diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index b023a19b62..cf76867919 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -62,7 +62,6 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/camera_capture.h>
 #include <uORB/topics/camera_trigger.h>
-#include <uORB/topics/collision_report.h>
 #include <uORB/topics/cpuload.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
@@ -110,6 +109,7 @@ using matrix::wrap_2pi;
 #include "streams/ATTITUDE_QUATERNION.hpp"
 #include "streams/ATTITUDE_TARGET.hpp"
 #include "streams/AUTOPILOT_VERSION.hpp"
+#include "streams/COLLISION.hpp"
 #include "streams/DISTANCE_SENSOR.hpp"
 #include "streams/ESC_INFO.hpp"
 #include "streams/ESC_STATUS.hpp"
@@ -2091,74 +2091,6 @@ protected:
 	}
 };
 
-class MavlinkStreamCollision : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamCollision::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "COLLISION";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_COLLISION;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamCollision(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _collision_sub{ORB_ID(collision_report)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamCollision(MavlinkStreamCollision &) = delete;
-	MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete;
-
-protected:
-	explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		collision_report_s report;
-		bool sent = false;
-
-		while (_collision_sub.update(&report)) {
-			mavlink_collision_t msg = {};
-
-			msg.src = report.src;
-			msg.id = report.id;
-			msg.action = report.action;
-			msg.threat_level = report.threat_level;
-			msg.time_to_minimum_delta = report.time_to_minimum_delta;
-			msg.altitude_minimum_delta = report.altitude_minimum_delta;
-			msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
-
-			mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg);
-			sent = true;
-		}
-
-		return sent;
-	}
-};
-
 class MavlinkStreamCameraTrigger : public MavlinkStream
 {
 public:
@@ -4045,7 +3977,9 @@ static const StreamListItem streams_list[] = {
 #endif // ALTITUDE_HPP
 	create_stream_list_item<MavlinkStreamADSBVehicle>(),
 	create_stream_list_item<MavlinkStreamUTMGlobalPosition>(),
+#if defined(COLLISION_HPP)
 	create_stream_list_item<MavlinkStreamCollision>(),
+#endif // COLLISION_HPP
 #if defined(WIND_COV_HPP)
 	create_stream_list_item<MavlinkStreamWindCov>(),
 #endif // WIND_COV_HPP
diff --git a/src/modules/mavlink/streams/COLLISION.hpp b/src/modules/mavlink/streams/COLLISION.hpp
new file mode 100644
index 0000000000..b7abb34eec
--- /dev/null
+++ b/src/modules/mavlink/streams/COLLISION.hpp
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   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 COLLISION_HPP
+#define COLLISION_HPP
+
+#include <uORB/topics/collision_report.h>
+
+class MavlinkStreamCollision : public MavlinkStream
+{
+public:
+	const char *get_name() const override
+	{
+		return MavlinkStreamCollision::get_name_static();
+	}
+
+	static constexpr const char *get_name_static()
+	{
+		return "COLLISION";
+	}
+
+	static constexpr uint16_t get_id_static()
+	{
+		return MAVLINK_MSG_ID_COLLISION;
+	}
+
+	uint16_t get_id() override
+	{
+		return get_id_static();
+	}
+
+	static MavlinkStream *new_instance(Mavlink *mavlink)
+	{
+		return new MavlinkStreamCollision(mavlink);
+	}
+
+	unsigned get_size() override
+	{
+		return _collision_sub.advertised() ? MAVLINK_MSG_ID_COLLISION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	uORB::Subscription _collision_sub{ORB_ID(collision_report)};
+
+	/* do not allow top copying this class */
+	MavlinkStreamCollision(MavlinkStreamCollision &) = delete;
+	MavlinkStreamCollision &operator = (const MavlinkStreamCollision &) = delete;
+
+protected:
+	explicit MavlinkStreamCollision(Mavlink *mavlink) : MavlinkStream(mavlink)
+	{}
+
+	bool send() override
+	{
+		collision_report_s report;
+		bool sent = false;
+
+		while (_collision_sub.update(&report)) {
+			mavlink_collision_t msg = {};
+
+			msg.src = report.src;
+			msg.id = report.id;
+			msg.action = report.action;
+			msg.threat_level = report.threat_level;
+			msg.time_to_minimum_delta = report.time_to_minimum_delta;
+			msg.altitude_minimum_delta = report.altitude_minimum_delta;
+			msg.horizontal_minimum_delta = report.horizontal_minimum_delta;
+
+			mavlink_msg_collision_send_struct(_mavlink->get_channel(), &msg);
+			sent = true;
+		}
+
+		return sent;
+	}
+};
+
+#endif // COLLISION_HPP