diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 9227a6eaef..2df35df721 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -49,10 +49,6 @@ set(msg_files
 	collision_report.msg
 	commander_state.msg
 	cpuload.msg
-	debug_array.msg
-	debug_key_value.msg
-	debug_value.msg
-	debug_vect.msg
 	differential_pressure.msg
 	distance_sensor.msg
 	ekf2_timestamps.msg
@@ -173,6 +169,17 @@ set(msg_files
 	yaw_estimator_status.msg
 )
 
+if(NOT px4_constrained_flash_build)
+	list(APPEND msg_files
+		debug_array.msg
+		debug_key_value.msg
+		debug_value.msg
+		debug_vect.msg
+	)
+endif()
+
+list(SORT msg_files)
+
 set(deprecated_msgs
 	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
 	)
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 4c8821c169..566dd0dc74 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1571,9 +1571,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
-		configure_stream_local("DEBUG", 1.0f);
-		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
-		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("DISTANCE_SENSOR", 0.5f);
 		configure_stream_local("ESC_INFO", 1.0f);
 		configure_stream_local("ESC_STATUS", 1.0f);
@@ -1585,7 +1582,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("LOCAL_POSITION_NED", 1.0f);
-		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.0f);
 		configure_stream_local("OBSTACLE_DISTANCE", 1.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 2.0f);
@@ -1600,6 +1596,14 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("VFR_HUD", 4.0f);
 		configure_stream_local("VIBRATION", 0.1f);
 		configure_stream_local("WIND_COV", 0.5f);
+
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("DEBUG", 1.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
+		configure_stream_local("DEBUG_VECT", 1.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+#endif // !CONSTRAINED_FLASH
+
 		break;
 
 	case MAVLINK_MODE_ONBOARD:
@@ -1625,9 +1629,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CAMERA_CAPTURE", 2.0f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
-		configure_stream_local("DEBUG", 10.0f);
-		configure_stream_local("DEBUG_FLOAT_ARRAY", 10.0f);
-		configure_stream_local("DEBUG_VECT", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 5.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
@@ -1635,7 +1636,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
 		configure_stream_local("GPS_STATUS", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
-		configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
@@ -1652,6 +1652,14 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("VFR_HUD", 10.0f);
 		configure_stream_local("VIBRATION", 0.5f);
 		configure_stream_local("WIND_COV", 10.0f);
+
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("DEBUG", 10.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 10.0f);
+		configure_stream_local("DEBUG_VECT", 10.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
+#endif // !CONSTRAINED_FLASH
+
 		break;
 
 	case MAVLINK_MODE_EXTVISION:
@@ -1675,16 +1683,12 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
-		configure_stream_local("DEBUG", 1.0f);
-		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
-		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
 		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_RAW_INT", 1.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
-		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 1.5f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 1.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
@@ -1699,8 +1703,15 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("VFR_HUD", 4.0f);
 		configure_stream_local("VIBRATION", 0.5f);
 		configure_stream_local("WIND_COV", 1.0f);
-		break;
 
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("DEBUG", 1.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
+		configure_stream_local("DEBUG_VECT", 1.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+#endif // !CONSTRAINED_FLASH
+
+		break;
 
 	case MAVLINK_MODE_OSD:
 		configure_stream_local("ALTITUDE", 10.0f);
@@ -1746,9 +1757,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("BATTERY_STATUS", 0.5f);
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("COLLISION", unlimited_rate);
-		configure_stream_local("DEBUG", 50.0f);
-		configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
-		configure_stream_local("DEBUG_VECT", 50.0f);
 		configure_stream_local("ESC_INFO", 10.0f);
 		configure_stream_local("ESC_STATUS", 10.0f);
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);
@@ -1760,7 +1768,6 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("HIGHRES_IMU", 50.0f);
 		configure_stream_local("HOME_POSITION", 0.5f);
 		configure_stream_local("MANUAL_CONTROL", 5.0f);
-		configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
 		configure_stream_local("NAV_CONTROLLER_OUTPUT", 10.0f);
 		configure_stream_local("OPTICAL_FLOW_RAD", 10.0f);
 		configure_stream_local("ORBIT_EXECUTION_STATUS", 5.0f);
@@ -1779,6 +1786,14 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("VFR_HUD", 20.0f);
 		configure_stream_local("VIBRATION", 2.5f);
 		configure_stream_local("WIND_COV", 10.0f);
+
+#if !defined(CONSTRAINED_FLASH)
+		configure_stream_local("DEBUG", 50.0f);
+		configure_stream_local("DEBUG_FLOAT_ARRAY", 50.0f);
+		configure_stream_local("DEBUG_VECT", 50.0f);
+		configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
+#endif // !CONSTRAINED_FLASH
+
 		break;
 
 	case MAVLINK_MODE_IRIDIUM:
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index cc265853f1..6cf6ecbbfc 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -65,10 +65,6 @@
 #include <uORB/topics/camera_trigger.h>
 #include <uORB/topics/collision_report.h>
 #include <uORB/topics/cpuload.h>
-#include <uORB/topics/debug_array.h>
-#include <uORB/topics/debug_key_value.h>
-#include <uORB/topics/debug_value.h>
-#include <uORB/topics/debug_vect.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/estimator_sensor_bias.h>
@@ -128,6 +124,13 @@ using matrix::wrap_2pi;
 #include "streams/RAW_RPM.hpp"
 #include "streams/STORAGE_INFORMATION.hpp"
 
+#if !defined(CONSTRAINED_FLASH)
+# include "streams/DEBUG.hpp"
+# include "streams/DEBUG_FLOAT_ARRAY.hpp"
+# include "streams/DEBUG_VECT.hpp"
+# include "streams/NAMED_VALUE_FLOAT.hpp"
+#endif // !CONSTRAINED_FLASH
+
 // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
 static_assert(MAV_SENSOR_ROTATION_NONE == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_NONE),
 	      "Roll: 0, Pitch: 0, Yaw: 0");
@@ -4165,273 +4168,6 @@ protected:
 	}
 };
 
-class MavlinkStreamNamedValueFloat : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamNamedValueFloat::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "NAMED_VALUE_FLOAT";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamNamedValueFloat(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _debug_sub.advertised() ? MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _debug_sub{ORB_ID(debug_key_value)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &) = delete;
-	MavlinkStreamNamedValueFloat &operator = (const MavlinkStreamNamedValueFloat &) = delete;
-
-protected:
-	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		debug_key_value_s debug;
-
-		if (_debug_sub.update(&debug)) {
-			mavlink_named_value_float_t msg{};
-
-			msg.time_boot_ms = debug.timestamp / 1000ULL;
-			memcpy(msg.name, debug.key, sizeof(msg.name));
-			/* enforce null termination */
-			msg.name[sizeof(msg.name) - 1] = '\0';
-			msg.value = debug.value;
-
-			mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
-class MavlinkStreamDebug : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamDebug::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "DEBUG";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_DEBUG;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamDebug(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _debug_sub{ORB_ID(debug_value)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamDebug(MavlinkStreamDebug &) = delete;
-	MavlinkStreamDebug &operator = (const MavlinkStreamDebug &) = delete;
-
-protected:
-	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		debug_value_s debug;
-
-		if (_debug_sub.update(&debug)) {
-			mavlink_debug_t msg{};
-			msg.time_boot_ms = debug.timestamp / 1000ULL;
-			msg.ind = debug.ind;
-			msg.value = debug.value;
-
-			mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
-class MavlinkStreamDebugVect : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamDebugVect::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "DEBUG_VECT";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_DEBUG_VECT;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamDebugVect(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_VECT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _debug_sub{ORB_ID(debug_vect)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamDebugVect(MavlinkStreamDebugVect &) = delete;
-	MavlinkStreamDebugVect &operator = (const MavlinkStreamDebugVect &) = delete;
-
-protected:
-	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		debug_vect_s debug;
-
-		if (_debug_sub.update(&debug)) {
-			mavlink_debug_vect_t msg{};
-
-			msg.time_usec = debug.timestamp;
-			memcpy(msg.name, debug.name, sizeof(msg.name));
-			/* enforce null termination */
-			msg.name[sizeof(msg.name) - 1] = '\0';
-			msg.x = debug.x;
-			msg.y = debug.y;
-			msg.z = debug.z;
-
-			mavlink_msg_debug_vect_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
-class MavlinkStreamDebugFloatArray : public MavlinkStream
-{
-public:
-	const char *get_name() const override
-	{
-		return MavlinkStreamDebugFloatArray::get_name_static();
-	}
-
-	static constexpr const char *get_name_static()
-	{
-		return "DEBUG_FLOAT_ARRAY";
-	}
-
-	static constexpr uint16_t get_id_static()
-	{
-		return MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY;
-	}
-
-	uint16_t get_id() override
-	{
-		return get_id_static();
-	}
-
-	static MavlinkStream *new_instance(Mavlink *mavlink)
-	{
-		return new MavlinkStreamDebugFloatArray(mavlink);
-	}
-
-	unsigned get_size() override
-	{
-		return _debug_array_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
-	}
-
-private:
-	uORB::Subscription _debug_array_sub{ORB_ID(debug_array)};
-
-	/* do not allow top copying this class */
-	MavlinkStreamDebugFloatArray(MavlinkStreamDebugFloatArray &);
-	MavlinkStreamDebugFloatArray &operator = (const MavlinkStreamDebugFloatArray &);
-
-protected:
-	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink)
-	{}
-
-	bool send() override
-	{
-		debug_array_s debug;
-
-		if (_debug_array_sub.update(&debug)) {
-			mavlink_debug_float_array_t msg{};
-
-			msg.time_usec = debug.timestamp;
-			msg.array_id = debug.id;
-			memcpy(msg.name, debug.name, sizeof(msg.name));
-			/* enforce null termination */
-			msg.name[sizeof(msg.name) - 1] = '\0';
-
-			for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
-				msg.data[i] = debug.data[i];
-			}
-
-			mavlink_msg_debug_float_array_send_struct(_mavlink->get_channel(), &msg);
-
-			return true;
-		}
-
-		return false;
-	}
-};
-
 class MavlinkStreamNavControllerOutput : public MavlinkStream
 {
 public:
@@ -4974,10 +4710,18 @@ static const StreamListItem streams_list[] = {
 	create_stream_list_item<MavlinkStreamOpticalFlowRad>(),
 	create_stream_list_item<MavlinkStreamActuatorControlTarget<0> >(),
 	create_stream_list_item<MavlinkStreamActuatorControlTarget<1> >(),
+#if defined(NAMED_VALUE_FLOAT_HPP)
 	create_stream_list_item<MavlinkStreamNamedValueFloat>(),
+#endif // NAMED_VALUE_FLOAT_HPP
+#if defined(DEBUG_HPP)
 	create_stream_list_item<MavlinkStreamDebug>(),
+#endif // DEBUG_HPP
+#if defined(DEBUG_VECT_HPP)
 	create_stream_list_item<MavlinkStreamDebugVect>(),
+#endif // DEBUG_VECT_HPP
+#if defined(DEBUG_FLOAT_ARRAY_HPP)
 	create_stream_list_item<MavlinkStreamDebugFloatArray>(),
+#endif // DEBUG_FLOAT_ARRAY_HPP
 	create_stream_list_item<MavlinkStreamNavControllerOutput>(),
 	create_stream_list_item<MavlinkStreamCameraCapture>(),
 	create_stream_list_item<MavlinkStreamCameraTrigger>(),
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 35ed993ab1..5e99247a31 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -246,6 +246,20 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 		handle_message_trajectory_representation_waypoints(msg);
 		break;
 
+	case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
+		handle_message_onboard_computer_status(msg);
+		break;
+
+	case MAVLINK_MSG_ID_GENERATOR_STATUS:
+		handle_message_generator_status(msg);
+		break;
+
+	case MAVLINK_MSG_ID_STATUSTEXT:
+		handle_message_statustext(msg);
+		break;
+
+#if !defined(CONSTRAINED_FLASH)
+
 	case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
 		handle_message_named_value_float(msg);
 		break;
@@ -261,18 +275,7 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
 	case MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY:
 		handle_message_debug_float_array(msg);
 		break;
-
-	case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
-		handle_message_onboard_computer_status(msg);
-		break;
-
-	case MAVLINK_MSG_ID_GENERATOR_STATUS:
-		handle_message_generator_status(msg);
-		break;
-
-	case MAVLINK_MSG_ID_STATUSTEXT:
-		handle_message_statustext(msg);
-		break;
+#endif // !CONSTRAINED_FLASH
 
 	default:
 		break;
@@ -2704,6 +2707,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 	}
 }
 
+#if !defined(CONSTRAINED_FLASH)
 void
 MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
 {
@@ -2772,6 +2776,7 @@ MavlinkReceiver::handle_message_debug_float_array(mavlink_message_t *msg)
 
 	_debug_array_pub.publish(debug_topic);
 }
+#endif // !CONSTRAINED_FLASH
 
 void
 MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index c19c0d39ca..9873d7a9a8 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -62,10 +62,6 @@
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/cellular_status.h>
 #include <uORB/topics/collision_report.h>
-#include <uORB/topics/debug_array.h>
-#include <uORB/topics/debug_key_value.h>
-#include <uORB/topics/debug_value.h>
-#include <uORB/topics/debug_vect.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/follow_target.h>
@@ -104,6 +100,13 @@
 #include <uORB/topics/vehicle_trajectory_bezier.h>
 #include <uORB/topics/vehicle_trajectory_waypoint.h>
 
+#if !defined(CONSTRAINED_FLASH)
+# include <uORB/topics/debug_array.h>
+# include <uORB/topics/debug_key_value.h>
+# include <uORB/topics/debug_value.h>
+# include <uORB/topics/debug_vect.h>
+#endif // !CONSTRAINED_FLASH
+
 class Mavlink;
 
 class MavlinkReceiver : public ModuleParams
@@ -144,9 +147,6 @@ private:
 	void handle_message_command_ack(mavlink_message_t *msg);
 	void handle_message_command_int(mavlink_message_t *msg);
 	void handle_message_command_long(mavlink_message_t *msg);
-	void handle_message_debug(mavlink_message_t *msg);
-	void handle_message_debug_float_array(mavlink_message_t *msg);
-	void handle_message_debug_vect(mavlink_message_t *msg);
 	void handle_message_distance_sensor(mavlink_message_t *msg);
 	void handle_message_follow_target(mavlink_message_t *msg);
 	void handle_message_generator_status(mavlink_message_t *msg);
@@ -160,7 +160,6 @@ private:
 	void handle_message_landing_target(mavlink_message_t *msg);
 	void handle_message_logging_ack(mavlink_message_t *msg);
 	void handle_message_manual_control(mavlink_message_t *msg);
-	void handle_message_named_value_float(mavlink_message_t *msg);
 	void handle_message_obstacle_distance(mavlink_message_t *msg);
 	void handle_message_odometry(mavlink_message_t *msg);
 	void handle_message_onboard_computer_status(mavlink_message_t *msg);
@@ -182,6 +181,13 @@ private:
 	void handle_message_utm_global_position(mavlink_message_t *msg);
 	void handle_message_vision_position_estimate(mavlink_message_t *msg);
 
+#if !defined(CONSTRAINED_FLASH)
+	void handle_message_debug(mavlink_message_t *msg);
+	void handle_message_debug_float_array(mavlink_message_t *msg);
+	void handle_message_debug_vect(mavlink_message_t *msg);
+	void handle_message_named_value_float(mavlink_message_t *msg);
+#endif // !CONSTRAINED_FLASH
+
 	void CheckHeartbeats(const hrt_abstime &t, bool force = false);
 
 	void Run();
@@ -236,10 +242,6 @@ private:
 	uORB::Publication<battery_status_s>			_battery_pub{ORB_ID(battery_status)};
 	uORB::Publication<cellular_status_s>			_cellular_status_pub{ORB_ID(cellular_status)};
 	uORB::Publication<collision_report_s>			_collision_report_pub{ORB_ID(collision_report)};
-	uORB::Publication<debug_array_s>			_debug_array_pub{ORB_ID(debug_array)};
-	uORB::Publication<debug_key_value_s>			_debug_key_value_pub{ORB_ID(debug_key_value)};
-	uORB::Publication<debug_value_s>			_debug_value_pub{ORB_ID(debug_value)};
-	uORB::Publication<debug_vect_s>				_debug_vect_pub{ORB_ID(debug_vect)};
 	uORB::Publication<differential_pressure_s>		_differential_pressure_pub{ORB_ID(differential_pressure)};
 	uORB::Publication<follow_target_s>			_follow_target_pub{ORB_ID(follow_target)};
 	uORB::Publication<irlock_report_s>			_irlock_report_pub{ORB_ID(irlock_report)};
@@ -265,6 +267,13 @@ private:
 	uORB::Publication<vehicle_trajectory_bezier_s>		_trajectory_bezier_pub{ORB_ID(vehicle_trajectory_bezier)};
 	uORB::Publication<vehicle_trajectory_waypoint_s>	_trajectory_waypoint_pub{ORB_ID(vehicle_trajectory_waypoint)};
 
+#if !defined(CONSTRAINED_FLASH)
+	uORB::Publication<debug_array_s>			_debug_array_pub {ORB_ID(debug_array)};
+	uORB::Publication<debug_key_value_s>			_debug_key_value_pub{ORB_ID(debug_key_value)};
+	uORB::Publication<debug_value_s>			_debug_value_pub{ORB_ID(debug_value)};
+	uORB::Publication<debug_vect_s>				_debug_vect_pub{ORB_ID(debug_vect)};
+#endif // !CONSTRAINED_FLASH
+
 	// ORB publications (multi)
 	uORB::PublicationMulti<distance_sensor_s>		_distance_sensor_pub{ORB_ID(distance_sensor)};
 	uORB::PublicationMulti<distance_sensor_s>		_flow_distance_sensor_pub{ORB_ID(distance_sensor)};
diff --git a/src/modules/mavlink/streams/DEBUG.hpp b/src/modules/mavlink/streams/DEBUG.hpp
new file mode 100644
index 0000000000..c0c2a52322
--- /dev/null
+++ b/src/modules/mavlink/streams/DEBUG.hpp
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   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 DEBUG_HPP
+#define DEBUG_HPP
+
+#include <uORB/topics/debug_value.h>
+
+class MavlinkStreamDebug : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebug(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_value_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebug(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_value_sub{ORB_ID(debug_value)};
+
+	bool send() override
+	{
+		debug_value_s debug;
+
+		if (_debug_value_sub.update(&debug)) {
+			mavlink_debug_t msg{};
+			msg.time_boot_ms = debug.timestamp / 1000ULL;
+			msg.ind = debug.ind;
+			msg.value = debug.value;
+
+			mavlink_msg_debug_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_HPP
diff --git a/src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp b/src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp
new file mode 100644
index 0000000000..a5029ffe39
--- /dev/null
+++ b/src/modules/mavlink/streams/DEBUG_FLOAT_ARRAY.hpp
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   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 DEBUG_FLOAT_ARRAY_HPP
+#define DEBUG_FLOAT_ARRAY_HPP
+
+#include <uORB/topics/debug_array.h>
+
+class MavlinkStreamDebugFloatArray : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugFloatArray(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG_FLOAT_ARRAY"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_array_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebugFloatArray(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_array_sub{ORB_ID(debug_array)};
+
+	bool send() override
+	{
+		debug_array_s debug;
+
+		if (_debug_array_sub.update(&debug)) {
+			mavlink_debug_float_array_t msg{};
+
+			msg.time_usec = debug.timestamp;
+			msg.array_id = debug.id;
+			memcpy(msg.name, debug.name, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+
+			for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
+				msg.data[i] = debug.data[i];
+			}
+
+			mavlink_msg_debug_float_array_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_FLOAT_ARRAY_HPP
diff --git a/src/modules/mavlink/streams/DEBUG_VECT.hpp b/src/modules/mavlink/streams/DEBUG_VECT.hpp
new file mode 100644
index 0000000000..9fa293188d
--- /dev/null
+++ b/src/modules/mavlink/streams/DEBUG_VECT.hpp
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ *   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 DEBUG_VECT_HPP
+#define DEBUG_VECT_HPP
+
+#include <uORB/topics/debug_vect.h>
+
+class MavlinkStreamDebugVect : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamDebugVect(mavlink); }
+
+	static constexpr const char *get_name_static() { return "DEBUG_VECT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_DEBUG_VECT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_sub.advertised() ? MAVLINK_MSG_ID_DEBUG_VECT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamDebugVect(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_sub{ORB_ID(debug_vect)};
+
+	bool send() override
+	{
+		debug_vect_s debug;
+
+		if (_debug_sub.update(&debug)) {
+			mavlink_debug_vect_t msg{};
+			msg.time_usec = debug.timestamp;
+			memcpy(msg.name, debug.name, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+			msg.x = debug.x;
+			msg.y = debug.y;
+			msg.z = debug.z;
+
+			mavlink_msg_debug_vect_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // DEBUG_VECT_HPP
diff --git a/src/modules/mavlink/streams/NAMED_VALUE_FLOAT.hpp b/src/modules/mavlink/streams/NAMED_VALUE_FLOAT.hpp
new file mode 100644
index 0000000000..9631796056
--- /dev/null
+++ b/src/modules/mavlink/streams/NAMED_VALUE_FLOAT.hpp
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   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 NAMED_VALUE_FLOAT_HPP
+#define NAMED_VALUE_FLOAT_HPP
+
+#include <uORB/topics/debug_key_value.h>
+
+class MavlinkStreamNamedValueFloat : public MavlinkStream
+{
+public:
+	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamNamedValueFloat(mavlink); }
+
+	static constexpr const char *get_name_static() { return "NAMED_VALUE_FLOAT"; }
+	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT; }
+
+	const char *get_name() const override { return get_name_static(); }
+	uint16_t get_id() override { return get_id_static(); }
+
+	unsigned get_size() override
+	{
+		return _debug_key_value_sub.advertised() ? MAVLINK_MSG_ID_NAMED_VALUE_FLOAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
+	}
+
+private:
+	explicit MavlinkStreamNamedValueFloat(Mavlink *mavlink) : MavlinkStream(mavlink) {}
+
+	uORB::Subscription _debug_key_value_sub{ORB_ID(debug_key_value)};
+
+	bool send() override
+	{
+		debug_key_value_s debug;
+
+		if (_debug_key_value_sub.update(&debug)) {
+			mavlink_named_value_float_t msg{};
+
+			msg.time_boot_ms = debug.timestamp / 1000ULL;
+			memcpy(msg.name, debug.key, sizeof(msg.name));
+			msg.name[sizeof(msg.name) - 1] = '\0'; // enforce null termination
+			msg.value = debug.value;
+
+			mavlink_msg_named_value_float_send_struct(_mavlink->get_channel(), &msg);
+
+			return true;
+		}
+
+		return false;
+	}
+};
+
+#endif // NAMED_VALUE_FLOAT_HPP