diff --git a/Tools/autotest/autotest.py b/Tools/autotest/autotest.py
index 6dc07ddaff..83d63a51a4 100755
--- a/Tools/autotest/autotest.py
+++ b/Tools/autotest/autotest.py
@@ -76,6 +76,14 @@ def build_all():
         return False
     return True
 
+def build_binaries():
+    '''run the build_binaries.sh script'''
+    print("Running build_binaries.sh")
+    if util.run_cmd(util.reltopdir('Tools/scripts/build_binaries.sh'), dir=util.reltopdir('.')) != 0:
+        print("Failed build_binaries.sh")
+        return False
+    return True
+
 def build_examples():
     '''run the build_examples.sh script'''
     print("Running build_examples.sh")
@@ -142,6 +150,7 @@ import  arducopter, arduplane, apmrover2
 steps = [
     'prerequesites',
     'build.All',
+    'build.Binaries',
     'build.Examples',
 
     'build1280.ArduPlane',
@@ -247,6 +256,9 @@ def run_step(step):
     if step == 'build.All':
         return build_all()
 
+    if step == 'build.Binaries':
+        return build_binaries()
+
     if step == 'build.Examples':
         return build_examples()
 
diff --git a/Tools/scripts/build_binaries.sh b/Tools/scripts/build_binaries.sh
new file mode 100755
index 0000000000..12417b12f9
--- /dev/null
+++ b/Tools/scripts/build_binaries.sh
@@ -0,0 +1,97 @@
+#!/bin/bash
+# script to build the latest binaries for each vehicle type, ready to upload
+# Andrew Tridgell, March 2013
+
+set -e
+set -x
+
+export PATH=$PATH:/bin:/usr/bin
+
+export TMPDIR=$PWD/build.tmp.$$
+echo $TMDIR
+rm -rf $TMPDIR
+echo "Building in $TMPDIR"
+
+githash=$(git rev-parse HEAD)
+
+hdate=$(date +"%Y-%m/%Y-%m-%d-%H:%m")
+mkdir -p binaries/$hdate
+binaries=$PWD/../buildlogs/binaries
+
+copyit() {
+    file="$1"
+    dir="$2"
+    bname=$(basename $dir)
+    ldir=$(dirname $(dirname $dir))/latest/$bname
+    mkdir -p "$dir"
+    /bin/cp "$file" "$dir"
+    mkdir -p "$ldir"
+    rsync "$file" "$ldir"
+}
+
+echo "Building ArduPlane binaries"
+pushd ArduPlane
+for b in apm1 apm2 apm1-hilsensors apm2-hilsensors; do
+    pwd
+    make clean
+    make $b -j4
+    copyit $TMPDIR/ArduPlane.build/ArduPlane.hex $binaries/Plane/$hdate/$b
+done
+popd
+
+echo "Building ArduCopter binaries"
+pushd ArduCopter
+for b in apm1 apm2 apm1-hil apm2-hil; do
+    pwd
+    make clean
+    make $b -j4
+    copyit $TMPDIR/ArduCopter.build/ArduCopter.hex $binaries/Copter/$hdate/$b
+done
+popd
+
+echo "Building APMRover2 binaries"
+pushd APMrover2
+for b in apm1 apm2; do
+    pwd
+    make clean
+    make $b -j4
+    copyit $TMPDIR/APMrover2.build/APMrover2.hex $binaries/Rover/$hdate/$b
+done
+popd
+
+. config.mk
+test -n "$PX4_ROOT" && test -d "$PX4_ROOT" && {
+    echo "Building ArduPlane PX4 binaries"
+    pushd ArduPlane
+    make px4-clean
+    make px4
+    copyit $PX4_ROOT/Images/px4fmu.px4 $binaries/Plane/$hdate/PX4
+    popd
+
+    echo "Building ArduCopter PX4 binaries"
+    pushd ArduCopter
+    make px4-clean
+    make px4
+    copyit $PX4_ROOT/Images/px4fmu.px4 $binaries/Copter/$hdate/PX4
+    popd
+
+    echo "Building APMrover2 PX4 binaries"
+    pushd APMrover2
+    make px4-clean
+    make px4
+    copyit $PX4_ROOT/Images/px4fmu.px4 $binaries/Rover/$hdate/PX4
+    popd
+
+    echo "Building PX4IO firmware"
+    pushd $PX4_ROOT
+    make clean
+    make configure_px4io
+    make
+    copyit $PX4_ROOT/Images/px4io.bin $binaries/PX4IO/$hdate/PX4IO
+    make configure_px4fmu
+    popd
+}
+
+rm -rf $TMPDIR
+
+exit 0