diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86b11fb5..72175417 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,7 @@ set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "")
 # Make sure our local CMake Modules path comes first
 list(INSERT CMAKE_MODULE_PATH 0 ${CMAKE_SOURCE_DIR}/cmake/Modules)
 # Find gnuradio to get access to the cmake modules
-find_package(Gnuradio REQUIRED)
+find_package(Gnuradio "3.10" REQUIRED)
 
 # Set the version information here
 set(VERSION_MAJOR 1)
@@ -74,7 +74,7 @@ if(NOT CMAKE_MODULES_DIR)
   set(CMAKE_MODULES_DIR lib${LIB_SUFFIX}/cmake)
 endif(NOT CMAKE_MODULES_DIR)
 
-set(GR_INCLUDE_DIR      include/radar)
+set(GR_INCLUDE_DIR      include/gnuradio/radar)
 set(GR_CMAKE_DIR        ${CMAKE_MODULES_DIR}/gnuradio-radar)
 set(GR_PKG_DATA_DIR     ${GR_DATA_DIR}/${CMAKE_PROJECT_NAME})
 set(GR_PKG_DOC_DIR      ${GR_DOC_DIR}/${CMAKE_PROJECT_NAME})
@@ -132,7 +132,7 @@ add_custom_target(uninstall
 ########################################################################
 # Add subdirectories
 ########################################################################
-add_subdirectory(include/radar)
+add_subdirectory(include/gnuradio/radar)
 add_subdirectory(lib)
 add_subdirectory(apps)
 add_subdirectory(docs)
diff --git a/README.md b/README.md
index 8805d2ae..9b3af93e 100644
--- a/README.md
+++ b/README.md
@@ -28,9 +28,9 @@ For full documentation build the toolbox and open `build/docs/doxygen/html/index
 
 
 **Development platform**
-GNU Radio maint-3.8
+GNU Radio maint-3.10
 UHD 3.15
-Ubuntu 18.04
+Ubuntu 22.04
 
 **Dependencies**
 Qt 5.10.1
diff --git a/cmake/Modules/gnuradio-radarConfig.cmake b/cmake/Modules/gnuradio-radarConfig.cmake
index ab0f4354..6c3d2e7a 100644
--- a/cmake/Modules/gnuradio-radarConfig.cmake
+++ b/cmake/Modules/gnuradio-radarConfig.cmake
@@ -1,9 +1,10 @@
-INCLUDE(FindPkgConfig)
-PKG_CHECK_MODULES(PC_RADAR radar)
+find_package(PkgConfig)
+
+PKG_CHECK_MODULES(PC_GR_RADAR gnuradio-radar)
 
 FIND_PATH(
-    RADAR_INCLUDE_DIRS
-    NAMES radar/api.h
+    GR_RADAR_INCLUDE_DIRS
+    NAMES gnuradio/radar/api.h
     HINTS $ENV{RADAR_DIR}/include
         ${PC_RADAR_INCLUDEDIR}
     PATHS ${CMAKE_INSTALL_PREFIX}/include
@@ -12,7 +13,7 @@ FIND_PATH(
 )
 
 FIND_LIBRARY(
-    RADAR_LIBRARIES
+    GR_RADAR_LIBRARIES
     NAMES gnuradio-radar
     HINTS $ENV{RADAR_DIR}/lib
         ${PC_RADAR_LIBDIR}
@@ -24,8 +25,8 @@ FIND_LIBRARY(
           /usr/lib64
           )
 
-include("${CMAKE_CURRENT_LIST_DIR}/radarTarget.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/gnuradio-radarTarget.cmake")
 
 INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(RADAR DEFAULT_MSG RADAR_LIBRARIES RADAR_INCLUDE_DIRS)
-MARK_AS_ADVANCED(RADAR_LIBRARIES RADAR_INCLUDE_DIRS)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(GR_RADAR DEFAULT_MSG GR_RADAR_LIBRARIES GR_RADAR_INCLUDE_DIRS)
+MARK_AS_ADVANCED(GR_RADAR_LIBRARIES GR_RADAR_INCLUDE_DIRS)
diff --git a/examples/tests/test_find_max_peak_c.py b/examples/tests/test_find_max_peak_c.py
new file mode 100755
index 00000000..bd803cab
--- /dev/null
+++ b/examples/tests/test_find_max_peak_c.py
@@ -0,0 +1,193 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+#
+# SPDX-License-Identifier: GPL-3.0
+#
+# GNU Radio Python Flow Graph
+# Title: Test Find Max Peak C
+# GNU Radio version: 3.10.1.1
+
+from packaging.version import Version as StrictVersion
+
+if __name__ == '__main__':
+    import ctypes
+    import sys
+    if sys.platform.startswith('linux'):
+        try:
+            x11 = ctypes.cdll.LoadLibrary('libX11.so')
+            x11.XInitThreads()
+        except:
+            print("Warning: failed to XInitThreads()")
+
+from PyQt5 import Qt
+from gnuradio import qtgui
+from gnuradio.filter import firdes
+import sip
+from gnuradio import analog
+from gnuradio import blocks
+from gnuradio import gr
+from gnuradio.fft import window
+import sys
+import signal
+from argparse import ArgumentParser
+from gnuradio.eng_arg import eng_float, intx
+from gnuradio import eng_notation
+from gnuradio import radar
+from gnuradio.qtgui import Range, RangeWidget
+from PyQt5 import QtCore
+
+
+
+from gnuradio import qtgui
+
+class test_find_max_peak_c(gr.top_block, Qt.QWidget):
+
+    def __init__(self):
+        gr.top_block.__init__(self, "Test Find Max Peak C", catch_exceptions=True)
+        Qt.QWidget.__init__(self)
+        self.setWindowTitle("Test Find Max Peak C")
+        qtgui.util.check_set_qss()
+        try:
+            self.setWindowIcon(Qt.QIcon.fromTheme('gnuradio-grc'))
+        except:
+            pass
+        self.top_scroll_layout = Qt.QVBoxLayout()
+        self.setLayout(self.top_scroll_layout)
+        self.top_scroll = Qt.QScrollArea()
+        self.top_scroll.setFrameStyle(Qt.QFrame.NoFrame)
+        self.top_scroll_layout.addWidget(self.top_scroll)
+        self.top_scroll.setWidgetResizable(True)
+        self.top_widget = Qt.QWidget()
+        self.top_scroll.setWidget(self.top_widget)
+        self.top_layout = Qt.QVBoxLayout(self.top_widget)
+        self.top_grid_layout = Qt.QGridLayout()
+        self.top_layout.addLayout(self.top_grid_layout)
+
+        self.settings = Qt.QSettings("GNU Radio", "test_find_max_peak_c")
+
+        try:
+            if StrictVersion(Qt.qVersion()) < StrictVersion("5.0.0"):
+                self.restoreGeometry(self.settings.value("geometry").toByteArray())
+            else:
+                self.restoreGeometry(self.settings.value("geometry"))
+        except:
+            pass
+
+        ##################################################
+        # Variables
+        ##################################################
+        self.threshold = threshold = -120
+        self.samp_rate = samp_rate = 32000
+        self.packet_len = packet_len = 2048
+
+        ##################################################
+        # Blocks
+        ##################################################
+        self._threshold_range = Range(-200, 100, 1, -120, 200)
+        self._threshold_win = RangeWidget(self._threshold_range, self.set_threshold, "'threshold'", "counter_slider", float, QtCore.Qt.Horizontal)
+        self.top_layout.addWidget(self._threshold_win)
+        self.radar_ts_fft_cc_0 = radar.ts_fft_cc(packet_len,  "packet_len")
+        self.radar_ts_fft_cc_0.set_min_output_buffer(4096)
+        self.radar_print_results_0 = radar.print_results(False, "")
+        self.radar_find_max_peak_c_0 = radar.find_max_peak_c(samp_rate, threshold, 0, [], False, "packet_len")
+        self.qtgui_sink_x_0 = qtgui.sink_c(
+            packet_len, #fftsize
+            window.WIN_BLACKMAN_hARRIS, #wintype
+            0, #fc
+            samp_rate, #bw
+            'QT GUI Plot', #name
+            True, #plotfreq
+            True, #plotwaterfall
+            True, #plottime
+            True, #plotconst
+            None # parent
+        )
+        self.qtgui_sink_x_0.set_update_time(1.0/10)
+        self._qtgui_sink_x_0_win = sip.wrapinstance(self.qtgui_sink_x_0.qwidget(), Qt.QWidget)
+
+        self.qtgui_sink_x_0.enable_rf_freq(False)
+
+        self.top_layout.addWidget(self._qtgui_sink_x_0_win)
+        self.blocks_throttle_0 = blocks.throttle(gr.sizeof_gr_complex*1, samp_rate,True)
+        self.blocks_throttle_0.set_min_output_buffer(4096)
+        self.blocks_stream_to_tagged_stream_0 = blocks.stream_to_tagged_stream(gr.sizeof_gr_complex, 1, packet_len, "packet_len")
+        self.analog_sig_source_x_0 = analog.sig_source_c(samp_rate, analog.GR_COS_WAVE, 5000, 1, 0, 0)
+
+
+        ##################################################
+        # Connections
+        ##################################################
+        self.msg_connect((self.radar_find_max_peak_c_0, 'Msg out'), (self.radar_print_results_0, 'Msg in'))
+        self.connect((self.analog_sig_source_x_0, 0), (self.blocks_throttle_0, 0))
+        self.connect((self.blocks_stream_to_tagged_stream_0, 0), (self.qtgui_sink_x_0, 0))
+        self.connect((self.blocks_stream_to_tagged_stream_0, 0), (self.radar_ts_fft_cc_0, 0))
+        self.connect((self.blocks_throttle_0, 0), (self.blocks_stream_to_tagged_stream_0, 0))
+        self.connect((self.radar_ts_fft_cc_0, 0), (self.radar_find_max_peak_c_0, 0))
+
+
+    def closeEvent(self, event):
+        self.settings = Qt.QSettings("GNU Radio", "test_find_max_peak_c")
+        self.settings.setValue("geometry", self.saveGeometry())
+        self.stop()
+        self.wait()
+
+        event.accept()
+
+    def get_threshold(self):
+        return self.threshold
+
+    def set_threshold(self, threshold):
+        self.threshold = threshold
+        self.radar_find_max_peak_c_0.set_threshold(self.threshold)
+
+    def get_samp_rate(self):
+        return self.samp_rate
+
+    def set_samp_rate(self, samp_rate):
+        self.samp_rate = samp_rate
+        self.analog_sig_source_x_0.set_sampling_freq(self.samp_rate)
+        self.blocks_throttle_0.set_sample_rate(self.samp_rate)
+        self.qtgui_sink_x_0.set_frequency_range(0, self.samp_rate)
+
+    def get_packet_len(self):
+        return self.packet_len
+
+    def set_packet_len(self, packet_len):
+        self.packet_len = packet_len
+        self.blocks_stream_to_tagged_stream_0.set_packet_len(self.packet_len)
+        self.blocks_stream_to_tagged_stream_0.set_packet_len_pmt(self.packet_len)
+
+
+
+
+def main(top_block_cls=test_find_max_peak_c, options=None):
+
+    if StrictVersion("4.5.0") <= StrictVersion(Qt.qVersion()) < StrictVersion("5.0.0"):
+        style = gr.prefs().get_string('qtgui', 'style', 'raster')
+        Qt.QApplication.setGraphicsSystem(style)
+    qapp = Qt.QApplication(sys.argv)
+
+    tb = top_block_cls()
+
+    tb.start()
+
+    tb.show()
+
+    def sig_handler(sig=None, frame=None):
+        tb.stop()
+        tb.wait()
+
+        Qt.QApplication.quit()
+
+    signal.signal(signal.SIGINT, sig_handler)
+    signal.signal(signal.SIGTERM, sig_handler)
+
+    timer = Qt.QTimer()
+    timer.start(500)
+    timer.timeout.connect(lambda: None)
+
+    qapp.exec_()
+
+if __name__ == '__main__':
+    main()
diff --git a/include/radar/CMakeLists.txt b/include/gnuradio/radar/CMakeLists.txt
similarity index 96%
rename from include/radar/CMakeLists.txt
rename to include/gnuradio/radar/CMakeLists.txt
index 0385c145..2aa90e16 100644
--- a/include/radar/CMakeLists.txt
+++ b/include/gnuradio/radar/CMakeLists.txt
@@ -52,6 +52,5 @@ install(FILES
     os_cfar_2d_vc.h
     estimator_ofdm.h
     estimator_rcs.h
-    trigger_command.h
-    DESTINATION include/radar
+    trigger_command.h DESTINATION include/gnuradio/radar
 )
diff --git a/include/radar/api.h b/include/gnuradio/radar/api.h
similarity index 100%
rename from include/radar/api.h
rename to include/gnuradio/radar/api.h
diff --git a/include/radar/crop_matrix_vcvc.h b/include/gnuradio/radar/crop_matrix_vcvc.h
similarity index 100%
rename from include/radar/crop_matrix_vcvc.h
rename to include/gnuradio/radar/crop_matrix_vcvc.h
diff --git a/include/radar/estimator_cw.h b/include/gnuradio/radar/estimator_cw.h
similarity index 100%
rename from include/radar/estimator_cw.h
rename to include/gnuradio/radar/estimator_cw.h
diff --git a/include/radar/estimator_fmcw.h b/include/gnuradio/radar/estimator_fmcw.h
similarity index 100%
rename from include/radar/estimator_fmcw.h
rename to include/gnuradio/radar/estimator_fmcw.h
diff --git a/include/radar/estimator_fsk.h b/include/gnuradio/radar/estimator_fsk.h
similarity index 100%
rename from include/radar/estimator_fsk.h
rename to include/gnuradio/radar/estimator_fsk.h
diff --git a/include/radar/estimator_ofdm.h b/include/gnuradio/radar/estimator_ofdm.h
similarity index 100%
rename from include/radar/estimator_ofdm.h
rename to include/gnuradio/radar/estimator_ofdm.h
diff --git a/include/radar/estimator_rcs.h b/include/gnuradio/radar/estimator_rcs.h
similarity index 100%
rename from include/radar/estimator_rcs.h
rename to include/gnuradio/radar/estimator_rcs.h
diff --git a/include/radar/estimator_sync_pulse_c.h b/include/gnuradio/radar/estimator_sync_pulse_c.h
similarity index 100%
rename from include/radar/estimator_sync_pulse_c.h
rename to include/gnuradio/radar/estimator_sync_pulse_c.h
diff --git a/include/radar/find_max_peak_c.h b/include/gnuradio/radar/find_max_peak_c.h
similarity index 100%
rename from include/radar/find_max_peak_c.h
rename to include/gnuradio/radar/find_max_peak_c.h
diff --git a/include/radar/msg_gate.h b/include/gnuradio/radar/msg_gate.h
similarity index 100%
rename from include/radar/msg_gate.h
rename to include/gnuradio/radar/msg_gate.h
diff --git a/include/radar/msg_manipulator.h b/include/gnuradio/radar/msg_manipulator.h
similarity index 100%
rename from include/radar/msg_manipulator.h
rename to include/gnuradio/radar/msg_manipulator.h
diff --git a/include/radar/ofdm_cyclic_prefix_remover_cvc.h b/include/gnuradio/radar/ofdm_cyclic_prefix_remover_cvc.h
similarity index 100%
rename from include/radar/ofdm_cyclic_prefix_remover_cvc.h
rename to include/gnuradio/radar/ofdm_cyclic_prefix_remover_cvc.h
diff --git a/include/radar/ofdm_divide_vcvc.h b/include/gnuradio/radar/ofdm_divide_vcvc.h
similarity index 100%
rename from include/radar/ofdm_divide_vcvc.h
rename to include/gnuradio/radar/ofdm_divide_vcvc.h
diff --git a/include/radar/os_cfar_2d_vc.h b/include/gnuradio/radar/os_cfar_2d_vc.h
similarity index 100%
rename from include/radar/os_cfar_2d_vc.h
rename to include/gnuradio/radar/os_cfar_2d_vc.h
diff --git a/include/radar/os_cfar_c.h b/include/gnuradio/radar/os_cfar_c.h
similarity index 100%
rename from include/radar/os_cfar_c.h
rename to include/gnuradio/radar/os_cfar_c.h
diff --git a/include/radar/print_results.h b/include/gnuradio/radar/print_results.h
similarity index 100%
rename from include/radar/print_results.h
rename to include/gnuradio/radar/print_results.h
diff --git a/include/radar/qtgui_scatter_plot.h b/include/gnuradio/radar/qtgui_scatter_plot.h
similarity index 100%
rename from include/radar/qtgui_scatter_plot.h
rename to include/gnuradio/radar/qtgui_scatter_plot.h
diff --git a/include/radar/qtgui_spectrogram_plot.h b/include/gnuradio/radar/qtgui_spectrogram_plot.h
similarity index 100%
rename from include/radar/qtgui_spectrogram_plot.h
rename to include/gnuradio/radar/qtgui_spectrogram_plot.h
diff --git a/include/radar/qtgui_time_plot.h b/include/gnuradio/radar/qtgui_time_plot.h
similarity index 100%
rename from include/radar/qtgui_time_plot.h
rename to include/gnuradio/radar/qtgui_time_plot.h
diff --git a/include/radar/signal_generator_cw_c.h b/include/gnuradio/radar/signal_generator_cw_c.h
similarity index 100%
rename from include/radar/signal_generator_cw_c.h
rename to include/gnuradio/radar/signal_generator_cw_c.h
diff --git a/include/radar/signal_generator_fmcw_c.h b/include/gnuradio/radar/signal_generator_fmcw_c.h
similarity index 100%
rename from include/radar/signal_generator_fmcw_c.h
rename to include/gnuradio/radar/signal_generator_fmcw_c.h
diff --git a/include/radar/signal_generator_fsk_c.h b/include/gnuradio/radar/signal_generator_fsk_c.h
similarity index 100%
rename from include/radar/signal_generator_fsk_c.h
rename to include/gnuradio/radar/signal_generator_fsk_c.h
diff --git a/include/radar/signal_generator_sync_pulse_c.h b/include/gnuradio/radar/signal_generator_sync_pulse_c.h
similarity index 100%
rename from include/radar/signal_generator_sync_pulse_c.h
rename to include/gnuradio/radar/signal_generator_sync_pulse_c.h
diff --git a/include/radar/split_cc.h b/include/gnuradio/radar/split_cc.h
similarity index 100%
rename from include/radar/split_cc.h
rename to include/gnuradio/radar/split_cc.h
diff --git a/include/radar/split_fsk_cc.h b/include/gnuradio/radar/split_fsk_cc.h
similarity index 100%
rename from include/radar/split_fsk_cc.h
rename to include/gnuradio/radar/split_fsk_cc.h
diff --git a/include/radar/static_target_simulator_cc.h b/include/gnuradio/radar/static_target_simulator_cc.h
similarity index 100%
rename from include/radar/static_target_simulator_cc.h
rename to include/gnuradio/radar/static_target_simulator_cc.h
diff --git a/include/radar/tracking_singletarget.h b/include/gnuradio/radar/tracking_singletarget.h
similarity index 100%
rename from include/radar/tracking_singletarget.h
rename to include/gnuradio/radar/tracking_singletarget.h
diff --git a/include/radar/transpose_matrix_vcvc.h b/include/gnuradio/radar/transpose_matrix_vcvc.h
similarity index 100%
rename from include/radar/transpose_matrix_vcvc.h
rename to include/gnuradio/radar/transpose_matrix_vcvc.h
diff --git a/include/radar/trigger_command.h b/include/gnuradio/radar/trigger_command.h
similarity index 100%
rename from include/radar/trigger_command.h
rename to include/gnuradio/radar/trigger_command.h
diff --git a/include/radar/ts_fft_cc.h b/include/gnuradio/radar/ts_fft_cc.h
similarity index 100%
rename from include/radar/ts_fft_cc.h
rename to include/gnuradio/radar/ts_fft_cc.h
diff --git a/include/radar/usrp_echotimer_cc.h b/include/gnuradio/radar/usrp_echotimer_cc.h
similarity index 100%
rename from include/radar/usrp_echotimer_cc.h
rename to include/gnuradio/radar/usrp_echotimer_cc.h
diff --git a/lib/CMakeLists.txt b/lib/CMakeLists.txt
index d85b5590..cdbeaddb 100644
--- a/lib/CMakeLists.txt
+++ b/lib/CMakeLists.txt
@@ -25,7 +25,8 @@ set(QTGUI_MOC_HEADERS
 	scatter_plot.h
 	time_plot.h
 	spectrogram_plot.h)
-QT5_WRAP_CPP(QTGUI_MOC_OUTFILES ${QTGUI_MOC_HEADERS})
+	
+qt5_wrap_cpp(QTGUI_MOC_OUTFILES ${QTGUI_MOC_HEADERS})
 
 ########################################################################
 # Setup library
@@ -77,7 +78,7 @@ endif(NOT radar_sources)
 
 add_library(gnuradio-radar SHARED ${radar_sources})
 target_link_libraries(gnuradio-radar PUBLIC
-  gnuradio::gnuradio-runtime ${QT_LIBRARIES} fftw3f::fftw3f UHD::UHD qwt::qwt
+  gnuradio::gnuradio-runtime ${QT_LIBRARIES} fftw3f::fftw3f UHD::UHD qwt::qwt Qt5::Widgets
 )
 target_include_directories(gnuradio-radar
     PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
@@ -95,7 +96,7 @@ endif(APPLE)
 # Install built library files
 ########################################################################
 include(GrMiscUtils)
-GR_LIBRARY_FOO(gnuradio-radar)
+GR_LIBRARY_FOO(gnuradio-radar Qwt Qt5Widgets)
 
 ########################################################################
 # Print summary
diff --git a/lib/scatter_plot.h b/lib/scatter_plot.h
index a0c1e25f..d35d19a2 100644
--- a/lib/scatter_plot.h
+++ b/lib/scatter_plot.h
@@ -27,6 +27,7 @@
 #include <qwt_plot_marker.h>
 #include <qwt_symbol.h>
 #include <qwt_text.h>
+#include <qwt_matrix_raster_data.h>
 
 namespace gr {
 namespace radar {
diff --git a/python/radar/CMakeLists.txt b/python/radar/CMakeLists.txt
index de4dede2..7459a05c 100644
--- a/python/radar/CMakeLists.txt
+++ b/python/radar/CMakeLists.txt
@@ -31,7 +31,7 @@ GR_PYTHON_INSTALL(
 include(GrTest)
 
 set(GR_TEST_TARGET_DEPS gnuradio-radar)
-set(GR_TEST_PYTHON_DIRS ${CMAKE_BINARY_DIR})
+#set(GR_TEST_PYTHON_DIRS ${CMAKE_BINARY_DIR})
 
 # Create a package directory that tests can import. It includes everything
 # from `python/`.
diff --git a/python/radar/__init__.py b/python/radar/__init__.py
index 57e4216c..5b9ac5fd 100644
--- a/python/radar/__init__.py
+++ b/python/radar/__init__.py
@@ -27,9 +27,8 @@
 # import pybind11 generated symbols into the radar namespace
 try:
     # this might fail if the module is python-only
-    from .bindings.radar_python import *
-except ModuleNotFoundError:
     from .radar_python import *
+except ModuleNotFoundError:
     pass
 
 # import any pure python here
diff --git a/python/radar/bindings/CMakeLists.txt b/python/radar/bindings/CMakeLists.txt
index 686b3fcb..919fa4ae 100644
--- a/python/radar/bindings/CMakeLists.txt
+++ b/python/radar/bindings/CMakeLists.txt
@@ -1,3 +1,11 @@
+########################################################################
+# Check if there is C++ code at all
+########################################################################
+if(NOT radar_sources)
+    MESSAGE(STATUS "No C++ sources... skipping python bindings")
+    return()
+endif(NOT radar_sources)
+
 ########################################################################
 # Check for pygccxml
 ########################################################################
diff --git a/python/radar/bindings/bind_oot_file.py b/python/radar/bindings/bind_oot_file.py
new file mode 100644
index 00000000..5bc3ff63
--- /dev/null
+++ b/python/radar/bindings/bind_oot_file.py
@@ -0,0 +1,58 @@
+import warnings
+import argparse
+import os
+from gnuradio.bindtool import BindingGenerator
+import pathlib
+import sys
+import tempfile
+
+parser = argparse.ArgumentParser(description='Bind a GR Out of Tree Block')
+parser.add_argument('--module', type=str,
+                    help='Name of gr module containing file to bind (e.g. fft digital analog)')
+
+parser.add_argument('--output_dir', default=tempfile.gettempdir(),
+                    help='Output directory of generated bindings')
+parser.add_argument('--prefix', help='Prefix of Installed GNU Radio')
+parser.add_argument('--src', help='Directory of gnuradio source tree',
+                    default=os.path.dirname(os.path.abspath(__file__)) + '/../../..')
+
+parser.add_argument(
+    '--filename', help="File to be parsed")
+
+parser.add_argument(
+    '--defines', help='Set additional defines for precompiler', default=(), nargs='*')
+parser.add_argument(
+    '--include', help='Additional Include Dirs, separated', default=(), nargs='*')
+
+parser.add_argument(
+    '--status', help='Location of output file for general status (used during cmake)', default=None
+)
+parser.add_argument(
+    '--flag_automatic', default='0'
+)
+parser.add_argument(
+    '--flag_pygccxml', default='0'
+)
+
+args = parser.parse_args()
+
+prefix = args.prefix
+output_dir = args.output_dir
+defines = tuple(','.join(args.defines).split(','))
+includes = ','.join(args.include)
+name = args.module
+
+namespace = ['gr', name]
+prefix_include_root = name
+
+
+with warnings.catch_warnings():
+    warnings.filterwarnings("ignore", category=DeprecationWarning)
+
+    bg = BindingGenerator(prefix, namespace,
+                          prefix_include_root, output_dir, define_symbols=defines, addl_includes=includes,
+                          catch_exceptions=False, write_json_output=False, status_output=args.status,
+                          flag_automatic=True if args.flag_automatic.lower() in [
+                              '1', 'true'] else False,
+                          flag_pygccxml=True if args.flag_pygccxml.lower() in ['1', 'true'] else False)
+    bg.gen_file_binding(args.filename)
diff --git a/python/radar/bindings/python_bindings.cc b/python/radar/bindings/python_bindings.cc
index 62ee3fc1..2d2e89c5 100644
--- a/python/radar/bindings/python_bindings.cc
+++ b/python/radar/bindings/python_bindings.cc
@@ -15,36 +15,44 @@
 
 namespace py = pybind11;
 
-void bind_crop_matrix_vcvc(py::module&);
-void bind_estimator_cw(py::module&);
-void bind_estimator_fmcw(py::module&);
-void bind_estimator_fsk(py::module&);
-void bind_estimator_ofdm(py::module&);
-void bind_estimator_rcs(py::module&);
-void bind_estimator_sync_pulse_c(py::module&);
-void bind_find_max_peak_c(py::module&);
-void bind_msg_gate(py::module&);
-void bind_msg_manipulator(py::module&);
-void bind_ofdm_cyclic_prefix_remover_cvc(py::module&);
-void bind_ofdm_divide_vcvc(py::module&);
-void bind_os_cfar_2d_vc(py::module&);
-void bind_os_cfar_c(py::module&);
-void bind_print_results(py::module&);
-void bind_qtgui_scatter_plot(py::module&);
-void bind_qtgui_spectrogram_plot(py::module&);
-void bind_qtgui_time_plot(py::module&);
-void bind_signal_generator_cw_c(py::module&);
-void bind_signal_generator_fmcw_c(py::module&);
-void bind_signal_generator_fsk_c(py::module&);
-void bind_signal_generator_sync_pulse_c(py::module&);
-void bind_split_cc(py::module&);
-void bind_split_fsk_cc(py::module&);
-void bind_static_target_simulator_cc(py::module&);
-void bind_tracking_singletarget(py::module&);
-void bind_transpose_matrix_vcvc(py::module&);
-void bind_trigger_command(py::module&);
-void bind_ts_fft_cc(py::module&);
-void bind_usrp_echotimer_cc(py::module&);
+// Headers for binding functions
+/**************************************/
+// The following comment block is used for
+// gr_modtool to insert function prototypes
+// Please do not delete
+/**************************************/
+// BINDING_FUNCTION_PROTOTYPES(
+void bind_crop_matrix_vcvc(py::module& m);
+void bind_estimator_cw(py::module& m);
+void bind_estimator_fmcw(py::module& m);
+void bind_estimator_fsk(py::module& m);
+void bind_estimator_ofdm(py::module& m);
+void bind_estimator_rcs(py::module& m);
+void bind_estimator_sync_pulse_c(py::module& m);
+void bind_find_max_peak_c(py::module& m);
+void bind_msg_gate(py::module& m);
+void bind_msg_manipulator(py::module& m);
+void bind_ofdm_cyclic_prefix_remover_cvc(py::module& m);
+void bind_ofdm_divide_vcvc(py::module& m);
+void bind_os_cfar_2d_vc(py::module& m);
+void bind_os_cfar_c(py::module& m);
+void bind_print_results(py::module& m);
+void bind_qtgui_scatter_plot(py::module& m);
+void bind_qtgui_spectrogram_plot(py::module& m);
+void bind_qtgui_time_plot(py::module& m);
+void bind_signal_generator_cw_c(py::module& m);
+void bind_signal_generator_fmcw_c(py::module& m);
+void bind_signal_generator_fsk_c(py::module& m);
+void bind_signal_generator_sync_pulse_c(py::module& m);
+void bind_split_cc(py::module& m);
+void bind_split_fsk_cc(py::module& m);
+void bind_static_target_simulator_cc(py::module& m);
+void bind_tracking_singletarget(py::module& m);
+void bind_transpose_matrix_vcvc(py::module& m);
+void bind_trigger_command(py::module& m);
+void bind_ts_fft_cc(py::module& m);
+void bind_usrp_echotimer_cc(py::module& m);
+// ) END BINDING_FUNCTION_PROTOTYPES
 
 // We need this hack because import_array() returns NULL
 // for newer Python versions.