diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index 0fbee034f7..8bd5cc3324 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/src/modules/commander/commander_helper.cpp
@@ -62,8 +62,6 @@
 #include <drivers/drv_led.h>
 #include <drivers/drv_rgbled.h>
 
-#include <v2.0/common/mavlink.h> // For MAV_TYPE
-
 #include "commander_helper.h"
 #include "DevMgr.hpp"
 
@@ -75,30 +73,44 @@ using namespace DriverFramework;
 #endif
 static const int ERROR = -1;
 
+#define VEHICLE_TYPE_QUADROTOR 2
+#define VEHICLE_TYPE_COAXIAL 3
+#define VEHICLE_TYPE_HELICOPTER 4
+#define VEHICLE_TYPE_HEXAROTOR 13
+#define VEHICLE_TYPE_OCTOROTOR 14
+#define VEHICLE_TYPE_TRICOPTER 15
+#define VEHICLE_TYPE_VTOL_DUOROTOR 19
+#define VEHICLE_TYPE_VTOL_QUADROTOR 20
+#define VEHICLE_TYPE_VTOL_TILTROTOR 21
+#define VEHICLE_TYPE_VTOL_RESERVED2 22
+#define VEHICLE_TYPE_VTOL_RESERVED3 23
+#define VEHICLE_TYPE_VTOL_RESERVED4 24
+#define VEHICLE_TYPE_VTOL_RESERVED5 25
+
 #define BLINK_MSG_TIME	700000	// 3 fast blinks
 
 bool is_multirotor(const struct vehicle_status_s *current_status)
 {
-	return ((current_status->system_type == MAV_TYPE_QUADROTOR) ||
-		(current_status->system_type == MAV_TYPE_HEXAROTOR) ||
-		(current_status->system_type == MAV_TYPE_OCTOROTOR) ||
-		(current_status->system_type == MAV_TYPE_TRICOPTER));
+	return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
+		(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
 }
 
 bool is_rotary_wing(const struct vehicle_status_s *current_status)
 {
-	return is_multirotor(current_status) || (current_status->system_type == MAV_TYPE_HELICOPTER)
-		   || (current_status->system_type == MAV_TYPE_COAXIAL);
+	return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
+		   || (current_status->system_type == VEHICLE_TYPE_COAXIAL);
 }
 
 bool is_vtol(const struct vehicle_status_s * current_status) {
-	return (current_status->system_type == MAV_TYPE_VTOL_DUOROTOR ||
-		current_status->system_type == MAV_TYPE_VTOL_QUADROTOR ||
-		current_status->system_type == MAV_TYPE_VTOL_TILTROTOR ||
-		current_status->system_type == MAV_TYPE_VTOL_RESERVED2 ||
-		current_status->system_type == MAV_TYPE_VTOL_RESERVED3 ||
-		current_status->system_type == MAV_TYPE_VTOL_RESERVED4 ||
-		current_status->system_type == MAV_TYPE_VTOL_RESERVED5);
+	return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED2 ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED3 ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED4 ||
+		current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED5);
 }
 
 static hrt_abstime blink_msg_end = 0;	// end time for currently blinking LED message, 0 if no blink message