diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 31c1148db9ea8..93e6638304440 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -276,10 +276,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_NAV_CONTROLLER_OUTPUT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
 };
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 6c2d169db8af6..c07b4807a2e09 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -505,10 +505,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 9256fdfe01cb3..b733f7b7bff13 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -630,10 +630,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 0d0bad47ebd89..c2bbf8b5c42bb 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -369,10 +369,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index b132d80160a5c..4d91191a02863 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -327,10 +327,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT, // MISSION_CURRENT
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 6a39311eade23..3704110ec9e2f 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -541,10 +541,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
index a3df4631fef87..f35ee3a580c8c 100644
--- a/Tools/AP_Periph/GCS_MAVLink.cpp
+++ b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_MCU_STATUS,
 #endif
     MSG_MEMINFO,
-#if AP_GPS_ENABLED
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
 #endif
 };
diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 070276dd45c9f..79a69b88b2962 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1367,6 +1367,7 @@ uint16_t AP_GPS::gps_yaw_cdeg(uint8_t instance) const
     return yaw_cd;
 }
 
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 {
     const Location &loc = location(0);
@@ -1400,8 +1401,9 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         0,                    // TODO one-sigma heading accuracy standard deviation
         gps_yaw_cdeg(0));
 }
+#endif  // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
 
-#if GPS_MAX_RECEIVERS > 1
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
     // always send the message if 2nd GPS is configured
@@ -1442,9 +1444,9 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
         sacc * 1000,          // one-sigma standard deviation in mm/s
         0);                    // TODO one-sigma heading accuracy standard deviation
 }
-#endif // GPS_MAX_RECEIVERS
+#endif // AP_GPS_GPS2_RAW_SENDING_ENABLED
 
-#if HAL_GCS_ENABLED
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
 void AP_GPS::send_mavlink_gps_rtk(mavlink_channel_t chan, uint8_t inst)
 {
     if (inst >= GPS_MAX_RECEIVERS) {
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 08ebdac605938..550add0e1fa62 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -104,3 +104,20 @@
 #ifndef HAL_GPS_COM_PORT_DEFAULT
 #define HAL_GPS_COM_PORT_DEFAULT 1
 #endif
+
+
+#ifndef AP_GPS_GPS_RAW_INT_SENDING_ENABLED
+#define AP_GPS_GPS_RAW_INT_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED
+#endif
+
+#ifndef AP_GPS_GPS2_RAW_SENDING_ENABLED
+#define AP_GPS_GPS2_RAW_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1
+#endif
+
+#ifndef AP_GPS_GPS_RTK_SENDING_ENABLED
+#define AP_GPS_GPS_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
+#endif
+
+#ifndef AP_GPS_GPS2_RTK_SENDING_ENABLED
+#define AP_GPS_GPS2_RTK_SENDING_ENABLED HAL_GCS_ENABLED && AP_GPS_ENABLED && GPS_MAX_RECEIVERS > 1 && (AP_GPS_SBF_ENABLED || AP_GPS_ERB_ENABLED)
+#endif
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index eb55bd76e433d..380730a9af679 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -172,7 +172,7 @@ bool AP_GPS_Backend::should_log() const
 #endif
 
 
-#if HAL_GCS_ENABLED
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
 void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
 {
     const uint8_t instance = state.instance;
@@ -212,7 +212,8 @@ void AP_GPS_Backend::send_mavlink_gps_rtk(mavlink_channel_t chan)
             break;
     }
 }
-#endif
+#endif  // AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
+
 
 
 /*
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index 70f4cb36fc215..2a70a1c57153e 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -71,7 +71,9 @@ class AP_GPS_Backend
 #if HAL_GCS_ENABLED
     //MAVLink methods
     virtual bool supports_mavlink_gps_rtk_message() const { return false; }
+#if AP_GPS_GPS_RTK_SENDING_ENABLED || AP_GPS_GPS2_RTK_SENDING_ENABLED
     virtual void send_mavlink_gps_rtk(mavlink_channel_t chan);
+#endif
     virtual void handle_msg(const mavlink_message_t &msg) { return ; }
 #endif
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 9a1528b9dca4e..69598bf6959cc 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1030,13 +1030,17 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_SCALED_PRESSURE,       MSG_SCALED_PRESSURE},
         { MAVLINK_MSG_ID_SCALED_PRESSURE2,      MSG_SCALED_PRESSURE2},
         { MAVLINK_MSG_ID_SCALED_PRESSURE3,      MSG_SCALED_PRESSURE3},
-#if AP_GPS_ENABLED
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
         { MAVLINK_MSG_ID_GPS_RAW_INT,           MSG_GPS_RAW},
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
         { MAVLINK_MSG_ID_GPS_RTK,               MSG_GPS_RTK},
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
         { MAVLINK_MSG_ID_GPS2_RAW,              MSG_GPS2_RAW},
-        { MAVLINK_MSG_ID_GPS2_RTK,              MSG_GPS2_RTK},
 #endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
+        { MAVLINK_MSG_ID_GPS2_RTK,              MSG_GPS2_RTK},
 #endif
         { MAVLINK_MSG_ID_SYSTEM_TIME,           MSG_SYSTEM_TIME},
         { MAVLINK_MSG_ID_RC_CHANNELS_SCALED,    MSG_SERVO_OUT},
@@ -6237,28 +6241,32 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(SYSTEM_TIME);
         send_system_time();
         break;
-#if AP_GPS_ENABLED
+
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     case MSG_GPS_RAW:
         CHECK_PAYLOAD_SIZE(GPS_RAW_INT);
         AP::gps().send_mavlink_gps_raw(chan);
         break;
+#endif  // AP_GPS_GPS_RAW_INT_SENDING_ENABLED
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     case MSG_GPS_RTK:
         CHECK_PAYLOAD_SIZE(GPS_RTK);
         AP::gps().send_mavlink_gps_rtk(chan, 0);
         break;
-#if GPS_MAX_RECEIVERS > 1
+#endif  // AP_GPS_GPS_RTK_SENDING_ENABLED
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     case MSG_GPS2_RAW:
         CHECK_PAYLOAD_SIZE(GPS2_RAW);
         AP::gps().send_mavlink_gps2_raw(chan);
         break;
-#endif
-#if GPS_MAX_RECEIVERS > 1
+#endif  // AP_GPS_GPS2_RAW_SENDING_ENABLED
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     case MSG_GPS2_RTK:
         CHECK_PAYLOAD_SIZE(GPS2_RTK);
         AP::gps().send_mavlink_gps_rtk(chan, 1);
         break;
-#endif
-#endif  // AP_GPS_ENABLED
+#endif  // AP_GPS_GPS2_RTK_SENDING_ENABLED
+
 #if AP_AHRS_ENABLED
     case MSG_LOCAL_POSITION:
         CHECK_PAYLOAD_SIZE(LOCAL_POSITION_NED);