154 @@
+#compdef sim_vehicle.py
+#autoload
+
+local temp_word
+local cur cword prev
+_sim_vehicle() {
+  typeset -A opt_args
+  local context state state_descr line curcontext="$curcontext"
+    cur=${words[CURRENT]}
+    prev=${words[CURRENT-1]}
+  _arguments -C -A -s -S \
+    '(- 1 *)'{-h,--help}'[show help options and exit]' \
+    '(-j --jobs)'{-j,--jobs}'[number of processors to use during build]:int:' \
+    '(-N --no-rebuild)'{-N,--no-rebuild}'[do not rebuild before starting ardupilot]' \
+    '(-D --debug)'{-D,--debug}'[build with debugging]' \
+    '(-c --clean)'{-c,--clean}'[do a make clean before building]' \
+    '(-I --instance=)'{-I,--instance=}'[instance of simulator]:int:' \
+    '(-V --valgrind)'{-V,--valgrind}'[enable valgrind for memory access checking (slow!)]' \
+    '--callgrind[enable valgrind for performance analysis (slow!!)]' \
+    '(-T --tracker)'{-T,--tracker}'[start an antenna tracker instance]' \
+    '(-A --sitl-instance-args)'{-A,--sitl-instance-args}'[pass arguments to SITL instance]:SITL_INSTANCE_ARGS:' \
+    '(-G --gdb)'{-G,--gdb}'[use gdb for debugging ardupilot]' \
+    '(-g --gdb-stopped)'{-g,--gdb-stopped}'[use gdb for debugging ardupilot (no auto-start)]' \
+    '--lldb[use lldb for debugging ardupilot]' \
+    '--lldb-stopped[use ldb for debugging ardupilot (no auto-start)]' \
+    '(-d --delay-start=)'{-d,--delay-start=}'[delay start of mavproxy by this number of seconds]:int:' \
+    '(-B --breakpoint=)'{-B,--breakpoint=}'[add a breakpoint at given location in debugger]:LOCATION:' \
+    '(-M --mavlink-gimbal)'{-M,--mavlink-gimbal}'[enable MAVLink gimbal]' \
+    '(-L --location=)'{-L,--location=}'[use start location from Tools/autotest/locations.txt]:LOCATION:' \
+    '(-l --custom-location=)'{-l,--custom-location=}'[set custom start location (lat,lon,alt,heading)]:LOCATION:' \
+    '(-S --speedup=)'{-S,--speedup=}'[set simulation speedup (1 for wall clock time)]:SPEEDUP:' \
+    '(-t --tracker-location=)'{-t,--tracker-location=}'[set antenna tracker start location]:TRACKER_LOCATION:' \
+    '(-w --wipe-eeprom)'{-w,--wipe-eeprom}'[wipe EEPROM and reload parameters]' \
+    '(-m --mavproxy-args=)'{-m,--mavproxy-args=}'[additional arguments to pass to mavproxy.py]:MAVPROXY_ARGS:' \
+    '--strace[strace the ArduPilot binary]' \
+    '--model=[Override simulation model to use]:MODEL:' \
+    '--use-dir=[Store SITL state and output in named directory]:DIR:' \
+    '--no-mavproxy[Do notlaunch MAVProxy]' \
+    '--fresh-params[Generate and use local parameter help XML]' \
+    '--mcast[Use multicasting at default 239.255.145.50:14550]' \
+    '--osd[Enable SITL OSD]' \
+    '--tonealarm[Enable SITL ToneAlarm]' \
+    '--rgbled[Enable SITL RGBLed]' \
+    '--add-param-file=[Add a parameters file to use]:ADD_PARAM_FILE:' \
+    '--no-extra-ports[Disable setup of UDP 14550 and 14551 output]' \
+    '(-Z --swarm=)'{-Z,--swarm=}'[Specify path of swarminit.txt for shifting spawn
+                        location]:SWARM:' \
+    '--flash-storage[enable use of flash storage emulation]' \
+    '--out=[create an additional mavlink output]:OUT:' \
+    '--map[load map module on startup]' \
+    '--console[load console module on startup]' \
+    '--aircraft=[store state and logs in named directory]:AIRCRAFT:' \
+    '--moddebug=[mavproxy module debug]:int:' \
+    '(-v --vehicle)'{-v,--vehicle}'[vehicle type]:vehicle:_sim_vehicle_vehicles' \
+    '(-f --frame)'{-f,--frame}'[set vehicle frame type]:frame:_copter_frames' \
+  && ret=0
+  
+
+}
+
+# TODO : generate with regex from sim_vehicle help
+(( $+functions[_sim_vehicle_vehicles] )) ||
+_sim_vehicle_vehicles() {
+  local vehicles; vehicles=(
+    'ArduCopter:Copter type' \
+    'AntennaTracker:Tracker type' \
+    'APMrover2:Rover type' \
+    'ArduSub:Sub type' \
+    'ArduPlane:Plane type'
+  )
+  _describe -t vehicles 'vehicle' vehicles "$@" && ret=0
+}
+
+# TODO : generate with regex from sim_vehicle help
+(( $+functions[_copter_frames] )) ||
+_copter_frames() {
+search_vehicle=true
+local_current=$CURRENT
+vehicle=''
+while ( $search_vehicle || $local_current -eq 0 )
+do
+    case $words[$local_current] in 
+        ("ArduCopter" | "AntennaTracker" | "APMrover2" | "ArduSub" | "ArduPlane")
+            search_vehicle=false
+            vehicle=$words[$local_current]
+            ;;
+    esac
+    local_current=$(( $local_current - 1 ))
+done
+local frames; 
+case $vehicle in
+    ("ArduCopter")
+       frames=(
+            '+:Copter type +' \
+            'X:Copter type X' \
+            'airsim-copter:Copter for AirSim' \
+            'coaxcopter:Copter type Coaxial' \
+            'djix:Copter type DJI X' \
+            'dodeca-hexa:Copter type Dodeca-hexa' \
+            'gazebo-iris:Copter type iris for Gazebo' \
+            'heli:Heli' \
+            'heli-compound:Heli with compound' \
+            'heli-dual:Dual Heli' \
+            'hexa:Copter type hexa' \
+            'octa:Copter type octa' \
+            'octa-quad:Copter type octa-quad' \
+            'quad:Copter type quad' \
+            'scrimmage-copter:Copter for scrimmage' \
+            'singlecopter:Copter type singlecopter' \
+            'tri:Copter type tri' \
+            'y6:Copter type y6' \
+            
+          );;
+    ("APMrover2")
+       frames=(
+            'balancebot:Balance Bot' \
+            'gazebo-rover:Rover for Gazebo' \
+            'rover:Rover type ackerman' \
+            'rover-skid:Rover type skidsteering' \
+            'sailboat:Boat type sailboat' \
+            'sailboat-motor:Boat type sailboat with motor' \
+            'balancebot:Balance Bot' \
+          );;
+   ("ArduSub")
+          frames=(
+            'gazebo-bluerov2:Sub for Gazebo' \
+            'vectored:Sub vectored' \
+          );;
+   ("AntennaTracker")
+          frames=(
+            'tracker:Antenna Tracker' \
+          );;
+    ("ArduPlane")
+       frames=(
+            'CRRCSim:Plane for CRRCSim' \
+            'gazebo-zephyr:Plane for Gazebo' \
+            'jsbsim:Plane for jsbsim' \
+            'plane:Plane type plane' \
+            'plane-dspoilers:Plane with dspoilers' \
+            'plane-elevon:Plane with elevon' \
+            'plane-jet:Plane type jet' \
+            'plane-tailsitter:Plane type tailsitter' \
+            'plane-vtailjet:Plane type vtail' \
+            'quadplane:Plane type quadplane' \
+            'quadplane-cl84:Plane type quadplane-cl84' \
+            'quadplane-tilttrivec:Plane type quadplane-tilttrivec' \
+            'quadplane-tri:Plane type quadplane-tri' \
+            'scrimmage-plane:Plane for scrimmage' \
+          );;
+    esac
+  _describe -t frames 'frame' frames "$@" && ret=0
+}
+
+_sim_vehicle "$@"
diff --git a/Tools/completion/zsh/_waf b/Tools/completion/zsh/_waf
new file mode 100644
index 0000000000..dc79e6d224
--- /dev/null
+++ b/Tools/completion/zsh/_waf
@@ -0,0 +1,80 @@
+#compdef waf waf-light
+#autoload
+
+_waf() {
+  typeset -A opt_args
+  local context state line curcontext="$curcontext"
+
+  _arguments -C -A -s -S \
+    '(- 1 *)--version[show version and exit]' \
+    '(- 1 *)'{-h,--help}'[show help options and exit]' \
+    '1:first arg:_waf_cmds' \
+    '*:: :->args' \
+  && ret=0
+
+    case "$state" in
+      (args)
+        _arguments -C -A -s -S \
+          '(- 1 *)--version[show version and exit]' \
+          '(- 1 *)'{-h,--help}'[show help options and exit]' \
+          '(-j --jobs)'{-j,--jobs}'[amount of parallel jobs]:int:' \
+          '--verbose[verbosity level -v -vv or -vvv]' \
+          '*-v[verbosity level -v -vv or -vvv]' \
+          '--debug[Configure as debug variant.]' \
+          '--bootloader[Configure for building a bootloader.]' \
+          '--default-parameters[set default parameters to embed in the firmware]' \
+          '--enable-sfml[Enable SFML graphics library]' \
+          '--enable-sfml-audio[Enable SFML audio library]' \
+          '--sitl-osd[Enable SITL OSD]' \
+          '--sitl-rgbled[Enable SITL RGBLed]' \
+          '--build-dates[Include build date in binaries]' \
+          '--sitl-flash-storage[Building SITL with flash storage emulation.]' \
+          '--upload[Upload applicable targets to a connected device]' \
+          '--board[Board name]:board:_waf_boards' \
+          '*:: :->args' \
+        && ret=0
+      ;;
+    esac
+}
+
+# TODO : generate with regex from waf help
+(( $+functions[_waf_boards] )) ||
+_waf_boards() {
+  local boards; boards=(
+    'CubeBlack:builds CubeBlack' \
+    'bbbmini:build bbbmini' \
+    'fmuv2:build fmuv2' \
+    'fmuv3:build fmuv3' \
+    'fmuv4:build fmuv4' \
+    'iomcu:build iomcu' \
+    'sitl:build sitl'
+  )
+  _describe -t boards 'board' boards "$@" && ret=0
+}
+
+# TODO generate with regex from waf help
+(( $+functions[_waf_cmds] )) ||
+_waf_cmds() {
+  local commands; commands=(
+    'AP_Periph:builds AP_Periph programs' \
+    'copter:builds copter programs' \
+    'heli:builds heli programs' \
+    'plane:builds plane programs' \
+    'rover:builds rover programs' \
+    'sub:builds sub programs' \
+    'antennatracker:builds antennatracker programs' \
+    'tools:builds all programs of tools group' \
+    'examples:builds all programs of examples group' \
+    'bootloader:builds bootloader programs' \
+    'iofirmware:builds iofirmware programs' \
+    'list:lists the targets to execute' \
+    'all:builds all programs of all group' \
+    'build:executes the build' \
+    'configure:configures the project' \
+    'clean:cleans the project' \
+    'distclean:removes build folders and data'
+  )
+  _describe -t commands 'command' commands "$@" && ret=0
+}
+
+_waf "$@"