diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index 3038a0f705..68edd25f83 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -31,6 +31,9 @@
 #
 ############################################################################
 
+# Make GENERATED property available outside of this directory e.g. for simulator_mavlink and mavlink_tests which depend on mavlink_c
+cmake_policy(SET CMP0118 NEW)
+
 set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
 set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
 file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
@@ -78,11 +81,9 @@ add_custom_command(
 
 	COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
 )
-add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h)
 set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}/${CONFIG_MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
 
 
-
 # mavlink header only library
 add_library(mavlink_c INTERFACE)
 target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h
index 3e2866ae6c..1b8a64c2c2 100644
--- a/src/modules/mavlink/mavlink_bridge_header.h
+++ b/src/modules/mavlink/mavlink_bridge_header.h
@@ -93,9 +93,7 @@ extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
 #include <mavlink.h>
-#if !MAVLINK_FTP_UNIT_TEST
 #include <uAvionix.h>
-#endif
 
 __END_DECLS
 
diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
index a0c9481991..af4599c2a1 100644
--- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt
+++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
@@ -35,16 +35,12 @@ px4_add_module(
 	MODULE modules__mavlink__mavlink_tests
 	MAIN mavlink_tests
 	STACK_MAIN 8192
-	INCLUDES
-		${MAVLINK_LIBRARY_DIR}
-		${MAVLINK_LIBRARY_DIR}/${CONFIG_MAVLINK_DIALECT}
 	COMPILE_FLAGS
 		-DMAVLINK_FTP_UNIT_TEST
 		#-DMAVLINK_FTP_DEBUG
 		-DMavlinkStream=MavlinkStreamTest
 		-DMavlinkFTP=MavlinkFTPTest
 		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 		-Wno-double-promotion # The fix has been proposed as PR upstream (2020-03-08)
 	SRCS
 		mavlink_tests.cpp
@@ -52,5 +48,5 @@ px4_add_module(
 		../mavlink_stream.cpp
 		../mavlink_ftp.cpp
 	DEPENDS
-		mavlink_c_generate
+		mavlink_c
 	)
diff --git a/src/modules/simulation/simulator_mavlink/CMakeLists.txt b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
index fc4fa94aa4..6bf4ec8501 100644
--- a/src/modules/simulation/simulator_mavlink/CMakeLists.txt
+++ b/src/modules/simulation/simulator_mavlink/CMakeLists.txt
@@ -31,23 +31,20 @@
 #
 ############################################################################
 
+# Make GENERATED property from mavlink_c available
+cmake_policy(SET CMP0118 NEW)
+
 px4_add_module(
 	MODULE modules__simulation__simulator_mavlink
 	MAIN simulator_mavlink
 	COMPILE_FLAGS
 		-Wno-double-promotion
 		-Wno-cast-align
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
-	INCLUDES
-		${CMAKE_BINARY_DIR}/mavlink
-		${CMAKE_BINARY_DIR}/mavlink/development
-		${CMAKE_BINARY_DIR}/mavlink/common
-		${CMAKE_BINARY_DIR}/mavlink/standard
 	SRCS
 		SimulatorMavlink.cpp
 		SimulatorMavlink.hpp
 	DEPENDS
-		mavlink_c_generate
+		mavlink_c
 		conversion
 		geo
 		drivers_accelerometer