diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index 3f628eaed6..b35e5bc372 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -682,7 +682,28 @@ class uploader(object):
 
         return True
 
-    def send_reboot(self):
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
         if (not self.__next_baud_flightstack()):
             return False
 
@@ -693,15 +714,19 @@ class uploader(object):
             print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
 
         try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
             # try MAVLINK command first
             self.port.flush()
-            self.__send(uploader.MAVLINK_REBOOT_ID1)
-            self.__send(uploader.MAVLINK_REBOOT_ID0)
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
             # then try reboot via NSH
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT_BL)
-            self.__send(uploader.NSH_INIT)
-            self.__send(uploader.NSH_REBOOT)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
             self.port.flush()
             self.port.baudrate = self.baudrate_bootloader
         except Exception:
@@ -726,9 +751,13 @@ def main():
     parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
     parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
     parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
     parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
     args = parser.parse_args()
 
+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
     # warn people about ModemManager which interferes badly with Pixhawk
     if os.path.exists("/usr/sbin/ModemManager"):
         print("==========================================================================================================")
@@ -830,7 +859,7 @@ def main():
 
                     except Exception:
 
-                        if not up.send_reboot():
+                        if not up.send_reboot(args.use_protocol_splitter_format):
                             break
 
                         # wait for the reboot, without we might run into Serial I/O Error 5