diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 5db7f93455..2651a628f1 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -85,7 +85,6 @@
 #include <uORB/topics/orbit_status.h>
 #include <uORB/topics/position_controller_status.h>
 #include <uORB/topics/position_setpoint_triplet.h>
-#include <uORB/topics/rpm.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/sensor_mag.h>
@@ -123,6 +122,7 @@ using matrix::wrap_2pi;
 #include "streams/EXTENDED_SYS_STATE.hpp"
 #include "streams/FLIGHT_INFORMATION.hpp"
 #include "streams/PROTOCOL_VERSION.hpp"
+#include "streams/RAW_RPM.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
 
 // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
@@ -5229,70 +5229,6 @@ protected:
 	}
 };
 
-
-
-class MavlinkStreamRawRpm : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamRawRpm::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "RAW_RPM";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_RAW_RPM;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamRawRpm(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _rpm_sub.advertised() ? MAVLINK_MSG_ID_RAW_RPM + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _rpm_sub{ORB_ID(rpm)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamRawRpm(MavlinkStreamRawRpm &) = delete;
-	MavlinkStreamRawRpm &operator = (const MavlinkStreamRawRpm &) = delete;
-
-protected:
-	explicit MavlinkStreamRawRpm(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send(const hrt_abstime t) override
-	{
-		rpm_s rpm;
-
-		if (_rpm_sub.update(&rpm)) {
-			mavlink_raw_rpm_t msg{};
-
-			msg.frequency = rpm.indicated_frequency_rpm;
-
-			mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
 static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamHeartbeat>(),
 	create_stream_list_item<MavlinkStreamStatustext>(),
@@ -5374,7 +5310,9 @@ static const StreamListItem streams_list[] = {
 #if defined(STORAGE_INFORMATION_HPP)
 	create_stream_list_item<MavlinkStreamStorageInformation>(),
 #endif // STORAGE_INFORMATION_HPP
+#if defined(RAW_RPM_HPP)
 	create_stream_list_item<MavlinkStreamRawRpm>()
+#endif // RAW_RPM_HPP
 };
 
 const char *get_stream_name(const uint16_t msg_id)
diff --git a/src/modules/mavlink/streams/RAW_RPM.hpp b/src/modules/mavlink/streams/RAW_RPM.hpp
new file mode 100644
index 0000000000..eb3802c383
--- /dev/null
+++ b/src/modules/mavlink/streams/RAW_RPM.hpp
@@ -0,0 +1,78 @@
+/****************************************************************************
+ *
+ *   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 RAW_RPM_HPP
+#define RAW_RPM_HPP
+
+#include <uORB/topics/rpm.h>
+
+class MavlinkStreamRawRpm : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamRawRpm(mavlink); }
+
+	static constexpr const char *get_name_static() { return "RAW_RPM"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_RAW_RPM; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _rpm_sub.advertised() ? MAVLINK_MSG_ID_RAW_RPM + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamRawRpm(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _rpm_sub{ORB_ID(rpm)};
+
+	bool send(const hrt_abstime t) override
+	{
+		rpm_s rpm;
+
+		if (_rpm_sub.update(&rpm)) {
+			mavlink_raw_rpm_t msg{};
+
+			msg.frequency = rpm.indicated_frequency_rpm;
+
+			mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // RAW_RPM_HPP