diff --git a/.gitmodules b/.gitmodules
index d84bccbd9f..c84cfc5a09 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
-[submodule "mavlink/include/mavlink/v2.0"]
-	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+[submodule "src/modules/mavlink/mavlink"]
+	path = src/modules/mavlink/mavlink
+	url = https://github.com/mavlink/mavlink.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -65,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 9098b500e9..f9033e35ca 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -21,6 +21,7 @@ exec find boards msg src platforms test \
     -path src/lib/parameters/uthash -prune -o \
     -path src/modules/ekf2/EKF -prune -o \
     -path src/modules/gyro_fft/CMSIS_5 -prune -o \
+    -path src/modules/mavlink/mavlink -prune -o \
     -path src/modules/micrortps_bridge/micro-CDR -prune -o \
     -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
     -path test/mavsdk_tests/catch2 -prune -o \
diff --git a/Tools/flightgear_bridge b/Tools/flightgear_bridge
index 7c2c623da9..ea9b6cb5b9 160000
--- a/Tools/flightgear_bridge
+++ b/Tools/flightgear_bridge
@@ -1 +1 @@
-Subproject commit 7c2c623da9f5dcb3f01d32830af1a2ed958de363
+Subproject commit ea9b6cb5b93365928190864a6592c0a280e101ea
diff --git a/Tools/jsbsim_bridge b/Tools/jsbsim_bridge
index e070c50d59..68de2cc63d 160000
--- a/Tools/jsbsim_bridge
+++ b/Tools/jsbsim_bridge
@@ -1 +1 @@
-Subproject commit e070c50d591541d440510b65c9da5cad1db5aa9a
+Subproject commit 68de2cc63ded9a0d6641d45e9eb3ed2b43454cba
diff --git a/Tools/setup/requirements.txt b/Tools/setup/requirements.txt
index 00a5a79956..dc7b822f12 100644
--- a/Tools/setup/requirements.txt
+++ b/Tools/setup/requirements.txt
@@ -6,6 +6,7 @@ empy>=3.3
 jinja2>=2.8
 jsonschema
 kconfiglib
+lxml
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 88d27581de..6223018f6d 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -86,6 +86,8 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
+	libxml2-dev \
+	libxml2-utils \
 	make \
 	ninja-build \
 	python3 \
diff --git a/Tools/simulation-ignition b/Tools/simulation-ignition
index e78ad94a4f..0ea4dbe2c3 160000
--- a/Tools/simulation-ignition
+++ b/Tools/simulation-ignition
@@ -1 +1 @@
-Subproject commit e78ad94a4f41bbc202fd7fc1acb728b09cb1dbaf
+Subproject commit 0ea4dbe2c3dac84f5927a59b1caf5e5561cf942e
diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo
index d8366bf238..1c8c919710 160000
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@@ -1 +1 @@
-Subproject commit d8366bf2389eae6106d1dbfaac72ebfdf23a5d2d
+Subproject commit 1c8c9197103e746a21f2d2d2c844dd2f7e2b036b
diff --git a/cmake/px4_add_module.cmake b/cmake/px4_add_module.cmake
index aa75a00d4d..7c3ef5df37 100644
--- a/cmake/px4_add_module.cmake
+++ b/cmake/px4_add_module.cmake
@@ -125,7 +125,7 @@ function(px4_add_module)
 			#  as well as interface include and libraries
 			foreach(dep ${DEPENDS})
 				get_target_property(dep_type ${dep} TYPE)
-				if (${dep_type} STREQUAL "STATIC_LIBRARY")
+				if((${dep_type} STREQUAL "STATIC_LIBRARY") OR (${dep_type} STREQUAL "INTERFACE_LIBRARY"))
 					target_link_libraries(${MODULE}_original PRIVATE ${dep})
 				else()
 					add_dependencies(${MODULE}_original ${dep})
@@ -205,7 +205,7 @@ function(px4_add_module)
 		#  as well as interface include and libraries
 		foreach(dep ${DEPENDS})
 			get_target_property(dep_type ${dep} TYPE)
-			if (${dep_type} STREQUAL "STATIC_LIBRARY")
+			if((${dep_type} STREQUAL "STATIC_LIBRARY") OR (${dep_type} STREQUAL "INTERFACE_LIBRARY"))
 				target_link_libraries(${MODULE} PRIVATE ${dep})
 			else()
 				add_dependencies(${MODULE} ${dep})
diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0
deleted file mode 160000
index 5571ffbcd6..0000000000
--- a/mavlink/include/mavlink/v2.0
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 5571ffbcd67e19ee6c6301fe13712856906525c2
diff --git a/src/lib/version/px_update_git_header.py b/src/lib/version/px_update_git_header.py
index e9372ff36b..2d8da490ac 100755
--- a/src/lib/version/px_update_git_header.py
+++ b/src/lib/version/px_update_git_header.py
@@ -135,9 +135,9 @@ if (os.path.exists('src/lib/ecl/.git')):
 
 
 # Mavlink
-if (os.path.exists('mavlink/include/mavlink/v2.0/.git')):
+if (os.path.exists('src/modules/mavlink/mavlink/.git')):
     mavlink_git_version = subprocess.check_output('git rev-parse --verify HEAD'.split(),
-                                      cwd='mavlink/include/mavlink/v2.0', stderr=subprocess.STDOUT).decode('utf-8').strip()
+                                      cwd='src/modules/mavlink/mavlink', stderr=subprocess.STDOUT).decode('utf-8').strip()
     mavlink_git_version_short = mavlink_git_version[0:16]
 
     header += f"""
diff --git a/src/modules/mavlink/CMakeLists.txt b/src/modules/mavlink/CMakeLists.txt
index cd7135338b..f57186d52d 100644
--- a/src/modules/mavlink/CMakeLists.txt
+++ b/src/modules/mavlink/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,18 +31,51 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v2.0")
+set(MAVLINK_DIALECT "development") # standard, development, etc
+
+# force mavlink dialect to standard if flash constrained
+if(px4_constrained_flash_build)
+	set(MAVLINK_DIALECT "standard")
+endif()
+
+set(MAVLINK_GIT_DIR "${CMAKE_CURRENT_LIST_DIR}/mavlink")
+set(MAVLINK_LIBRARY_DIR "${CMAKE_BINARY_DIR}/mavlink")
+file(RELATIVE_PATH MAVLINK_GIT_DIR_RELATIVE ${CMAKE_SOURCE_DIR} ${MAVLINK_GIT_DIR})
+
+px4_add_git_submodule(TARGET git_mavlink_v2 PATH "${MAVLINK_GIT_DIR}")
+
+add_custom_command(
+	OUTPUT ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h
+	COMMAND
+		${PYTHON_EXECUTABLE} ${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+			--lang C --wire-protocol 2.0
+			#--no-validate
+			#--strict-units
+			--output ${MAVLINK_LIBRARY_DIR}
+			${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+	DEPENDS
+		git_mavlink_v2
+		${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
+		${MAVLINK_GIT_DIR}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml
+	COMMENT "Generating Mavlink ${MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${MAVLINK_DIALECT}.xml"
+	USES_TERMINAL
+)
+add_custom_target(mavlink_c_generate DEPENDS ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
+
+# mavlink header only library
+add_library(mavlink_c INTERFACE)
+target_sources(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h)
+set_source_files_properties(${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT}/${MAVLINK_DIALECT}.h PROPERTIES GENERATED true)
+target_include_directories(mavlink_c INTERFACE ${MAVLINK_LIBRARY_DIR} ${MAVLINK_LIBRARY_DIR}/${MAVLINK_DIALECT})
+target_compile_options(mavlink_c INTERFACE -Wno-address-of-packed-member -Wno-cast-align)
+
 
 px4_add_module(
 	MODULE modules__mavlink
 	MAIN mavlink
 	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
-		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 		-Wno-enum-compare # ROTATION <-> MAV_SENSOR_ROTATION
 		#-DDEBUG_BUILD
-	INCLUDES
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
 	SRCS
 		mavlink.c
 		mavlink_command_sender.cpp
@@ -70,9 +103,9 @@ px4_add_module(
 		drivers_barometer
 		drivers_gyroscope
 		drivers_magnetometer
-		git_mavlink_v2
 		conversion
 		geo
+		mavlink_c
 		version
 	UNITY_BUILD
 	)
diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink
new file mode 160000
index 0000000000..3718ee300b
--- /dev/null
+++ b/src/modules/mavlink/mavlink
@@ -0,0 +1 @@
+Subproject commit 3718ee300bef7a8e7a25314e25e03c11d9f0b180
diff --git a/src/modules/mavlink/mavlink_bridge_header.h b/src/modules/mavlink/mavlink_bridge_header.h
index e4811f5628..6d3a0152a4 100644
--- a/src/modules/mavlink/mavlink_bridge_header.h
+++ b/src/modules/mavlink/mavlink_bridge_header.h
@@ -61,7 +61,7 @@
 # define MAVLINK_COMM_5 static_cast<mavlink_channel_t>(5)
 #endif
 
-#include <v2.0/mavlink_types.h>
+#include <mavlink_types.h>
 #include <unistd.h>
 
 __BEGIN_DECLS
@@ -92,7 +92,7 @@ void mavlink_end_uart_send(mavlink_channel_t chan, int length);
 extern mavlink_status_t *mavlink_get_channel_status(uint8_t chan);
 extern mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan);
 
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 
 __END_DECLS
 
diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index ee5e4dc348..0ed2649f4d 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -48,7 +48,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_main.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif
 
 using namespace time_literals;
diff --git a/src/modules/mavlink/mavlink_ftp.h b/src/modules/mavlink/mavlink_ftp.h
index a3ac52be93..3a92690278 100644
--- a/src/modules/mavlink/mavlink_ftp.h
+++ b/src/modules/mavlink/mavlink_ftp.h
@@ -46,7 +46,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif
 
 class MavlinkFtpTest;
diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
index da27da0f20..5ea4b8a854 100644
--- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt
+++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
@@ -31,12 +31,13 @@
 #
 ############################################################################
 
-include_directories(${PX4_SOURCE_DIR}/mavlink/include/mavlink)
-
 px4_add_module(
 	MODULE modules__mavlink__mavlink_tests
 	MAIN mavlink_tests
 	STACK_MAIN 8192
+	INCLUDES
+		${CMAKE_BINARY_DIR}/mavlink
+		${CMAKE_BINARY_DIR}/mavlink/common
 	COMPILE_FLAGS
 		-DMAVLINK_FTP_UNIT_TEST
 		#-DMAVLINK_FTP_DEBUG
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
index 8d2868af76..30f9fcc110 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.h
@@ -40,7 +40,7 @@
 #ifndef MAVLINK_FTP_UNIT_TEST
 #include "../mavlink_bridge_header.h"
 #else
-#include <v2.0/standard/mavlink.h>
+#include <mavlink.h>
 #endif
 #include "../mavlink_ftp.h"
 
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index d19927f47f..af52383c3c 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -55,12 +55,13 @@ px4_add_module(
 		-Wno-cast-align
 		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 	INCLUDES
-		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${CMAKE_BINARY_DIR}/mavlink
+		${CMAKE_BINARY_DIR}/mavlink/development
 	SRCS
 		simulator.cpp
 		simulator_mavlink.cpp
 	DEPENDS
-		git_mavlink_v2
+		mavlink_c_generate
 		conversion
 		geo
 		drivers_accelerometer
@@ -68,6 +69,6 @@ px4_add_module(
 		drivers_gyroscope
 		drivers_magnetometer
 	)
-target_include_directories(modules__simulator INTERFACE ${PX4_SOURCE_DIR}/mavlink/include/mavlink)
+target_include_directories(modules__simulator INTERFACE ${CMAKE_BINARY_DIR}/mavlink)
 
 add_subdirectory(battery_simulator)
diff --git a/src/modules/simulator/simulator.h b/src/modules/simulator/simulator.h
index 56176d1a8f..525a89b7d1 100644
--- a/src/modules/simulator/simulator.h
+++ b/src/modules/simulator/simulator.h
@@ -76,8 +76,8 @@
 
 #include <random>
 
-#include <v2.0/common/mavlink.h>
-#include <v2.0/mavlink_types.h>
+#include <mavlink.h>
+#include <mavlink_types.h>
 
 using namespace time_literals;