ESP32 Forum

Posted: **Thu Feb 19, 2026 4:29 pm**

I’m trying to build an ESP32-based MAVLink-to-MSP bridge to use an ARK Flow optical flow sensor (MAVLink over UART) with INAV 9.0.0 via MSP (Optical Flow + Rangefinder).

Goal

ARK Flow outputs MAVLink (OPTICAL_FLOW_RAD + DISTANCE_SENSOR) over UART

ESP32 reads MAVLink and converts to:

MSP2_SENSOR_OPTIC_FLOW

MSP2_SENSOR_RANGEFINDER

INAV receives MSP over UART3 for altitude hold / position hold

Hardware

ESP32 dev board (EzSBC ESP32U-01)

ARK Flow optical flow sensor

TBS Lucid H7 FC running INAV 9.0.0

Issue

I cannot get Arduino IDE (2.x) to compile any sketch that includes MAVLink headers.

I installed MAVLink by Oleg Kalachev via Library Manager.

My sketchbook location is:

C:\Users\John\Documents\Arduino

MAVLink headers exist at:

C:\Users\John\Documents\Arduino\libraries\MAVLink\mavlink\common\mavlink.h

But compiling even a minimal test sketch fails with:

fatal error: mavlink/common/mavlink.h: No such file or directory

Any help would be greatly appreciated!

Posted: **Sat Feb 21, 2026 11:44 am**

An example of ESP32-based MAVLink-to-UDP bridge can be found here.
I used ESP-IDF.
https://github.com/nopnop2002/esp-idf-mavlink-monitor

ESP32 Forum

ESP32 MAVLink → MSP Bridge Compile Issue (MAVLink Headers Not Found)

ESP32 MAVLink → MSP Bridge Compile Issue (MAVLink Headers Not Found)

Re: ESP32 MAVLink → MSP Bridge Compile Issue (MAVLink Headers Not Found)