diff --git a/recipes-ros/ros-mavlink/ros-mavlink/0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch b/recipes-ros/ros-mavlink/ros-mavlink/0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch
deleted file mode 100644
index 26d9437..0000000
--- a/recipes-ros/ros-mavlink/ros-mavlink/0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch
+++ /dev/null
@@ -1,31 +0,0 @@
-From af522ba6b85be00a712618c719e831b941a8ffdc Mon Sep 17 00:00:00 2001
-From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
-Date: Wed, 16 Nov 2016 13:23:49 -0200
-Subject: [PATCH] Fix @PKG_NAME@_INCLUDE_DIR variable
-
-The previous approach hardcoded the path to the include directory and cross
-compilation using a sysroot directory would fail. This patch takes the
-resulting config files generated from other ROS packages as reference.
-
-Upstream-Status: Backport [https://github.com/mavlink/mavlink-gbp-release/pull/5]
----
- config.cmake.in | 3 ++-
- 1 file changed, 2 insertions(+), 1 deletion(-)
-
-diff --git a/config.cmake.in b/config.cmake.in
-index b62ab64..34bed61 100644
---- a/config.cmake.in
-+++ b/config.cmake.in
-@@ -3,7 +3,8 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
- endif()
- set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
- 
--set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
-+get_filename_component(include "${@PKG_NAME@_DIR}/../../../include" ABSOLUTE)
-+set(@PKG_NAME@_INCLUDE_DIRS ${include})
- set(@PKG_NAME@_DIALECTS @PKG_MAVLINK_DIALECTS@)
- set(@PKG2_NAME@_DIALECTS @PKG2_MAVLINK_DIALECTS@)
- 
--- 
-2.10.2
-
diff --git a/recipes-ros/ros-mavlink/ros-mavlink/0002-provide-path-to-find-mavgen_c.patch b/recipes-ros/ros-mavlink/ros-mavlink/0002-provide-path-to-find-mavgen_c.patch
new file mode 100644
index 0000000..ee2d8ef
--- /dev/null
+++ b/recipes-ros/ros-mavlink/ros-mavlink/0002-provide-path-to-find-mavgen_c.patch
@@ -0,0 +1,43 @@
+From 6ac7498052f0e97e978c8adf887b9bbf851d58e2 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sun, 7 May 2017 07:02:49 +0200
+Subject: [PATCH 2/2] provide path to find mavgen_c
+
+When compiling mavlink, it failed with:
+
+```
+| Generating C headers
+| Traceback (most recent call last):
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/tools/mavgen.py", line 30, in <module>
+|     mavgen.mavgen(args, args.definitions)
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/generator/mavgen.py", line 154, in mavgen
+|     mavgen_cpp11.generate(opts.output, xml)
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/generator/mavgen_cpp11.py", line 451, in generate
+|     import mavgen_c
+| ImportError: No module named 'mavgen_c'
+```
+
+This commit provides the path to find mavgen_c, as already done in
+many other places.
+
+Upstream-Status: Pending
+---
+ pymavlink/generator/mavgen_cpp11.py | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/pymavlink/generator/mavgen_cpp11.py b/pymavlink/generator/mavgen_cpp11.py
+index 797ab2e..5fc824a 100644
+--- a/pymavlink/generator/mavgen_cpp11.py
++++ b/pymavlink/generator/mavgen_cpp11.py
+@@ -448,7 +448,7 @@ def generate_one(basename, xml):
+ def generate(basename, xml_list):
+     '''generate serialization MAVLink C++ implemenation'''
+     print("Generating C headers")
+-    import mavgen_c
++    from . import mavgen_c
+     mavgen_c.generate(basename, xml_list)
+     for xml in xml_list:
+         generate_one(basename, xml)
+-- 
+1.9.1
+
diff --git a/recipes-ros/ros-mavlink/ros-mavlink_git.bb b/recipes-ros/ros-mavlink/ros-mavlink_git.bb
index 744f203..7bec02e 100644
--- a/recipes-ros/ros-mavlink/ros-mavlink_git.bb
+++ b/recipes-ros/ros-mavlink/ros-mavlink_git.bb
@@ -2,14 +2,14 @@ DESCRIPTION = "MAVLink message marshaling library"
 LICENSE = "LGPLv3"
 LIC_FILES_CHKSUM = "file://COPYING;md5=54ad3cbe91bebcf6b1823970ff1fb97f"
 
-SRC_URI = "git://github.com/mavlink/mavlink-gbp-release.git;branch=release/${ROSDISTRO}/mavlink"
+SRC_URI = "git://github.com/mavlink/mavlink-gbp-release.git;branch=release/kinetic/mavlink"
 SRCREV = "${AUTOREV}"
 
-SRC_URI += "file://0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch"
 SRC_URI += "file://0001-do-not-require-python2.patch"
+SRC_URI += "file://0002-provide-path-to-find-mavgen_c.patch"
 
 S = "${WORKDIR}/git"
 
-DEPENDS = "${PYTHON_PN}-setuptools-native"
+DEPENDS = "${PYTHON_PN}-setuptools-native ${PYTHON_PN}-future-native"
 
 inherit catkin