diff --git a/Tools/boot_now.py b/Tools/boot_now.py
new file mode 100755
index 0000000000..5a9e608dad
--- /dev/null
+++ b/Tools/boot_now.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python
+############################################################################
+#
+#   Copyright (C) 2012-2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+# send BOOT command to a device
+
+import argparse
+import serial, sys
+
+from sys import platform as _platform
+
+# Parse commandline arguments
+parser = argparse.ArgumentParser(description="Send boot command to a device")
+parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port")
+parser.add_argument('port', action="store", help="Serial port(s) to which the FMU may be attached")
+args = parser.parse_args()
+
+REBOOT          = b'\x30'
+EOC             = b'\x20'
+
+print("Sending reboot to %s" % args.port)
+try:
+        port = serial.Serial(args.port, args.baud, timeout=0.5)
+except Exception:
+        print("Unable to open %s" % args.port)
+        sys.exit(1)
+port.write(REBOOT + EOC)
+port.close()
+sys.exit(0)
diff --git a/Tools/px_uploader.py b/Tools/px_uploader.py
index 43a1167451..3cdd9d1a6f 100755
--- a/Tools/px_uploader.py
+++ b/Tools/px_uploader.py
@@ -161,6 +161,7 @@ class uploader(object):
         GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
         GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
         GET_CHIP        = b'\x2c'     # rev5+  , get chip version
+        SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
         REBOOT          = b'\x30'
         
         INFO_BL_REV     = b'\x01'        # bootloader protocol revision
@@ -405,6 +406,12 @@ class uploader(object):
                         raise RuntimeError("Program CRC failed")
                 self.__drawProgressBar(label, 100, 100)
 
+        def __set_boot_delay(self, boot_delay):
+                self.__send(uploader.SET_BOOT_DELAY
+                            + struct.pack("b", boot_delay)
+                            + uploader.EOC)
+                self.__getSync()
+
         # get basic data about the board
         def identify(self):
                 # make sure we are in sync before starting
@@ -472,6 +479,9 @@ class uploader(object):
                 else:
                         self.__verify_v3("Verify ", fw)
 
+                if args.boot_delay is not None:
+                        self.__set_boot_delay(args.boot_delay)
+
                 print("\nRebooting.\n")
                 self.__reboot()
                 self.port.close()
@@ -501,6 +511,7 @@ parser = argparse.ArgumentParser(description="Firmware uploader for the PX autop
 parser.add_argument('--port', action="store", required=True, help="Serial port(s) to which the FMU may be attached")
 parser.add_argument('--baud', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200), only required for true serial ports.")
 parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading')
+parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
 parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
 args = parser.parse_args()
 
diff --git a/nuttx-configs/px4fmu-v2/scripts/ld.script b/nuttx-configs/px4fmu-v2/scripts/ld.script
index bec896d1ce..b04ad89a6c 100644
--- a/nuttx-configs/px4fmu-v2/scripts/ld.script
+++ b/nuttx-configs/px4fmu-v2/scripts/ld.script
@@ -66,12 +66,20 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
  * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
  */
 EXTERN(abort)
+EXTERN(_bootdelay_signature)
 
 SECTIONS
 {
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
+                . = ALIGN(32);
+                /*
+                This signature provides the bootloader with a way to delay booting
+                */
+                _bootdelay_signature = ABSOLUTE(.);
+                FILL(0xffecc2925d7d05c5)
+                . += 8;
 		*(.text .text.*)        
 		*(.fixup)
 		*(.gnu.warning)