diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
index cfc1bffe36..a0c9481991 100644
--- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt
+++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
@@ -36,8 +36,8 @@ px4_add_module(
 	MAIN mavlink_tests
 	STACK_MAIN 8192
 	INCLUDES
-		${CMAKE_BINARY_DIR}/mavlink
-		${CMAKE_BINARY_DIR}/mavlink/common
+		${MAVLINK_LIBRARY_DIR}
+		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
 	COMPILE_FLAGS
 		-DMAVLINK_FTP_UNIT_TEST
 		#-DMAVLINK_FTP_DEBUG