diff --git a/ci/espressif_install.sh b/ci/espressif_install.sh
index db32200..c2ec2c4 100755
--- a/ci/espressif_install.sh
+++ b/ci/espressif_install.sh
@@ -2,11 +2,6 @@
 # SPDX-FileCopyrightText: 2021 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Apache-2.0
 
-SCRIPT_ROOTDIR=$(dirname "$(realpath "${BASH_SOURCE[0]}")")
-MCUBOOT_ROOTDIR=$(realpath "${SCRIPT_ROOTDIR}/..")
-ESPRESSIF_ROOT="${MCUBOOT_ROOTDIR}/boot/espressif"
-IDF_PATH="${ESPRESSIF_ROOT}/hal/esp-idf"
-
 set -eo pipefail
 
 install_imgtool() {
@@ -14,7 +9,14 @@
 }
 
 install_idf() {
-    "${IDF_PATH}"/install.sh
+    pushd $HOME
+    git clone --depth=1 https://github.com/espressif/esp-idf.git --branch release/v5.1
+    [[ $? -ne 0 ]] && exit 1
+
+    $HOME/esp-idf/install.sh
+    [[ $? -ne 0 ]] && exit 1
+
+    popd
 }
 
 install_imgtool
diff --git a/ci/espressif_run.sh b/ci/espressif_run.sh
index e4729fe..74b77cb 100755
--- a/ci/espressif_run.sh
+++ b/ci/espressif_run.sh
@@ -5,7 +5,7 @@
 SCRIPT_ROOTDIR=$(dirname "$(realpath "${BASH_SOURCE[0]}")")
 MCUBOOT_ROOTDIR=$(realpath "${SCRIPT_ROOTDIR}/..")
 ESPRESSIF_ROOT="${MCUBOOT_ROOTDIR}/boot/espressif"
-IDF_PATH="${ESPRESSIF_ROOT}/hal/esp-idf"
+IDF_PATH="${HOME}/esp-idf"
 
 set -eo pipefail
 
@@ -38,7 +38,7 @@
   cmake -DCMAKE_TOOLCHAIN_FILE="${toolchain_file}"  \
         -DMCUBOOT_TARGET="${target}"                \
         -DMCUBOOT_CONFIG_FILE="${mcuboot_config}"   \
-        -DIDF_PATH="${IDF_PATH}"                    \
+        -DESP_HAL_PATH="${IDF_PATH}"                \
         -B "${build_dir}"                           \
         "${ESPRESSIF_ROOT}"
   cmake --build "${build_dir}"/