diff --git a/Tools/scripts/build_autotest.sh b/Tools/scripts/build_autotest.sh
index 60c2a42df8..bf212bfacd 100755
--- a/Tools/scripts/build_autotest.sh
+++ b/Tools/scripts/build_autotest.sh
@@ -71,13 +71,13 @@ pushd MAVProxy
 git fetch origin
 git reset --hard origin/master
 git show
-python setup.py build install --user
+python3 -m pip install --user .
 popd
 
 echo "Updating pymavlink"
 pushd APM/modules/mavlink/pymavlink
 git show
-python setup.py build install --user
+python3 -m pip install --user .
 popd
 
 githash=$(cd APM && git rev-parse HEAD)
diff --git a/Tools/scripts/build_ci.sh b/Tools/scripts/build_ci.sh
index ceb57d260f..ab91ce7c7b 100755
--- a/Tools/scripts/build_ci.sh
+++ b/Tools/scripts/build_ci.sh
@@ -40,7 +40,7 @@ function install_pymavlink() {
     if [ $pymavlink_installed -eq 0 ]; then
         echo "Installing pymavlink"
         git submodule update --init --recursive --depth 1
-        (cd modules/mavlink/pymavlink && python setup.py build install --user)
+        (cd modules/mavlink/pymavlink && python3 -m pip install --user .)
         pymavlink_installed=1
     fi
 }
@@ -51,7 +51,7 @@ function install_mavproxy() {
         pushd /tmp
           git clone https://github.com/ardupilot/MAVProxy --depth 1
           pushd MAVProxy
-            python setup.py build install --user --force
+            python3 -m pip install --user --force .
           popd
         popd
         mavproxy_installed=1