diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index cd7135338b..50aa298c77 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -66,10 +66,6 @@ px4_add_module(
 	DEPENDS
 		airspeed
 		component_general_json # for checksums.h
-		drivers_accelerometer
-		drivers_barometer
-		drivers_gyroscope
-		drivers_magnetometer
 		git_mavlink_v2
 		conversion
 		geo
@@ -80,3 +76,18 @@ px4_add_module(
 if(PX4_TESTING)
 	add_subdirectory(mavlink_tests)
 endif()
+
+if (NOT ${PX4_PLATFORM} STREQUAL "nuttx" OR CONFIG_BUILD_FLAT)
+	target_link_libraries(modules__mavlink
+		PRIVATE
+			drivers_accelerometer
+			drivers_barometer
+			drivers_gyroscope
+			drivers_magnetometer
+	)
+endif()
+
+if(${PX4_PLATFORM} STREQUAL "nuttx" AND CONFIG_NET)
+	# netlib_get_ipv4addr
+	target_link_libraries(modules__mavlink PRIVATE nuttx_apps)
+endif()
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 022d8002eb..ede0c14562 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -73,10 +73,12 @@
 MavlinkReceiver::~MavlinkReceiver()
 {
 	delete _tune_publisher;
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT)
 	delete _px4_accel;
 	delete _px4_baro;
 	delete _px4_gyro;
 	delete _px4_mag;
+#endif
 }
 
 MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
@@ -2223,6 +2225,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 	const uint64_t timestamp = hrt_absolute_time();
 
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT)
 	// temperature only updated with baro
 	float temperature = NAN;
 
@@ -2291,6 +2294,8 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 		}
 	}
 
+#endif
+
 	// differential pressure
 	if ((hil_sensor.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS) {
 		differential_pressure_s report{};
@@ -2697,7 +2702,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		hil_local_pos.timestamp = hrt_absolute_time();
 		_local_pos_pub.publish(hil_local_pos);
 	}
-
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT)
 	/* accelerometer */
 	{
 		if (_px4_accel == nullptr) {
@@ -2731,7 +2736,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 			_px4_gyro->update(timestamp_sample, hil_state.rollspeed, hil_state.pitchspeed, hil_state.yawspeed);
 		}
 	}
-
+#endif
 	/* battery status */
 	{
 		battery_status_s hil_battery_status{};
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 5b7cf1f998..6817ef463f 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -340,10 +340,13 @@ private:
 		BARO		= 0b1101000000000,
 		DIFF_PRESS	= 0b10000000000
 	};
-	PX4Accelerometer *_px4_accel{nullptr};
+
+#if !defined(__PX4_NUTTX) || defined(CONFIG_BUILD_FLAT)
+	PX4Accelerometer *_px4_accel {nullptr};
 	PX4Barometer *_px4_baro{nullptr};
 	PX4Gyroscope *_px4_gyro{nullptr};
 	PX4Magnetometer *_px4_mag{nullptr};
+#endif
 
 	static constexpr unsigned int	MOM_SWITCH_COUNT{8};
 	uint8_t				_mom_switch_pos[MOM_SWITCH_COUNT] {};