diff --git a/CHANGELOG.md b/CHANGELOG.md
index e6a28899a6..42d1e93fc6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - gatt_client: emit query complete event for signed write operation
 - btstack_tlv_flash_bank: support targets where a value cannot be overwritten with zero. When ENABLE_TLV_FLASH_EXPLICIT_DELETE_FIELD
   is defined, an explicit delete field is used to indicate an invalid entry.
+- FreeRTOS: use freertos/.. prefix to include FreeRTOS headers if HAVE_FREERTOS_INCLUDE_PREFIX is defined
 
 ### Fixed
 - SM: Use provided authentication requirements in slave security request
diff --git a/doc/manual/docs/how_to.md b/doc/manual/docs/how_to.md
index 4a24621637..255cc84eff 100644
--- a/doc/manual/docs/how_to.md
+++ b/doc/manual/docs/how_to.md
@@ -46,11 +46,17 @@ HAVE_MBEDTLS_ECC_P256              | mbedTLS provides NIST P-256 operations e.g.
 
 Embedded platform properties:
 
-\#define                            | Description
+\#define                           | Description
 -----------------------------------|------------------------------------
 HAVE_EMBEDDED_TIME_MS              | System provides time in milliseconds
 HAVE_EMBEDDED_TICK                 | System provides tick interrupt
 
+FreeRTOS platform properties:
+
+\#define                           | Description
+-----------------------------------|------------------------------------
+HAVE_FREERTOS_INCLUDE_PREFIX       | FreeRTOS headers are in 'freertos' folder (e.g. ESP32's esp-idf)
+
 POSIX platform properties:
 
 \#define                            | Description
diff --git a/platform/freertos/btstack_run_loop_freertos.c b/platform/freertos/btstack_run_loop_freertos.c
index 69bd64e840..f7f0bb002d 100644
--- a/platform/freertos/btstack_run_loop_freertos.c
+++ b/platform/freertos/btstack_run_loop_freertos.c
@@ -50,14 +50,22 @@
 #include "btstack_linked_list.h"
 #include "btstack_debug.h"
 #include "btstack_run_loop_freertos.h"
+#include "hal_time_ms.h"
 
-// #include "hal_time_ms.h"
-uint32_t hal_time_ms(void);
+// some SDKs, e.g. esp-idf, place FreeRTOS headers into an 'freertos' folder to avoid name collisions (e.g. list.h, queue.h, ..)
+// wih this flag, the headers are properly found
 
+#ifdef HAVE_FREERTOS_INCLUDE_PREFIX
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/queue.h"
 #include "freertos/event_groups.h"
+#else
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "event_groups.h"
+#endif
 
 typedef struct function_call {
     void (*fn)(void * arg);
diff --git a/port/esp32/components/btstack/include/btstack_config.h b/port/esp32/components/btstack/include/btstack_config.h
index 5d842fc84f..b3c09080bb 100644
--- a/port/esp32/components/btstack/include/btstack_config.h
+++ b/port/esp32/components/btstack/include/btstack_config.h
@@ -10,6 +10,7 @@
 #define HAVE_MALLOC
 #define HAVE_BTSTACK_STDIN
 #define HAVE_FREERTOS_TASK_NOTIFICATIONS
+#define HAVE_FREERTOS_INCLUDE_PREFIX
 
 // BTstack features that can be enabled
 #define ENABLE_BLE