diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index a2c73c904f..0e692be45a 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -177,7 +177,10 @@ class Board:
 
         if cfg.options.enable_networking_tests:
             env.CXXFLAGS += ['-DAP_NETWORKING_TESTS_ENABLED=1']
-            
+
+        if cfg.options.enable_iomcu_profiled_support:
+            env.CXXFLAGS += ['-DAP_IOMCU_PROFILED_SUPPORT_ENABLED=1']
+
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.
diff --git a/Tools/scripts/build_iofirmware.py b/Tools/scripts/build_iofirmware.py
index c2169d3ed9..c2f67096a8 100755
--- a/Tools/scripts/build_iofirmware.py
+++ b/Tools/scripts/build_iofirmware.py
@@ -29,12 +29,24 @@ run_program(["./waf", "iofirmware"])
 shutil.copy('build/iomcu/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_lowpolh.bin')
 shutil.copy('build/iomcu/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_highpolh.bin')
 
+run_program(["./waf", "configure", "--board", 'iomcu', '--enable-iomcu-profiled-support'])
+run_program(["./waf", "clean"])
+run_program(["./waf", "iofirmware"])
+shutil.copy('build/iomcu/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_lowpolh.bin')
+shutil.copy('build/iomcu/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_highpolh.bin')
+
 run_program(["./waf", "configure", "--board", 'iomcu-dshot'])
 run_program(["./waf", "clean"])
 run_program(["./waf", "iofirmware"])
 shutil.copy('build/iomcu-dshot/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin')
 shutil.copy('build/iomcu-dshot/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_dshot_highpolh.bin')
 
+run_program(["./waf", "configure", "--board", 'iomcu-dshot', '--enable-iomcu-profiled-support'])
+run_program(["./waf", "clean"])
+run_program(["./waf", "iofirmware"])
+shutil.copy('build/iomcu-dshot/bin/iofirmware_lowpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_dshot_lowpolh.bin')
+shutil.copy('build/iomcu-dshot/bin/iofirmware_highpolh.bin', 'Tools/IO_Firmware/iofirmware_cube_dshot_highpolh.bin')
+
 run_program(["./waf", "configure", "--board", 'iomcu-f103'])
 run_program(["./waf", "clean"])
 run_program(["./waf", "iofirmware"])
diff --git a/wscript b/wscript
index f400c74cdb..fff0a563f2 100644
--- a/wscript
+++ b/wscript
@@ -429,6 +429,11 @@ configuration in order to save typing.
                  default=0,
                  help='zero time on boot in microseconds')
 
+    g.add_option('--enable-iomcu-profiled-support',
+                    action='store_true',
+                    default=False,
+                    help='enable iomcu profiled support')
+
     g.add_option('--enable-new-checking',
         action='store_true',
         default=False,