diff --git a/conf/modules/mavlink.xml b/conf/modules/mavlink.xml
index 2039283c04..2a0dae6be4 100644
--- a/conf/modules/mavlink.xml
+++ b/conf/modules/mavlink.xml
@@ -3,7 +3,7 @@
 <module name="datalink">
   <doc>
     <description>Basic MAVLink implementation</description>
-    <configure name="MAVLINK_PORT" value="UARTx|UDPx" description="The port device to use for mavlink"/>
+    <configure name="MAVLINK_PORT" value="UARTx|UDPx|UsbS" description="The port device to use for mavlink (default: UART1)"/>
     <configure name="MAVLINK_BAUD" value="B57600" description="Baud rate if MAVLINK_PORT is a UART"/>
   </doc>
   <header>
@@ -18,18 +18,23 @@
     <file name="mavlink.c"/>
     <raw>
       MAVLINK_PORT ?= UART1
-      MAVLINK_BAUD ?= B57600
-      MAVLINK_PORT_LOWER=$(shell echo $(MAVLINK_PORT) | tr A-Z a-z)
       MAVLINK_PORT_UPPER=$(shell echo $(MAVLINK_PORT) | tr a-z A-Z)
       ifeq ($(MAVLINK_PORT), UsbS)
       ap.CFLAGS += -DUSE_USB_SERIAL
       ap.srcs += $(SRC_ARCH)/usb_ser_hw.c
       ap.CFLAGS += -DMAVLINK_DEV=UsbS
       else
+      ifeq ($(findstring UDP,$(MAVLINK_PORT)), UDP)
+      include $(CFG_SHARED)/udp.makefile
+      $(TARGET).CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_UPPER)
+      $(TARGET).CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
+      else
+      MAVLINK_BAUD ?= B57600
       ap.CFLAGS += -DMAVLINK_DEV=$(MAVLINK_PORT_UPPER)
       ap.CFLAGS += -DUSE_$(MAVLINK_PORT_UPPER)
       ap.CFLAGS += -D$(MAVLINK_PORT_UPPER)_BAUD=$(MAVLINK_BAUD)
       endif
+      endif
     </raw>
   </makefile>
 </module>
diff --git a/sw/airborne/modules/datalink/mavlink.h b/sw/airborne/modules/datalink/mavlink.h
index e9a4ec5cec..b767f6f56d 100644
--- a/sw/airborne/modules/datalink/mavlink.h
+++ b/sw/airborne/modules/datalink/mavlink.h
@@ -46,7 +46,7 @@
 extern mavlink_system_t mavlink_system;
 
 #ifndef MAVLINK_DEV
-#define MAVLINK_DEV UDP0
+#define MAVLINK_DEV UART1
 #endif
 
 /*