diff --git a/Tools/scripts/build_binaries.sh b/Tools/scripts/build_binaries.sh
index 36fa7840a5..125f221181 100755
--- a/Tools/scripts/build_binaries.sh
+++ b/Tools/scripts/build_binaries.sh
@@ -35,7 +35,7 @@ checkout() {
 # check if we should skip this build because we have already
 # built this version
 skip_build() {
-    [ "$FORCE_BUILD" -eq "1" ] && return 1
+    [ "$FORCE_BUILD" = "1" ] && return 1
     tag="$1"
     ddir="$2"
     bname=$(basename $ddir)
@@ -106,6 +106,12 @@ build_arduplane() {
 	    make px4 &&
 	    copyit ArduPlane-v1.px4 $ddir $tag &&
 	    copyit ArduPlane-v2.px4 $ddir $tag
+            if [ "$tag" = "latest" ]; then
+	        copyit px4io-v1.bin $binaries/PX4IO/$hdate/PX4IO $tag
+	        copyit px4io-v1.elf $binaries/PX4IO/$hdate/PX4IO $tag
+	        copyit px4io-v2.bin $binaries/PX4IO/$hdate/PX4IO $tag
+	        copyit px4io-v2.elf $binaries/PX4IO/$hdate/PX4IO $tag
+            fi
 	}
     }
     popd
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index 3c8572a1ea..6eefdb8480 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -87,6 +87,7 @@ px4-io-v1: $(PX4_ROOT)/Archives/px4io-v1.export
 	$(v) make -C $(PX4_ROOT) px4io-v1_default
 	$(v) /bin/rm -f px4io-v1.bin
 	$(v) cp $(PX4_ROOT)/Images/px4io-v1_default.bin px4io-v1.bin
+	$(v) cp $(PX4_ROOT)/Build/px4io-v1_default.build/firmware.elf px4io-v1.elf
 	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
 	$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
 	$(v) cp px4io-v1.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
@@ -101,6 +102,7 @@ px4-io-v2: $(PX4_ROOT)/Archives/px4io-v2.export
 	$(v) /bin/rm -f px4io-v1.bin
 	$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.bin px4io-v2.bin
 	$(v) cp $(PX4_ROOT)/Images/px4io-v2_default.bin px4io-v2.bin
+	$(v) cp $(PX4_ROOT)/Build/px4io-v2_default.build/firmware.elf px4io-v2.elf
 	$(v) mkdir -p $(MK_DIR)/PX4/ROMFS/px4io/
 	$(v) rm -f $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin
 	$(v) cp px4io-v2.bin $(MK_DIR)/PX4/ROMFS/px4io/px4io.bin