diff --git a/Makefile b/Makefile
index 1240e7c4c7..94a0427fe4 100644
--- a/Makefile
+++ b/Makefile
@@ -1,11 +1,13 @@
 ROOT = $(dir $(lastword $(MAKEFILE_LIST)))
 
 WAF_BINARY = $(realpath $(ROOT)/modules/waf/waf-light)
-WAF = $(WAF_BINARY) $(WAF_FLAGS)
+WAF = python $(WAF_BINARY) $(WAF_FLAGS)
 
 EXPLICIT_COMMANDS = check check-all clean list_boards
 
-VEHICLES = copter plane rover
+VEHICLES = copter plane rover sub heli
+
+BOARD_LIST := $(shell $(WAF) list_boards | head -1)
 
 all: $(WAF_BINARY)
 	@$(WAF) build
@@ -29,6 +31,12 @@ $(VEHICLES): $(WAF_BINARY)
 .DEFAULT: %-configure
 	@$(WAF) configure --board $@ build
 
+define target_template
+$(1)-$(2) : $(1)-configure $(2)
+endef
+
+$(foreach board,$(BOARD_LIST),$(foreach vehicle,$(VEHICLES),$(eval $(call target_template,$(board),$(vehicle)))))
+
 help:
 	@echo "Ardupilot Building"
 	@echo "=================="
@@ -46,14 +54,19 @@ help:
 	@echo ""
 	@echo "Boards"
 	@echo "------"
+	@echo ""
 	@echo "In order to trigger the build for a board/platform, the name of the board is"
 	@echo "used as the target. Example: make linux"
 	@echo "If no target is passed, then the build will be triggered for the last board"
 	@echo "used. You can suffix the board/platform with '-configure' in order to just "
 	@echo "configure without triggering a build command."
 	@echo ""
+	@echo "You can get a list of available boards using the command:"
+	@echo "    make list_boards"
+	@echo ""
 	@echo "Vehicles"
 	@echo "--------"
+	@echo ""
 	@echo "It's possible to build for a specific vehicle by defining the target as one of:"
 	@echo "    $(VEHICLES)"
 	@echo ""
@@ -61,26 +74,39 @@ help:
 	@echo "board/platform, you'll need to configure the build before (e.g"
 	@echo "make linux-configure)"
 	@echo ""
+	@echo "Combinations"
+	@echo "------------"
+	@echo ""
+	@echo "It's possible to build for a specific vehicle type and board using"
+	@echo "    make BOARD-VEHICLE"
+	@echo ""
+	@echo "For example, to build copter for the Pixracer, use this:"
+	@echo "    make Pixracer-copter"
+	@echo ""
 	@echo "Check"
 	@echo "-----"
+	@echo ""
 	@echo "Check targets are used for running tests. There are two targets available:"
-	@echo "    check:     for running tests that are still failing or that are new or"
-	@echo "               have been modified"
+	@echo "    check:	 for running tests that are still failing or that are new or"
+	@echo "    		   have been modified"
 	@echo "    check-all: to run all tests"
 	@echo ""
 	@echo "Waf commands"
 	@echo "------------"
+	@echo ""
 	@echo "Waf commands can be explicitly called with targets prefixed by 'waf-'. Example:"
 	@echo "    make waf-clean"
 	@echo "    make waf-build"
 	@echo ""
 	@echo "Common commands"
 	@echo "---------------"
+	@echo ""
 	@echo "Some Waf commands can be executed without the need of prefixing the target name"
 	@echo "with 'waf-'. They are: $(EXPLICIT_COMMANDS)"
 	@echo ""
 	@echo "Waf flags"
 	@echo "---------"
+	@echo ""
 	@echo "The variable WAF_FLAGS can be used to set any waf command line options that"
 	@echo "come to be necessary. Ex: make linux WAF_FLAGS='-c no'"
 	@echo ""