diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 1c807ccd6b0f18..efd17712e12077 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -261,6 +261,22 @@ def ap_common_vehicle_libraries(bld):
 
 _grouped_programs = {}
 
+
+class upload_fw_blueos(Task.Task):
+    def run(self):
+        import requests
+        binary_path = self.inputs[0].abspath()
+        bld = self.generator.bld
+        board = bld.bldnode.name.capitalize()
+        url = f'{bld.options.upload_blueos}/ardupilot-manager/v1.0/install_firmware_from_file?board_name={board}'
+        files = {
+          'binary': open(binary_path, 'rb')
+        }
+        response = requests.post(url, files=files, verify=False)
+
+    def keyword(self):
+          return "Uploading to BlueOS"
+
 class check_elf_symbols(Task.Task):
     color='CYAN'
     always_run = True
@@ -309,6 +325,10 @@ def post_link(self):
 
     check_elf_task = self.create_task('check_elf_symbols', src=link_output)
     check_elf_task.set_run_after(self.link_task)
+    if self.bld.options.upload_blueos:
+        _upload_task = self.create_task('upload_fw_blueos', src=link_output)
+        _upload_task.set_run_after(self.link_task)
+
     
 @conf
 def ap_program(bld,
@@ -641,6 +661,13 @@ def options(opt):
         help='''Specify the port to be used with the --upload option. For example a port of /dev/ttyS10 indicates that serial port 10 shuld be used.
 ''')
 
+    g.add_option('--upload-blueos',
+        action='store',
+        dest='upload_blueos',
+        default=None,
+        help='''Automatically upload to a BlueOS device. The argument is the url for the device. http://blueos.local for example.
+''')
+
     g.add_option('--upload-force',
         action='store_true',
         help='''Override board type check and continue loading. Same as using uploader.py --force.