diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 5d02efce66..28bf3af54d 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -60,6 +60,31 @@ add_library(mavlink_c INTERFACE)
 target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
 set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
 target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT})
+
+set(MAVLINK_DIALECT_UAVIONIX "uAvionix")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h
+	COMMAND
+		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			#--no-validate
+			#--strict-units
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml
+	COMMENT "Generating Mavlink ${MAVLINK_DIALECT_UAVIONIX}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT_UAVIONIX}.xml"
+	USES_TERMINAL
+)
+
+add_custom_target(mavlink_c_generate_uavionix DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
+target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h)
+set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}/${MAVLINK_DIALECT_UAVIONIX}.h PROPERTIES GENERATED true)
+target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX})
+
 target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
 
 
@@ -114,6 +139,7 @@ px4_add_unit_gtest(SRC MavlinkStatustextHandlerTest.cpp
 	INCLUDES
 		${MAVLINK_LIBRARY_DIR}
 		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
+		${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT_UAVIONIX}
 	COMPILE_FLAGS
 		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 		-Wno-cast-align # TODO: fix