diff --git a/src/drivers/pwm_out_rc_in/CMakeLists.txt b/src/drivers/pwm_out_rc_in/CMakeLists.txt
index fdb4169dc7..97d66d4397 100644
--- a/src/drivers/pwm_out_rc_in/CMakeLists.txt
+++ b/src/drivers/pwm_out_rc_in/CMakeLists.txt
@@ -31,16 +31,19 @@
 #
 ############################################################################
 
-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
 
 px4_add_module(
 	MODULE drivers__pwm_out_rc_in
 	MAIN pwm_out_rc_in
+	INCLUDES
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	COMPILE_FLAGS
 		-DMAVLINK_COMM_NUM_BUFFERS=1
 	SRCS
 		pwm_out_rc_in.cpp
 	DEPENDS
+		git_mavlink_v1
 		platforms__common
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
index 43e2f1808e..d2c66a5509 100644
--- a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
+++ b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
@@ -31,16 +31,19 @@
 #
 ############################################################################
 
-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
 
 px4_add_module(
 	MODULE drivers__snapdragon_rc_pwm
 	MAIN snapdragon_rc_pwm
 	COMPILE_FLAGS
 		-DMAVLINK_COMM_NUM_BUFFERS=1
+	INCLUDES
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS
 		snapdragon_rc_pwm.cpp
 	DEPENDS
+		git_mavlink_v1
 		platforms__common
 	)
 # vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index f98c888c85..7dc39e8364 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -31,8 +31,7 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_mavlink PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
-px4_add_git_submodule(TARGET git_mavlink2 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v2.0")
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v2.0")
 
 px4_add_module(
 	MODULE modules__mavlink
@@ -61,6 +60,5 @@ px4_add_module(
 		mavlink_ulog.cpp
 	DEPENDS
 		platforms__common
-		git_mavlink
-		git_mavlink2
+		git_mavlink_v2
 	)
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index 6796b0abd8..96695b4611 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
 
 option(ENABLE_UART_RC_INPUT "Enable RC Input from UART mavlink connection" OFF)
 
@@ -59,8 +59,11 @@ px4_add_module(
 	MODULE modules__simulator
 	MAIN simulator
 	COMPILE_FLAGS
+	INCLUDES
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS
 		${SIMULATOR_SRCS}
 	DEPENDS
+		git_mavlink_v1
 		platforms__common
 	)