diff --git a/Makefile.waf b/Makefile.waf
index 9e3a727bf3..a7c4f8d021 100644
--- a/Makefile.waf
+++ b/Makefile.waf
@@ -7,9 +7,9 @@ EXPLICIT_COMMANDS = check clean list_boards
 
 VEHICLES = copter plane rover
 
-copter_DIR = ArduCopter
-plane_DIR = ArduPlane
-rover_DIR = APMrover2
+copter_WAF_TARGET = ArduCopter
+plane_WAF_TARGET = ArduPlane
+rover_WAF_TARGET = APMrover2
 
 all: $(WAF_BINARY)
 	@$(WAF) build
@@ -28,7 +28,7 @@ $(EXPLICIT_COMMANDS): $(WAF_BINARY)
 
 $(VEHICLES): $(WAF_BINARY)
 	@echo Build for vehicle $@
-	@cd $(ROOT)/$($@_DIR) && $(WAF) build
+	@$(WAF) build --target $($@_WAF_TARGET)
 
 .DEFAULT: %-configure
 	@$(WAF) configure --board $@ build