diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index e299136835..b7fbce49bf 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -36,6 +36,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_InertialSensor',
     'AP_Math',
     'AP_Mission',
+    'AP_DAL',
     'AP_NavEKF',
     'AP_NavEKF2',
     'AP_NavEKF3',
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 7671683638..5218124926 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -64,6 +64,10 @@ class Board:
         else:
             cfg.options.disable_scripting = True
 
+        # allow GCS disable for AP_DAL example
+        if cfg.options.no_gcs:
+            env.CXXFLAGS += ['-DHAL_NO_GCS=1']
+            
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.