diff --git a/package/xenomai/xenomai.mk b/package/xenomai/xenomai.mk
index 52e0b4e54..d2306c444 100644
--- a/package/xenomai/xenomai.mk
+++ b/package/xenomai/xenomai.mk
@@ -28,34 +28,12 @@ ifeq ($(BR2_PACKAGE_XENOMAI_SMP),y)
 XENOMAI_CONF_OPT += --enable-smp
 endif
 
-# The configure step needs to be overloaded, because Xenomai doesn't
-# support --prefix=/usr and the autotargets infrastructure enforces
-# this.
-define XENOMAI_CONFIGURE_CMDS
-	(cd $(@D); rm -rf config.cache; \
-		$(TARGET_CONFIGURE_OPTS) \
-		$(TARGET_CONFIGURE_ARGS) \
-		CCFLAGS_FOR_BUILD="$(HOST_CFLAGS)" \
-		./configure \
-		$(XENOMAI_CONF_OPT) \
-		--host=$(GNU_TARGET_NAME) \
-	)
-endef
-
-ifeq ($(BR2_HAVE_DOCUMENTATION),)
-define XENOMAI_REMOVE_DOCUMENTATION
-	rm -rf $(TARGET_DIR)/usr/xenomai/share/doc
-	rm -rf $(TARGET_DIR)/usr/xenomai/share/man
-endef
-
-XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_DOCUMENTATION
-endif
+XENOMAI_CONF_OPT += --includedir=/usr/include/xenomai/
 
 ifeq ($(BR2_HAVE_DEVFILES),)
 define XENOMAI_REMOVE_DEVFILES
-	rm -rf $(TARGET_DIR)/usr/xenomai/include
 	for i in xeno-config xeno-info wrap-link.sh ; do \
-		rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+		rm -f $(TARGET_DIR)/usr/bin/$$i ; \
 	done
 endef
 
@@ -64,15 +42,13 @@ endif
 
 ifeq ($(BR2_PACKAGE_XENOMAI_TESTSUITE),)
 define XENOMAI_REMOVE_TESTSUITE
-	rm -rf $(TARGET_DIR)/usr/xenomai/share/xenomai/testsuite/
-	rmdir --ignore-fail-on-non-empty $(TARGET_DIR)/usr/xenomai/share/xenomai/
-	rmdir --ignore-fail-on-non-empty $(TARGET_DIR)/usr/xenomai/share/
+	rm -rf $(TARGET_DIR)/usr/share/xenomai/
 	for i in klatency rtdm xeno xeno-load check-vdso \
 		irqloop cond-torture-posix switchtest arith \
 		sigtest clocktest cyclictest latency wakeup-time \
 		xeno-test cond-torture-native mutex-torture-posix \
 		mutex-torture-native ; do \
-		rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+		rm -f $(TARGET_DIR)/usr/bin/$$i ; \
 	done
 endef
 
@@ -82,9 +58,9 @@ endif
 ifeq ($(BR2_PACKAGE_XENOMAI_RTCAN),)
 define XENOMAI_REMOVE_RTCAN_PROGS
 	for i in rtcanrecv rtcansend ; do \
-		rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+		rm -f $(TARGET_DIR)/usr/bin/$$i ; \
 	done
-	rm -f $(TARGET_DIR)/usr/xenomai/sbin/rtcanconfig
+	rm -f $(TARGET_DIR)/usr/sbin/rtcanconfig
 endef
 
 XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_RTCAN_PROGS
@@ -94,10 +70,10 @@ ifeq ($(BR2_PACKAGE_XENOMAI_ANALOGY),)
 define XENOMAI_REMOVE_ANALOGY
 	for i in cmd_bits cmd_read cmd_write insn_write \
 		insn_bits insn_read ; do \
-		rm -f $(TARGET_DIR)/usr/xenomai/bin/$$i ; \
+		rm -f $(TARGET_DIR)/usr/bin/$$i ; \
 	done
-	rm -f $(TARGET_DIR)/usr/xenomai/sbin/analogy_config
-	rm -f $(TARGET_DIR)/usr/xenomai/lib/libanalogy.*
+	rm -f $(TARGET_DIR)/usr/sbin/analogy_config
+	rm -f $(TARGET_DIR)/usr/lib/libanalogy.*
 endef
 
 XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_ANALOGY
@@ -113,23 +89,15 @@ XENOMAI_REMOVE_SKIN_LIST += $(if $(BR2_PACKAGE_XENOMAI_VRTX_SKIN),,vrtx)
 
 define XENOMAI_REMOVE_SKINS
 	for i in $(XENOMAI_REMOVE_SKIN_LIST) ; do \
-		rm -f $(TARGET_DIR)/usr/xenomai/lib/lib$$i.* ; \
+		rm -f $(TARGET_DIR)/usr/lib/lib$$i.* ; \
 		if [ $$i == "posix" ] ; then \
-			rm -f $(TARGET_DIR)/usr/xenomai/lib/posix.wrappers ; \
+			rm -f $(TARGET_DIR)/usr/lib/posix.wrappers ; \
 		fi ; \
 	done
 endef
 
 XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_REMOVE_SKINS
 
-define XENOMAI_ADD_LD_SO_CONF
-	# Add /usr/xenomai/lib in the library search path
-	grep -q "^/usr/xenomai/lib" $(TARGET_DIR)/etc/ld.so.conf || \
-		echo "/usr/xenomai/lib" >> $(TARGET_DIR)/etc/ld.so.conf
-endef
-
-XENOMAI_POST_INSTALL_TARGET_HOOKS += XENOMAI_ADD_LD_SO_CONF
-
 # If you use static /dev creation don't forget to update your
 #  device_table_dev.txt
 ifeq ($(BR2_ROOTFS_DEVICE_CREATION_DYNAMIC_UDEV),y)