diff --git a/Makefile b/Makefile
index 93ec853a13..a8bbe84f5a 100644
--- a/Makefile
+++ b/Makefile
@@ -3,6 +3,8 @@
 # This Makefile compiles all the objet file to ./bin/ and the resulting firmware
 # image in ./cfX.elf and ./cfX.bin
 
+CRAZYFLIE_BASE ?= ./
+
 # Put your personal build config in tools/make/config.mk and DO NOT COMMIT IT!
 # Make a copy of tools/make/config.mk.example to get you started
 -include tools/make/config.mk
@@ -29,7 +31,7 @@ LPS_TDOA3_ENABLE  ?= 0
 
 # Platform configuration handling
 -include current_platform.mk
-include tools/make/platform.mk
+include $(CRAZYFLIE_BASE)/tools/make/platform.mk
 
 CFLAGS += -DCRAZYFLIE_FW
 
@@ -42,16 +44,16 @@ POWER_DISTRIBUTION ?= stock
 #OpenOCD conf
 RTOS_DEBUG        ?= 0
 
-LIB = src/lib
-FREERTOS = src/lib/FreeRTOS
+LIB = $(CRAZYFLIE_BASE)/src/lib
+FREERTOS = $(CRAZYFLIE_BASE)/src/lib/FreeRTOS
 
 
 ############### CPU-specific build configuration ################
 
 ifeq ($(CPU), stm32f4)
 PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
-LINKER_DIR = tools/make/F405/linker
-ST_OBJ_DIR  = tools/make/F405
+LINKER_DIR = $(CRAZYFLIE_BASE)/tools/make/F405/linker
+ST_OBJ_DIR  = $(CRAZYFLIE_BASE)/tools/make/F405
 
 OPENOCD_TARGET    ?= target/stm32f4x_stlink.cfg
 
@@ -60,8 +62,8 @@ OPENOCD_TARGET    ?= target/stm32f4x_stlink.cfg
 VPATH += $(LIB)/CMSIS/STM32F4xx/Source/
 VPATH += $(LIB)/STM32_USB_Device_Library/Core/src
 VPATH += $(LIB)/STM32_USB_OTG_Driver/src
-VPATH += src/deck/api src/deck/core src/deck/drivers/src src/deck/drivers/src/test
-VPATH += src/utils/src/tdoa src/utils/src/lighthouse
+VPATH += $(CRAZYFLIE_BASE)/src/deck/api $(CRAZYFLIE_BASE)/src/deck/core $(CRAZYFLIE_BASE)/src/deck/drivers/src $(CRAZYFLIE_BASE)/src/deck/drivers/src/test
+VPATH += $(CRAZYFLIE_BASE)/src/utils/src/tdoa $(CRAZYFLIE_BASE)/src/utils/src/lighthouse
 CRT0 = startup_stm32f40xx.o system_stm32f4xx.o
 
 # Add ST lib object files
@@ -85,7 +87,7 @@ endif
 ################ Build configuration ##################
 
 # libdw dw1000 driver
-VPATH += vendor/libdw1000/src
+VPATH += $(CRAZYFLIE_BASE)/vendor/libdw1000/src
 
 # vl53l1 driver
 VPATH += $(LIB)/vl53l1/core/src
@@ -108,7 +110,7 @@ CFLAGS += -DUSD_RUN_DISKIO_FUNCTION_TESTS
 endif
 
 # Crazyflie sources
-VPATH += src/init src/hal/src src/modules/src src/utils/src src/drivers/bosch/src src/drivers/src src/platform
+VPATH += $(CRAZYFLIE_BASE)/src/init $(CRAZYFLIE_BASE)/src/hal/src $(CRAZYFLIE_BASE)/src/modules/src $(CRAZYFLIE_BASE)/src/utils/src $(CRAZYFLIE_BASE)/src/drivers/bosch/src $(CRAZYFLIE_BASE)/src/drivers/src $(CRAZYFLIE_BASE)/src/platform
 
 
 ############### Source files configuration ################
@@ -250,20 +252,20 @@ SIZE = $(CROSS_COMPILE)size
 OBJCOPY = $(CROSS_COMPILE)objcopy
 GDB = $(CROSS_COMPILE)gdb
 
-INCLUDES += -I$(FREERTOS)/include -I$(PORT) -Isrc
-INCLUDES += -Isrc/config -Isrc/hal/interface -Isrc/modules/interface
-INCLUDES += -Isrc/utils/interface -Isrc/drivers/interface -Isrc/platform
-INCLUDES += -Ivendor/CMSIS/CMSIS/Include -Isrc/drivers/bosch/interface
+INCLUDES += -I$(FREERTOS)/include -I$(PORT) -I$(CRAZYFLIE_BASE)/src
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/config -I$(CRAZYFLIE_BASE)/src/hal/interface -I$(CRAZYFLIE_BASE)/src/modules/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/platform
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Include -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
 
 INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
 INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
 INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
 INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
-INCLUDES += -Isrc/deck/interface -Isrc/deck/drivers/interface
-INCLUDES += -Isrc/utils/interface/clockCorrection
-INCLUDES += -Isrc/utils/interface/tdoa
-INCLUDES += -Isrc/utils/interface/lighthouse
-INCLUDES += -Ivendor/libdw1000/inc
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/clockCorrection
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
 INCLUDES += -I$(LIB)/FatFS
 INCLUDES += -I$(LIB)/vl53l1
 INCLUDES += -I$(LIB)/vl53l1/core/inc
@@ -297,6 +299,7 @@ CFLAGS += -Wdouble-promotion
 
 ASFLAGS = $(PROCESSOR) $(INCLUDES)
 LDFLAGS = --specs=nosys.specs --specs=nano.specs $(PROCESSOR) -Wl,-Map=$(PROG).map,--cref,--gc-sections,--undefined=uxTopUsedPriority 
+LDFLAGS += -L$(CRAZYFLIE_BASE)/tools/make/F405/linker
 
 #Flags required by the ST library
 ifeq ($(CLOAD), 1)
@@ -330,17 +333,26 @@ endif
 #################### Targets ###############################
 
 
-all: check_submodules build
+all: bin/ bin/dep bin/vendor check_submodules build
 build:
 # Each target is in a different line, so they are executed one after the other even when the processor has multiple cores (when the -j option for the make command is > 1). See: https://www.gnu.org/software/make/manual/html_node/Parallel.html
-	@$(MAKE) --no-print-directory clean_version
-	@$(MAKE) --no-print-directory compile
-	@$(MAKE) --no-print-directory print_version
-	@$(MAKE) --no-print-directory size
+	@$(MAKE) -f $(CRAZYFLIE_BASE)/Makefile --no-print-directory clean_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) -f $(CRAZYFLIE_BASE)/Makefile --no-print-directory compile CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) -f $(CRAZYFLIE_BASE)/Makefile --no-print-directory print_version CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
+	@$(MAKE) -f $(CRAZYFLIE_BASE)/Makefile --no-print-directory size CRAZYFLIE_BASE=$(CRAZYFLIE_BASE)
 compile: $(PROG).hex $(PROG).bin $(PROG).dfu
 
+bin/:
+	mkdir -p bin
+
+bin/dep:
+	mkdir -p bin/dep
+
+bin/vendor:
+	mkdir -p bin/vendor
+
 libarm_math.a:
-	+$(MAKE) -C tools/make/cmsis_dsp/ V=$(V)
+	+$(MAKE) -C $(CRAZYFLIE_BASE)/tools/make/cmsis_dsp/ CRAZYFLIE_BASE=$(abspath $(CRAZYFLIE_BASE)) PROJ_ROOT=$(CURDIR) V=$(V)
 
 clean_version:
 ifeq ($(SHELL),/bin/sh)
@@ -350,7 +362,7 @@ endif
 
 print_version:
 	@echo "Build for the $(PLATFORM_NAME_$(PLATFORM))!"
-	@$(PYTHON2) tools/make/versionTemplate.py --print-version
+	@$(PYTHON2) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) --print-version
 ifeq ($(CLOAD), 1)
 	@echo "Crazyloader build!"
 endif
@@ -407,9 +419,9 @@ prep:
 	@$(CC) $(CFLAGS) -dM -E - < /dev/null
 
 check_submodules:
-	@$(PYTHON2) tools/make/check-for-submodules.py
+	@cd $(CRAZYFLIE_BASE); $(PYTHON2) tools/make/check-for-submodules.py
 
-include tools/make/targets.mk
+include $(CRAZYFLIE_BASE)/tools/make/targets.mk
 
 #include dependencies
 -include $(DEPS)
diff --git a/docs/build_instructions.md b/docs/build_instructions.md
index 8495a17061..31447ba3e7 100644
--- a/docs/build_instructions.md
+++ b/docs/build_instructions.md
@@ -118,6 +118,44 @@ DEBUG=1
 CLOAD=0
 ```
 
+### Out of tree build
+
+By setting the Makefile variable ```CRAZYFLIE_BASE```, it is possible to build the Crazyflie
+from outside the project folder. This can be used to implement autonomous behaviour on
+top of the Crazyflie firmware by compiling external code in the firmware from an external
+repos.
+
+For example, if you have a deck driver file called ```push.c``` that creates a deck driver for
+the deck ```bcPush```. You can create a new git repos with ```crazyflie-firmware``` clonned as
+submodule and put ```push.c``` in a folder ```src```. The makefile to build a firmware starting
+your deck driver automatically will be:
+
+```make
+CRAZYFLIE_BASE=crazyflie-firmware
+
+CFLAGS += -DDECK_FORCE=bcPush
+
+VPATH += src/
+
+PROJ_OBJ += push.o
+
+include $(CRAZYFLIE_BASE)/Makefile
+```
+
+Note that ```CFLAGS += -DDECK_FORCE=bcPush``` is what would normally be added to ```config.mk```.
+Hence, this method also allow to create build configurations folder by building the firmware is a
+separate folder with separate configurations.
+
+Both ```tools/make/config.mk``` and ```current_platform.mk``` are sourced from the current folder
+and not from the Crazyflie firmware folder.
+
+Using this method it is also possible to build a clean Crazyflie firmware directly from command line:
+```
+# Assuming the firmware is clonned in crazyflie-firmware/
+mkdir build && cd build
+make -f ../crazyflie-firmware/Makefile CRAZYFLIE_BASE=../crazyflie-firmware
+```
+
 # Make targets:
 ```
 all        : Shortcut for build
diff --git a/tools/make/cmsis_dsp/Makefile b/tools/make/cmsis_dsp/Makefile
index 03bfe2757e..58c87c99aa 100644
--- a/tools/make/cmsis_dsp/Makefile
+++ b/tools/make/cmsis_dsp/Makefile
@@ -1,10 +1,9 @@
 include obj.mk
 
-PROJ_ROOT=../../..
 BIN=$(PROJ_ROOT)/bin/vendor
 PROJ_BIN=$(PROJ_ROOT)/bin
-DSP_SRC=$(PROJ_ROOT)/vendor/CMSIS/CMSIS/DSP_Lib/Source
-DSP_INC=$(PROJ_ROOT)/vendor/CMSIS/CMSIS/Include
+DSP_SRC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP_Lib/Source
+DSP_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Include
 
 VPATH += $(BIN)
 VPATH += $(DSP_SRC)/BasicMathFunctions/
diff --git a/tools/make/platform.mk b/tools/make/platform.mk
index 40dbdb2b03..698417eb3a 100644
--- a/tools/make/platform.mk
+++ b/tools/make/platform.mk
@@ -1,8 +1,8 @@
 # Platform handling
 
 # List all available platform
-platforms_files = $(wildcard tools/make/platforms/*.mk)
-platforms_available = $(patsubst tools/make/platforms/%.mk,%, $(platforms_files))
+platforms_files = $(wildcard $(CRAZYFLIE_BASE)/tools/make/platforms/*.mk)
+platforms_available = $(patsubst $(CRAZYFLIE_BASE)/tools/make/platforms/%.mk,%, $(platforms_files))
 
 # Find out if the requested platform exists
 ifeq ($(filter $(PLATFORM),$(platforms_available)),)
@@ -15,7 +15,7 @@ endif
 # If there is no platform requested or the platform does not exist, print some help
 ifndef PLATFORM
 PLATFORM_DOC=1
-include tools/make/platforms/*.mk
+include $(CRAZYFLIE_BASE)/tools/make/platforms/*.mk
 $(info You must provide a platform with 'make PLATFORM=<platform>')
 $(info Available platforms:)
 $(foreach plat,$(platforms_available),$(info - $(plat) :	$(PLATFORM_HELP_$(plat))))
@@ -28,7 +28,7 @@ $(error Platform not defined)
 endif
 
 # Include the platform makefile configuration
-include tools/make/platforms/$(PLATFORM).mk
+include $(CRAZYFLIE_BASE)/tools/make/platforms/$(PLATFORM).mk
 
 # Write current platform in a file to make it stick for future call to make
 $(shell echo "PLATFORM=$(PLATFORM)" > current_platform.mk)
diff --git a/tools/make/targets.mk b/tools/make/targets.mk
index b3f04ebb87..a3df7de481 100644
--- a/tools/make/targets.mk
+++ b/tools/make/targets.mk
@@ -13,7 +13,7 @@ endif
 
 target = @$(if $(QUIET), ,echo $($1_COMMAND$(VERBOSE)) ); @$($1_COMMAND)
 
-VTMPL_COMMAND=$(PYTHON2) tools/make/versionTemplate.py $< $@
+VTMPL_COMMAND=$(PYTHON2) $(CRAZYFLIE_BASE)/tools/make/versionTemplate.py --crazyflie-base $(CRAZYFLIE_BASE) $< $@
 #$(BIN)/$(lastword $(subst /, ,$@))
 VTMPL_COMMAND_SILENT="  VTMPL $@"
 %.c: %.vtpl
@@ -50,7 +50,7 @@ $(PROG).bin: $(PROG).elf
 	@$(if $(QUIET), ,echo $(BIN_COMMAND$(VERBOSE)) )
 	@$(BIN_COMMAND)
 
-DFU_COMMAND=$(PYTHON2) tools/make/dfu-convert.py -b $(LOAD_ADDRESS):$< $@
+DFU_COMMAND=$(PYTHON2) $(CRAZYFLIE_BASE)/tools/make/dfu-convert.py -b $(LOAD_ADDRESS):$< $@
 DFU_COMMAND_SILENT="  DFUse $@"
 $(PROG).dfu: $(PROG).bin
 	@$(if $(QUIET), ,echo $(DFU_COMMAND$(VERBOSE)) )
diff --git a/tools/make/versionTemplate.py b/tools/make/versionTemplate.py
index 5dc15c34cd..89fec21f39 100644
--- a/tools/make/versionTemplate.py
+++ b/tools/make/versionTemplate.py
@@ -6,6 +6,7 @@
 from os import path
 import re
 import json
+import argparse
 
 version = {}
 
@@ -15,8 +16,8 @@
 """
 
 
-def extract_information_from_git():
-    revision = subprocess.check_output(["git", "rev-parse", "HEAD"]).strip()
+def extract_information_from_git(base):
+    revision = subprocess.check_output(["git", "-C", base, "rev-parse", "HEAD"]).strip()
 
     version['revision'] = revision[0:12]
     version['irevision0'] = "0x" + revision[0:8]
@@ -25,7 +26,7 @@ def extract_information_from_git():
 
     try:
         identify = subprocess.check_output(
-            ["git", "describe", "--abbrev=12", "--tags", "HEAD"])
+            ["git", "-C", base, "describe", "--abbrev=12", "--tags", "HEAD"])
         identify = identify.split('-')
 
         if len(identify) > 2:
@@ -48,12 +49,12 @@ def extract_information_from_git():
         version['tag'] = version['tag'] + ' +' + version['local_revision']
 
     branch = subprocess.check_output(
-        ["git", "rev-parse", "--abbrev-ref", "HEAD"]).strip()
+        ["git", "-C", base, "rev-parse", "--abbrev-ref", "HEAD"]).strip()
     version['branch'] = branch
 
-    subprocess.call(["git", "update-index", "-q", "--refresh"])
+    subprocess.call(["git", "-C", base, "update-index", "-q", "--refresh"])
     changes = subprocess.check_output(
-        ["git", "diff-index", "--name-only", "HEAD", "--"]).strip()
+        ["git", "-C", base, "diff-index", "--name-only", "HEAD", "--"]).strip()
     if len(changes):
         version['modified'] = 'true'
     else:
@@ -96,27 +97,36 @@ def print_version():
 
 if __name__ == "__main__":
 
+    parser = argparse.ArgumentParser()
+    parser.add_argument("source", help="Source template", nargs="?", default=None)
+    parser.add_argument("destination", help="Destination version file", nargs="?",default=None)
+    parser.add_argument("--crazyflie-base", help="base folder of the crazyflie firmware",
+                        action="store", default="./")
+    parser.add_argument('--print-version', help="Print version and exit",
+                        action="store_true")
+    args = parser.parse_args()
+
     if extract_information_from_build_info_file():
         version['source'] = "build info file"
     else:
         version['source'] = "git"
-        extract_information_from_git()
+        extract_information_from_git(args.crazyflie_base)
 
-    if len(sys.argv) == 2 and sys.argv[1] == "--print-version":
+    if args.print_version:
         print_version()
         sys.exit(0)
 
-    if len(sys.argv) < 3:
+    if not args.source or not args.destination:
         print("Usage:")
         print("  {0} <infile> <outfile>".format(sys.argv[0]))
         sys.exit(1)
 
 
     # Apply information to the file template
-    infile = open(sys.argv[1], 'r')
-    outfile = open(sys.argv[2], 'w')
+    infile = open(args.source, 'r')
+    outfile = open(args.destination, 'w')
 
-    outfile.write(header.format(sys.argv[0], sys.argv[1]))
+    outfile.write(header.format(sys.argv[0], args.source))
     outfile.write(infile.read().format(**version))
 
     infile.close()