diff --git a/.gitmodules b/.gitmodules
index 1729877be7..e162f05d54 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -18,7 +18,7 @@
 	url = https://github.com/swift-nav/libsbp.git
 [submodule "sw/ext/mavlink"]
 	path = sw/ext/mavlink
-	url = https://github.com/paparazzi/mavlink.git
+	url = https://github.com/mavlink/mavlink.git
 [submodule "sw/ext/pprzlink"]
 	path = sw/ext/pprzlink
 	url = https://github.com/paparazzi/pprzlink.git
diff --git a/Makefile b/Makefile
index 6fba2d39cf..d0ff7c3e1b 100644
--- a/Makefile
+++ b/Makefile
@@ -106,9 +106,11 @@ ABI_MESSAGES_H=$(STATICINCLUDE)/abi_messages.h
 MAVLINK_DIR=$(STATICINCLUDE)/mavlink/
 MAVLINK_PROTOCOL_H=$(MAVLINK_DIR)protocol.h
 
-GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H) $(MAVLINK_PROTOCOL_H)
+GEN_HEADERS = $(UBX_PROTOCOL_H) $(MTK_PROTOCOL_H) $(XSENS_PROTOCOL_H) $(ABI_MESSAGES_H)
 
-all: ground_segment ext subdirs_extra
+core: ground_segment ext subdirs_extra
+
+all: ground_segment ext subdirs_extra $(MAVLINK_PROTOCOL_H)
 
 _print_building:
 	@echo "------------------------------------------------------------"
diff --git a/sw/ext/Makefile b/sw/ext/Makefile
index 7e1ff5b9c5..e8062e203c 100644
--- a/sw/ext/Makefile
+++ b/sw/ext/Makefile
@@ -33,7 +33,7 @@ EXT_DIR=$(PAPARAZZI_SRC)/sw/ext
 include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
 
 
-all: libopencm3 luftboot chibios fatfs libsbp mavlink TRICAL hacl-c key_generator rustlink ecl matrix
+all: libopencm3 luftboot chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix
 
 # update (and init if needed) all submodules
 update_submodules:
@@ -91,7 +91,7 @@ mavlink: mavlink.update mavlink.build
 
 mavlink.build:
 	@echo GENERATE $(PAPARAZZI_SRC)/var/include/mavlink
-	$(Q)PYTHONPATH=$(EXT_DIR)/mavlink python2 $(EXT_DIR)/mavlink/pymavlink/tools/mavgen.py --output $(PAPARAZZI_SRC)/var/include/mavlink --lang C $(EXT_DIR)/mavlink/message_definitions/v1.0/paparazzi.xml --no-validate > /dev/null
+	$(Q)PYTHONPATH=$(EXT_DIR)/mavlink python $(EXT_DIR)/mavlink/pymavlink/tools/mavgen.py --output $(PAPARAZZI_SRC)/var/include/mavlink --lang C $(EXT_DIR)/mavlink/message_definitions/v1.0/paparazzi.xml --no-validate > /dev/null
 
 libsbp: libsbp.update
 
diff --git a/sw/ext/mavlink b/sw/ext/mavlink
index 8e2bcac255..af35d3a47c 160000
--- a/sw/ext/mavlink
+++ b/sw/ext/mavlink
@@ -1 +1 @@
-Subproject commit 8e2bcac2551841af80d5560111fd62c37c80c834
+Subproject commit af35d3a47c3f4d9abbc44f8f5499c047d8802e91