diff --git a/CMakeLists.txt b/CMakeLists.txt
index 814fbe2bbf..5e9d253c7a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -443,8 +443,10 @@ endforeach()
 
 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
diff --git a/Makefile b/Makefile
index 0c4c2a49a7..8a29457c2c 100644
--- a/Makefile
+++ b/Makefile
@@ -299,9 +299,11 @@ all_variants_%:
 	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))
 
 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
 
 
diff --git a/Tools/uorb_graph/create.py b/Tools/uorb_graph/create.py
index 844e4df3d7..60d0f93f87 100755
--- a/Tools/uorb_graph/create.py
+++ b/Tools/uorb_graph/create.py
@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
                     help='Excluded path(s), can be specified multiple times',
                     default=[])
 parser.add_argument('--merge-depends', action='store_true',
-                    help='Merge library topics inte the modules that depend on them.')
+                    help='Merge library topics in the modules that depend on them.')
 parser.add_argument('-v','--verbosity', action='count',
                     help='increase output verbosity; primarily for debugging; repeat for more detail',
                     default=0)
@@ -673,7 +673,7 @@ class OutputJSON(object):
             node['color'] = topic_colors[topic]
             # url is opened when double-clicking on the node
             # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
             nodes.append(node)
 
         data['nodes'] = nodes