diff --git a/classes/sdcard_image-rpi.bbclass b/classes/sdcard_image-rpi.bbclass
index 6d34a29..6b7433e 100644
--- a/classes/sdcard_image-rpi.bbclass
+++ b/classes/sdcard_image-rpi.bbclass
@@ -55,7 +55,7 @@ do_image_rpi_sdimg[depends] = " \
 			dosfstools-native:do_populate_sysroot \
 			virtual/kernel:do_deploy \
 			${IMAGE_BOOTLOADER}:do_deploy \
-			${@bb.utils.contains('KERNEL_IMAGETYPE', 'uImage', 'u-boot:do_deploy', '',d)} \
+			${@bb.utils.contains('RPI_USE_U_BOOT', '1', 'u-boot:do_deploy', '',d)} \
 			"
 
 # SD card image name
@@ -136,16 +136,13 @@ IMAGE_CMD_rpi-sdimg () {
 			mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/${KERNEL_IMAGETYPE}-${DTB_BASE_NAME}.${DTB_EXT} ::overlays/${DTB_BASE_NAME}.${DTB_EXT}
 		done
 	fi
-	case "${KERNEL_IMAGETYPE}" in
-	"uImage")
+        if [ "${RPI_USE_U_BOOT}" = "1" ]; then
 		mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/u-boot.bin ::${SDIMG_KERNELIMAGE}
-		mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin ::uImage
+		mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin ::${KERNEL_IMAGETYPE}
 		mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/boot.scr ::boot.scr
-		;;
-	*)
+	else
 		mcopy -i ${WORKDIR}/boot.img -s ${DEPLOY_DIR_IMAGE}/${KERNEL_IMAGETYPE}${KERNEL_INITRAMFS}-${MACHINE}.bin ::${SDIMG_KERNELIMAGE}
-		;;
-	esac
+	fi
 
 	if [ -n ${FATPAYLOAD} ] ; then
 		echo "Copying payload into VFAT"
@@ -160,14 +157,10 @@ IMAGE_CMD_rpi-sdimg () {
 	mcopy -i ${WORKDIR}/boot.img -v ${WORKDIR}/image-version-info ::
 
         # Deploy vfat partition (for u-boot case only)
-        case "${KERNEL_IMAGETYPE}" in
-        "uImage")
+        if [ "${RPI_USE_U_BOOT}" = "1" ]; then
                 cp ${WORKDIR}/boot.img ${IMGDEPLOYDIR}/${SDIMG_VFAT}
                 ln -sf ${SDIMG_VFAT} ${SDIMG_LINK_VFAT}
-                ;;
-        *)
-                ;;
-        esac
+        fi
 
 	# Burn Partitions
 	dd if=${WORKDIR}/boot.img of=${SDIMG} conv=notrunc seek=1 bs=$(expr ${IMAGE_ROOTFS_ALIGNMENT} \* 1024) && sync && sync
diff --git a/conf/machine/include/rpi-base.inc b/conf/machine/include/rpi-base.inc
index f29db29..970f4d8 100644
--- a/conf/machine/include/rpi-base.inc
+++ b/conf/machine/include/rpi-base.inc
@@ -41,7 +41,17 @@ KERNEL_DEVICETREE ?= " \
     overlays/pi3-miniuart-bt.dtbo \
     overlays/vc4-kms-v3d.dtbo \
     "
-KERNEL_IMAGETYPE ?= "Image"
+
+# By default:
+#
+# * When u-boot is disabled use the "Image" format which can be directly loaded
+#   by the rpi firmware.
+#
+# * When u-boot is enabled use the "uImage" format and the "bootm" command
+#   within u-boot to load the kernel.
+KERNEL_BOOTCMD ??= "bootm"
+KERNEL_IMAGETYPE_UBOOT ??= "uImage"
+KERNEL_IMAGETYPE ?= "${@bb.utils.contains('RPI_USE_U_BOOT', '1', '${KERNEL_IMAGETYPE_UBOOT}', 'Image', d)}"
 
 MACHINE_FEATURES += "apm usbhost keyboard vfat ext2 screen touchscreen alsa bluetooth wifi sdio"
 
@@ -83,7 +93,7 @@ def make_dtb_boot_files(d):
 
 IMAGE_BOOT_FILES ?= "bcm2835-bootfiles/* \
                  ${@make_dtb_boot_files(d)} \
-                 ${@bb.utils.contains('KERNEL_IMAGETYPE', 'uImage', \
+                 ${@bb.utils.contains('RPI_USE_U_BOOT', '1', \
                     '${KERNEL_IMAGETYPE} u-boot.bin;${SDIMG_KERNELIMAGE} boot.scr', \
                     '${KERNEL_IMAGETYPE};${SDIMG_KERNELIMAGE}', d)} \
                  "
diff --git a/conf/machine/raspberrypi3-64.conf b/conf/machine/raspberrypi3-64.conf
index 237684a..ebc9f38 100644
--- a/conf/machine/raspberrypi3-64.conf
+++ b/conf/machine/raspberrypi3-64.conf
@@ -39,3 +39,8 @@ VC4_CMA_SIZE ?= "cma-256"
 
 UBOOT_MACHINE = "rpi_3_config"
 MACHINE_FEATURES_append = " vc4graphics"
+
+# When u-boot is enabled we need to use the "Image" format and the "booti"
+# command to load the kernel
+KERNEL_IMAGETYPE_UBOOT ?= "Image"
+KERNEL_BOOTCMD ?= "booti"
diff --git a/docs/extra-build-config.md b/docs/extra-build-config.md
index 8d4f897..380d969 100644
--- a/docs/extra-build-config.md
+++ b/docs/extra-build-config.md
@@ -105,10 +105,12 @@ To disable rpi boot logo, set this variable in local.conf:
 
 To have u-boot load kernel image, set in your local.conf:
 
-    KERNEL_IMAGETYPE = "uImage"
+    RPI_USE_U_BOOT = "1"
 
-This will make kernel.img be u-boot image which will load uImage. By default,
-kernel.img is the actual kernel image (ex. Image).
+This will select the appropriate image format for use with u-boot automatically.
+For further customisation the KERNEL_IMAGETYPE and KERNEL_BOOTCMD variables can
+be overridden to select the exact kernel image type (eg. zImage) and u-boot
+command (eg. bootz) to be used.
 
 ## Image with Initramfs
 
diff --git a/recipes-bsp/rpi-u-boot-scr/files/boot.cmd b/recipes-bsp/rpi-u-boot-scr/files/boot.cmd
deleted file mode 100644
index 2e8452e..0000000
--- a/recipes-bsp/rpi-u-boot-scr/files/boot.cmd
+++ /dev/null
@@ -1,3 +0,0 @@
-fdt addr ${fdt_addr} && fdt get value bootargs /chosen bootargs
-fatload mmc 0:1 ${kernel_addr_r} uImage
-bootm ${kernel_addr_r} - ${fdt_addr}
diff --git a/recipes-bsp/rpi-u-boot-scr/files/boot.cmd.in b/recipes-bsp/rpi-u-boot-scr/files/boot.cmd.in
new file mode 100644
index 0000000..ad54cd0
--- /dev/null
+++ b/recipes-bsp/rpi-u-boot-scr/files/boot.cmd.in
@@ -0,0 +1,3 @@
+fdt addr ${fdt_addr} && fdt get value bootargs /chosen bootargs
+fatload mmc 0:1 ${kernel_addr_r} @@KERNEL_IMAGETYPE@@
+@@KERNEL_BOOTCMD@@ ${kernel_addr_r} - ${fdt_addr}
diff --git a/recipes-bsp/rpi-u-boot-scr/rpi-u-boot-scr.bb b/recipes-bsp/rpi-u-boot-scr/rpi-u-boot-scr.bb
index c938c3b..3457300 100644
--- a/recipes-bsp/rpi-u-boot-scr/rpi-u-boot-scr.bb
+++ b/recipes-bsp/rpi-u-boot-scr/rpi-u-boot-scr.bb
@@ -5,9 +5,12 @@ COMPATIBLE_MACHINE = "^rpi$"
 
 DEPENDS = "u-boot-mkimage-native"
 
-SRC_URI = "file://boot.cmd"
+SRC_URI = "file://boot.cmd.in"
 
 do_compile() {
+    sed -e 's/@@KERNEL_IMAGETYPE@@/${KERNEL_IMAGETYPE}/' \
+        -e 's/@@KERNEL_BOOTCMD@@/${KERNEL_BOOTCMD}/' \
+        "${WORKDIR}/boot.cmd.in" > "${WORKDIR}/boot.cmd"
     mkimage -A arm -T script -C none -n "Boot script" -d "${WORKDIR}/boot.cmd" boot.scr
 }