diff --git a/.gitmodules b/.gitmodules
index 8741337b63c9d18816cbd03b1ff6a1e296629dcc..74e658d905d35b87ffe8d92e32edf784eb0d7f6d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,7 +1,3 @@
-[submodule "mavlink/include/mavlink/v1.0"]
-	path = mavlink/include/mavlink/v1.0
-	url = https://github.com/mavlink/c_library_v1.git
-	branch = master
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
 	url = https://github.com/mavlink/c_library_v2.git
diff --git a/mavlink/include/mavlink/v1.0 b/mavlink/include/mavlink/v1.0
deleted file mode 160000
index 191029c48227f7a5b0900493c54ee831080183f5..0000000000000000000000000000000000000000
--- a/mavlink/include/mavlink/v1.0
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 191029c48227f7a5b0900493c54ee831080183f5
diff --git a/src/drivers/pwm_out_rc_in/CMakeLists.txt b/src/drivers/pwm_out_rc_in/CMakeLists.txt
index 97d66d439772dafac2ad722e19eb88fb5b38c9a3..0c5f55550cd09c67ee8de23540870f3409f1d0fb 100644
--- a/src/drivers/pwm_out_rc_in/CMakeLists.txt
+++ b/src/drivers/pwm_out_rc_in/CMakeLists.txt
@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
-
 px4_add_module(
 	MODULE drivers__pwm_out_rc_in
 	MAIN pwm_out_rc_in
@@ -43,7 +41,5 @@ px4_add_module(
 	SRCS
 		pwm_out_rc_in.cpp
 	DEPENDS
-		git_mavlink_v1
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp b/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
index b9efc7a0d0a7415f423a0c833d888e1fde2411b5..25343f47737e695179c40d53a9048eaf7dae4679 100644
--- a/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
+++ b/src/drivers/pwm_out_rc_in/pwm_out_rc_in.cpp
@@ -51,9 +51,9 @@
 #include <systemlib/param/param.h>
 #include <systemlib/pwm_limit/pwm_limit.h>
 #include <dev_fs_lib_serial.h>
-#include <v1.0/checksum.h>
-#include <v1.0/mavlink_types.h>
-#include <v1.0/common/mavlink.h>
+#include <v2.0/checksum.h>
+#include <v2.0/mavlink_types.h>
+#include <v2.0/common/mavlink.h>
 
 /*
  * This driver is supposed to run on Snapdragon. It sends actuator_controls (PWM)
diff --git a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
index d2c66a55098476a6186babb149bb99b0b4ea9e80..1fb8f59121d46287d089e6deb9c0a420e88f2ade 100644
--- a/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
+++ b/src/drivers/snapdragon_rc_pwm/CMakeLists.txt
@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
-
 px4_add_module(
 	MODULE drivers__snapdragon_rc_pwm
 	MAIN snapdragon_rc_pwm
@@ -43,7 +41,5 @@ px4_add_module(
 	SRCS
 		snapdragon_rc_pwm.cpp
 	DEPENDS
-		git_mavlink_v1
 		platforms__common
 	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :
diff --git a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp b/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
index f676c462065b64bad097b863f66a2dfaa48cc023..1a950cac100a9f0b05f35b4f6a2934a69e4f4e74 100644
--- a/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
+++ b/src/drivers/snapdragon_rc_pwm/snapdragon_rc_pwm.cpp
@@ -53,8 +53,8 @@
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/actuator_controls.h>
 
-#include <v1.0/mavlink_types.h>
-#include <v1.0/common/mavlink.h>
+#include <v2.0/mavlink_types.h>
+#include <v2.0/common/mavlink.h>
 
 #include "drivers/drv_pwm_output.h"
 #include <drivers/drv_hrt.h>
diff --git a/src/modules/simulator/CMakeLists.txt b/src/modules/simulator/CMakeLists.txt
index 96695b4611f0d57c6d3beea39dda6e182b0c8ff3..1a9dc06334da6dda284b6459116d02470d195bdb 100644
--- a/src/modules/simulator/CMakeLists.txt
+++ b/src/modules/simulator/CMakeLists.txt
@@ -31,8 +31,6 @@
 #
 ############################################################################
 
-px4_add_git_submodule(TARGET git_mavlink_v1 PATH "${PX4_SOURCE_DIR}/mavlink/include/mavlink/v1.0")
-
 option(ENABLE_UART_RC_INPUT "Enable RC Input from UART mavlink connection" OFF)
 
 if(ENABLE_UART_RC_INPUT)
@@ -64,6 +62,6 @@ px4_add_module(
 	SRCS
 		${SIMULATOR_SRCS}
 	DEPENDS
-		git_mavlink_v1
+		git_mavlink_v2
 		platforms__common
 	)