diff --git a/src/modules/mavlink/mavlink_ftp.cpp b/src/modules/mavlink/mavlink_ftp.cpp
index 712d71874f..c1a385e42a 100644
--- a/src/modules/mavlink/mavlink_ftp.cpp
+++ b/src/modules/mavlink/mavlink_ftp.cpp
@@ -45,10 +45,6 @@
 #include "mavlink_main.h"
 #include "mavlink_tests/mavlink_ftp_test.h"
 
-// Uncomment the line below to get better debug output. Never commit with this left on.
-//#define MAVLINK_FTP_DEBUG
-
-
 constexpr const char MavlinkFTP::_root_dir[];
 
 MavlinkFTP::MavlinkFTP(Mavlink *mavlink) :
@@ -142,7 +138,7 @@ MavlinkFTP::handle_message(const mavlink_message_t *msg)
 		mavlink_msg_file_transfer_protocol_decode(msg, &ftp_request);
 
 #ifdef MAVLINK_FTP_DEBUG
-		warnx("FTP: received ftp protocol message target_system: %d", ftp_request.target_system);
+		PX4_INFO("FTP: received ftp protocol message target_system: %d", ftp_request.target_system);
 #endif
 
 		if (ftp_request.target_system == _getServerSystemId()) {
@@ -189,8 +185,8 @@ MavlinkFTP::_process_request(mavlink_file_transfer_protocol_t *ftp_req, uint8_t
 
 
 #ifdef MAVLINK_FTP_DEBUG
-	printf("ftp: channel %u opc %u size %u offset %u\n", _getServerChannel(), payload->opcode, payload->size,
-	       payload->offset);
+	PX4_INFO("ftp: channel %u opc %u size %u offset %u", _getServerChannel(), payload->opcode, payload->size,
+		 payload->offset);
 #endif
 
 	switch (payload->opcode) {
@@ -332,7 +328,7 @@ MavlinkFTP::_reply(mavlink_file_transfer_protocol_t *ftp_req)
 	}
 
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
+	PX4_INFO("FTP: %s seq_number: %d", payload->opcode == kRspAck ? "Ack" : "Nak", payload->seq_number);
 #endif
 
 	ftp_req->target_network = 0;
@@ -362,7 +358,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
 
 	if (dp == nullptr) {
 #ifdef MAVLINK_FTP_UNIT_TEST
-		warnx("File open failed");
+		PX4_WARN("File open failed %s", _work_buffer1);
 #else
 		_mavlink->send_statustext_critical("FTP: can't open path (file system corrupted?)");
 		_mavlink->send_statustext_critical(_work_buffer1);
@@ -372,7 +368,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
 	}
 
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: list %s offset %d", _work_buffer1, payload->offset);
+	PX4_INFO("FTP: list %s offset %d", _work_buffer1, payload->offset);
 #endif
 
 	struct dirent *result = nullptr;
@@ -390,7 +386,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
 		if (result == nullptr) {
 			if (errno) {
 #ifdef MAVLINK_FTP_UNIT_TEST
-				warnx("readdir failed");
+				PX4_WARN("readdir failed");
 #else
 				_mavlink->send_statustext_critical("FTP: list readdir failure");
 				_mavlink->send_statustext_critical(_work_buffer1);
@@ -496,7 +492,7 @@ MavlinkFTP::_workList(PayloadHeader *payload, bool list_hidden)
 		payload->data[offset++] = direntType;
 		strcpy((char *)&payload->data[offset], _work_buffer2);
 #ifdef MAVLINK_FTP_DEBUG
-		printf("FTP: list %s %s\n", _work_buffer1, (char *)&payload->data[offset - 1]);
+		PX4_INFO("FTP: list %s %s", _work_buffer1, (char *)&payload->data[offset - 1]);
 #endif
 		offset += nameLen + 1;
 	}
@@ -520,7 +516,7 @@ MavlinkFTP::_workOpen(PayloadHeader *payload, int oflag)
 	strncpy(_work_buffer1 + _root_dir_len, _data_as_cstring(payload), _work_buffer1_len - _root_dir_len);
 
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: open '%s'", _work_buffer1);
+	PX4_INFO("FTP: open '%s'", _work_buffer1);
 #endif
 
 	uint32_t fileSize = 0;
@@ -565,7 +561,7 @@ MavlinkFTP::_workRead(PayloadHeader *payload)
 	}
 
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: read offset:%d", payload->offset);
+	PX4_INFO("FTP: read offset:%d", payload->offset);
 #endif
 
 	// We have to test seek past EOF ourselves, lseek will allow seek past EOF
@@ -601,7 +597,7 @@ MavlinkFTP::_workBurst(PayloadHeader *payload, uint8_t target_system_id)
 	}
 
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("FTP: burst offset:%d", payload->offset);
+	PX4_INFO("FTP: burst offset:%d", payload->offset);
 #endif
 	// Setup for streaming sends
 	_session_info.stream_download = true;
@@ -993,7 +989,7 @@ void MavlinkFTP::send(const hrt_abstime t)
 	// Skip send if not enough room
 	unsigned max_bytes_to_send = _mavlink->get_free_tx_buf();
 #ifdef MAVLINK_FTP_DEBUG
-	warnx("MavlinkFTP::send max_bytes_to_send(%d) get_free_tx_buf(%d)", max_bytes_to_send, _mavlink->get_free_tx_buf());
+	PX4_INFO("MavlinkFTP::send max_bytes_to_send(%d) get_free_tx_buf(%d)", max_bytes_to_send, _mavlink->get_free_tx_buf());
 #endif
 
 	if (max_bytes_to_send < get_size()) {
@@ -1022,14 +1018,14 @@ void MavlinkFTP::send(const hrt_abstime t)
 		_session_info.stream_seq_number++;
 
 #ifdef MAVLINK_FTP_DEBUG
-		warnx("stream send: offset %d", _session_info.stream_offset);
+		PX4_INFO("stream send: offset %d", _session_info.stream_offset);
 #endif
 
 		// We have to test seek past EOF ourselves, lseek will allow seek past EOF
 		if (_session_info.stream_offset >= _session_info.file_size) {
 			error_code = kErrEOF;
 #ifdef MAVLINK_FTP_DEBUG
-			warnx("stream download: sending Nak EOF");
+			PX4_INFO("stream download: sending Nak EOF");
 #endif
 		}
 
@@ -1037,7 +1033,7 @@ void MavlinkFTP::send(const hrt_abstime t)
 			if (lseek(_session_info.fd, payload->offset, SEEK_SET) < 0) {
 				error_code = kErrFailErrno;
 #ifdef MAVLINK_FTP_DEBUG
-				warnx("stream download: seek fail");
+				PX4_WARN("stream download: seek fail");
 #endif
 			}
 		}
@@ -1049,7 +1045,7 @@ void MavlinkFTP::send(const hrt_abstime t)
 				// Negative return indicates error other than eof
 				error_code = kErrFailErrno;
 #ifdef MAVLINK_FTP_DEBUG
-				warnx("stream download: read fail");
+				PX4_WARN("stream download: read fail");
 #endif
 
 			} else {
diff --git a/src/modules/mavlink/mavlink_tests/CMakeLists.txt b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
index 001b9c4092..622e83a084 100644
--- a/src/modules/mavlink/mavlink_tests/CMakeLists.txt
+++ b/src/modules/mavlink/mavlink_tests/CMakeLists.txt
@@ -40,6 +40,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wno-sign-compare # TODO: fix all sign-compare
 		-DMAVLINK_FTP_UNIT_TEST
+		#-DMAVLINK_FTP_DEBUG
 		-DMavlinkStream=MavlinkStreamTest
 		-DMavlinkFTP=MavlinkFTPTest
 		-Wno-extra-semi
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
index 51f4375aae..5f2fdd9bb8 100644
--- a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
+++ b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp
@@ -42,10 +42,10 @@
 #include "mavlink_ftp_test.h"
 #include "../mavlink_ftp.h"
 
-#if !defined(CONFIG_ARCH_BOARD_SITL)
-#define PX4_MAVLINK_TEST_DATA_DIR "ROMFS/px4fmu_test/"
+#ifdef __PX4_NUTTX
+#define PX4_MAVLINK_TEST_DATA_DIR "/etc"
 #else
-#define PX4_MAVLINK_TEST_DATA_DIR "/etc/"
+#define PX4_MAVLINK_TEST_DATA_DIR "ROMFS/px4fmu_test"
 #endif
 
 /// @brief Test case file name for Read command. File are generated using mavlink_ftp_test_data.py
@@ -169,7 +169,10 @@ bool MavlinkFtpTest::_list_test()
 	const MavlinkFTP::PayloadHeader		*reply;
 
 	char response1[] = "Dempty_dir|Ftest_238.data\t238|Ftest_239.data\t239|Ftest_240.data\t240";
+#ifdef __PX4_NUTTX
+	// expected directory layout only valid on nuttx
 	char response2[] = "Ddev|Detc|Dfs|Dobj";
+#endif /* __PX4_NUTTX */
 
 	struct _testCase {
 		const char	*dir;		///< Directory to run List command on
@@ -179,8 +182,11 @@ bool MavlinkFtpTest::_list_test()
 	};
 	struct _testCase rgTestCases[] = {
 		{ "/bogus",				nullptr,	0,	false },
-		{ "/etc/unit_test_data/mavlink_tests",	response1,	4,	true },
+		{ PX4_MAVLINK_TEST_DATA_DIR  "/unit_test_data/mavlink_tests",	response1,	4,	true },
+#ifdef __PX4_NUTTX
+		// expected directory layout only valid on nuttx
 		{ "/",					response2,	4,	true },
+#endif /* __PX4_NUTTX */
 	};
 
 	for (size_t i = 0; i < sizeof(rgTestCases) / sizeof(rgTestCases[0]); i++) {
@@ -319,7 +325,6 @@ bool MavlinkFtpTest::_open_terminate_test()
 
 		ut_compare("stat failed", stat(test->file, &st), 0);
 
-
 		ut_compare("Didn't get Ack back", reply->opcode, MavlinkFTP::kRspAck);
 		ut_compare("Incorrect payload size", reply->size, sizeof(uint32_t));
 		ut_compare("File size incorrect", *((uint32_t *)&reply->data[0]), (uint32_t)st.st_size);
@@ -637,7 +642,7 @@ bool MavlinkFtpTest::_removedirectory_test()
 	};
 	static const struct _testCase rgTestCases[] = {
 		{ "/bogus",						false,	false },
-		{ "/etc/unit_test_data/mavlink_tests/empty_dir",	false,	false },
+		{ PX4_MAVLINK_TEST_DATA_DIR "/unit_test_data/mavlink_tests/empty_dir",	false,	false },
 		{ _unittest_microsd_dir,				false,	false },
 		{ _unittest_microsd_file,				false,	false },
 		{ _unittest_microsd_dir,				true,	true },
@@ -743,7 +748,10 @@ bool MavlinkFtpTest::_removefile_test()
 	};
 	static const struct _testCase rgTestCases[] = {
 		{ "/bogus",			false },
+#ifdef __PX4_NUTTX
+		// file can actually be deleted on linux
 		{ _rgDownloadTestCases[0].file,	false },
+#endif /* __PX4_NUTTX */
 		{ _unittest_microsd_dir,	false },
 		{ _unittest_microsd_file,	true },
 		{ _unittest_microsd_file,	false },
@@ -935,28 +943,18 @@ bool MavlinkFtpTest::run_tests()
 	ut_run_test(_bad_opcode_test);
 	ut_run_test(_bad_datasize_test);
 
-	// TODO FIX: cmake build system needs to run mavlink_ftp_test_data.py
+	// TODO FIX: Incorrect payload size - (reply->size:1) (2:2) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:243)
 	//ut_run_test(_list_test);
 
-	// TODO FIX: Compare failed: Didn't get Nak back - (reply->opcode:128) (MavlinkFTP::kRspNak:129) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:265)
+	// TODO FIX: Didn't get Nak back - (reply->opcode:128) (MavlinkFTP::kRspNak:129) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:271)
 	//ut_run_test(_list_eof_test);
 
 	ut_run_test(_open_badfile_test);
-
-	// TODO FIX: Compare failed: stat failed - (stat(test->file, &st):-1) (0:0) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:320)
-	//ut_run_test(_open_terminate_test);
-
-	// TODO FIX: Compare failed: Didn't get Ack back - (reply->opcode:129) (MavlinkFTP::kRspAck:128) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:366)
-	//ut_run_test(_terminate_badsession_test);
-
-	// TODO FIX: Compare failed: Didn't get Ack back - (reply->opcode:129) (MavlinkFTP::kRspAck:128) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:366)
-	//ut_run_test(_read_test);
-
-	// TODO FIX: Compare failed: Didn't get Ack back - (reply->opcode:129) (MavlinkFTP::kRspAck:128) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:605)
-	//ut_run_test(_read_badsession_test);
-
-	// TODO FIX: Compare failed: stat failed - (stat(test->file, &st):-1) (0:0) (../src/modules/mavlink/mavlink_tests/mavlink_ftp_test.cpp:513)
-	//ut_run_test(_burst_test);
+	ut_run_test(_open_terminate_test);
+	ut_run_test(_terminate_badsession_test);
+	ut_run_test(_read_test);
+	ut_run_test(_read_badsession_test);
+	ut_run_test(_burst_test);
 	ut_run_test(_removedirectory_test);
 	ut_run_test(_createdirectory_test);
 	ut_run_test(_removefile_test);
diff --git a/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py b/src/modules/mavlink/mavlink_tests/mavlink_ftp_test_data.py
old mode 100644
new mode 100755