diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index dc8981a532..19db577b90 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -121,6 +121,7 @@ using matrix::wrap_2pi;
 #include "streams/HIGH_LATENCY2.hpp"
 #include "streams/OBSTACLE_DISTANCE.hpp"
 #include "streams/ORBIT_EXECUTION_STATUS.hpp"
+#include "streams/PING.hpp"
 #include "streams/PROTOCOL_VERSION.hpp"
 #include "streams/RAW_RPM.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
@@ -5028,71 +5029,6 @@ protected:
 	}
 };
 
-class MavlinkStreamPing : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamPing::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "PING";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_PING;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamPing(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return MAVLINK_MSG_ID_PING_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
-	}
-
-	bool const_rate() override
-	{
-		return true;
-	}
-
-private:
-	uint32_t _sequence;
-
-	/* do not allow top copying this class */
-	MavlinkStreamPing(MavlinkStreamPing &) = delete;
-	MavlinkStreamPing &operator = (const MavlinkStreamPing &) = delete;
-
-protected:
-	explicit MavlinkStreamPing(Mavlink *mavlink) : MavlinkStream(mavlink),
-		_sequence(0)
-	{}
-
-	bool send() override
-	{
-		mavlink_ping_t msg = {};
-
-		msg.time_usec = hrt_absolute_time();
-		msg.seq = _sequence++;
-		msg.target_system = 0; // All systems
-		msg.target_component = 0; // All components
-
-		mavlink_msg_ping_send_struct(_mavlink->get_channel(), &msg);
-
-		return true;
-	}
-};
-
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5155,7 +5091,9 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHighLatency2>(),
 #endif // HIGH_LATENCY2_HPP
 	create_stream_list_item<MavlinkStreamGroundTruth>(),
+#if defined(PING_HPP)
 	create_stream_list_item<MavlinkStreamPing>(),
+#endif // PING_HPP
 #if defined(ORBIT_EXECUTION_STATUS_HPP)
 	create_stream_list_item<MavlinkStreamOrbitStatus>(),
 #endif // ORBIT_EXECUTION_STATUS_HPP
diff --git a/src/modules/mavlink/streams/PING.hpp b/src/modules/mavlink/streams/PING.hpp
new file mode 100644
index 0000000000..d2a1059b63
--- /dev/null
+++ b/src/modules/mavlink/streams/PING.hpp
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef PING_HPP
+#define PING_HPP
+
+class MavlinkStreamPing : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamPing(mavlink); }
+
+	static constexpr const char *get_name_static() { return "PING"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_PING; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return MAVLINK_MSG_ID_PING_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
+	}
+
+	bool const_rate() override { return true; }
+
+private:
+	explicit MavlinkStreamPing(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uint32_t _sequence{0};
+
+	bool send() override
+	{
+		mavlink_ping_t msg{};
+
+		msg.time_usec = hrt_absolute_time();
+		msg.seq = _sequence++;
+		msg.target_system = 0; // All systems
+		msg.target_component = 0; // All components
+
+		mavlink_msg_ping_send_struct(_mavlink->get_channel(), &msg);
+
+		return true;
+	}
+};
+
+#endif // PING_HPP