diff --git a/Cargo.lock b/Cargo.lock
index 35e8e56..50421cf 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -153,6 +153,7 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
+ "kaptan-mavlink",
  "kaptan-spec",
  "panic-halt",
  "rtic",
@@ -163,13 +164,10 @@ dependencies = [
 name = "kaptan-mavlink"
 version = "0.1.0"
 dependencies = [
- "bitflags",
  "kaptan-spec",
  "mavlink",
  "mavlink-bindgen",
  "mavlink-core",
- "num-derive",
- "num-traits",
 ]
 
 [[package]]
diff --git a/libs/kaptan-mavlink/Cargo.toml b/libs/kaptan-mavlink/Cargo.toml
index e1e5572..882707e 100644
--- a/libs/kaptan-mavlink/Cargo.toml
+++ b/libs/kaptan-mavlink/Cargo.toml
@@ -16,9 +16,6 @@ dialect-kaptan = []
 [dependencies]
 mavlink = { version = "0.18", default-features = false, features = ["embedded", "dialect-common"] }
 mavlink-core = { version = "0.18", default-features = false, features = ["embedded"] }
-bitflags = "2"
-num-derive = "0.4"
-num-traits = "0.2"
 
 [build-dependencies]
 kaptan-spec = { path = "../kaptan-spec", features = ["std"] }
diff --git a/libs/kaptan-mavlink/build.rs b/libs/kaptan-mavlink/build.rs
index 3010406..6bb72be 100644
--- a/libs/kaptan-mavlink/build.rs
+++ b/libs/kaptan-mavlink/build.rs
@@ -6,6 +6,7 @@ fn main() {
     let manifest_directory = PathBuf::from(std::env::var("CARGO_MANIFEST_DIR").unwrap());
     let dialect = manifest_directory.join("definitions/kaptan.xml");
     let output_directory = std::env::var("OUT_DIR").unwrap();
+    let dialect_source = std::fs::read_to_string(&dialect).unwrap();
     let generated = mavlink_bindgen::generate(
         mavlink_bindgen::XmlDefinitions::Files(vec![dialect]),
         output_directory,
@@ -13,4 +14,8 @@ fn main() {
     .unwrap();
 
     mavlink_bindgen::emit_cargo_build_messages(&generated);
+    println!("cargo::rustc-check-cfg=cfg(kaptan_has_messages)");
+    if dialect_source.contains("<message ") {
+        println!("cargo::rustc-cfg=kaptan_has_messages");
+    }
 }
diff --git a/libs/kaptan-mavlink/src/lib.rs b/libs/kaptan-mavlink/src/lib.rs
index 0d7b532..d8fc345 100644
--- a/libs/kaptan-mavlink/src/lib.rs
+++ b/libs/kaptan-mavlink/src/lib.rs
@@ -5,7 +5,9 @@
 /// Supported MAVLink message types for Kaptan.
 pub mod message {
     pub use mavlink::MAVLinkV2MessageRaw;
+    pub use mavlink::MavHeader;
     pub use mavlink::dialects::common::*;
 
+    #[cfg(kaptan_has_messages)]
     include!(concat!(env!("OUT_DIR"), "/mod.rs"));
 }