diff --git a/sw/ext/Makefile b/sw/ext/Makefile
index a614add8a9..fae462be92 100644
--- a/sw/ext/Makefile
+++ b/sw/ext/Makefile
@@ -32,6 +32,8 @@ EXT_DIR=$(PAPARAZZI_SRC)/sw/ext
 #
 include $(PAPARAZZI_SRC)/conf/Makefile.arm-embedded-toolchain
 
+MY_PYTHON := $(shell echo `which python3`)
+MY_MAVLINKTOOLS := $(shell $(MY_PYTHON) -c 'import imp; import future' 2>&1)
 
 all: libopencm3 luftboot chibios fatfs libsbp TRICAL hacl-c key_generator rustlink ecl matrix mavlink
 
@@ -90,9 +92,13 @@ matrix: matrix.update
 mavlink: mavlink.update mavlink.build
 
 mavlink.build:
+ifneq ($(findstring ModuleNotFoundError, $(MY_MAVLINKTOOLS)),ModuleNotFoundError)
 	@echo GENERATE $(PAPARAZZI_SRC)/var/include/mavlink
 	$(Q)PYTHONPATH=$(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/ardupilotmega.xml --wire-protocol 2.0 --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 --wire-protocol 2.0 --no-validate > /dev/null
+else
+	@echo mavlink not installed, missing packages 'imp' or 'future'
+endif
 
 libsbp: libsbp.update