diff --git a/dev/vscode/launch.json b/dev/vscode/launch.json
index 55af041e7..501625722 100644
--- a/dev/vscode/launch.json
+++ b/dev/vscode/launch.json
@@ -2,22 +2,27 @@
     // Use IntelliSense to learn about possible attributes.
     // Hover to view descriptions of existing attributes.
     // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+
+    // ******* INAV ********
+    // Define the following values in settings.json
+    //      - BUILD_DIR: Relative path to the build directory
+    //      - TARGET: Target name that you want to launch
+
     "version": "0.2.0",
     "configurations": [
         {
             "name": "Cortex Debug",
             "cwd": "${workspaceRoot}",
-            "executable": "./obj/main/INAV_${config:TARGET}.elf",
+            "executable": "${config:BUILD_DIR}/bin/${config:TARGET}.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "openocd",
             "device": "${config:TARGET}",
             "configFiles": [
-                "./obj/main/${config:TARGET}/openocd.cfg"
+                "${config:BUILD_DIR}/openocd/${config:TARGET}.cfg"
             ],
-            "preLaunchCommands": ["monitor arm semihosting enable"],
             "preLaunchTask": "openocd-debug-prepare",
-            "svdFile": "./obj/main/${config:TARGET}/svd.svd",
+            "svdFile": "${config:BUILD_DIR}/svd/${config:TARGET}.svd",
         }
     ]
 }
diff --git a/dev/vscode/tasks.json b/dev/vscode/tasks.json
index 449719d48..768145e7b 100644
--- a/dev/vscode/tasks.json
+++ b/dev/vscode/tasks.json
@@ -5,14 +5,13 @@
     "options": {
         "env": {
             "TARGET": "${config:TARGET}",
-            "SEMIHOSTING": "${config:SEMIHOSTING}"
         }
     },
     "tasks": [
         {
-            "label": "hex",
+            "label": "target",
             "type": "shell",
-            "command": "make", "args": ["hex"],
+            "command": "make", "args": ["-C", "${config:BUILD_DIR}", "${config:TARGET}"],
             "problemMatcher": "$gcc",
             "group": {
                 "kind": "build",
@@ -25,45 +24,27 @@
             }
         },
         {
-            "label": "elf",
+            "label": "flash",
             "type": "shell",
-            "command": "make", "args": ["elf"],
-            "problemMatcher": "$gcc",
-            "group": "build",
-            "presentation": {
-                "echo": true,
-                "reveal": "always",
-                "focus": false,
-            }
-        },
-        {
-            "label": "openocd-flash",
-            "type": "shell",
-            "command": "make", "args": ["openocd-flash"],
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_flash_${config:TARGET}"],
             "dependsOn": "elf"
         },
-        {
-            "label": "clean",
-            "type": "shell",
-            "command": "make", "args": ["clean"],
-            "problemMatcher": []
-        },
         {
             "label": "svd",
             "type": "shell",
-            "command": "make", "args": ["svd"],
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "svd_${config:TARGET}"],
             "problemMatcher": []
         },
         {
             "label": "openocd-cfg",
             "type": "shell",
-            "command": "make", "args": ["openocd-cfg"],
+            "command": "make", "args":  ["-C", "${config:BUILD_DIR}", "openocd_cfg_${config:TARGET}"],
             "problemMatcher": []
         },
         {
             "label": "openocd-debug-prepare",
             "type": "shell",
-            "dependsOn": ["svd", "openocd-cfg", "openocd-flash"],
+            "dependsOn": ["svd", "openocd-cfg", "flash"],
             "problemMatcher": []
         }
     ]