diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 91393245ce..31a3f7bb04 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -677,6 +677,7 @@ class sitl_periph_gps(sitl):
             HAL_MISSION_ENABLED = 0,
             HAL_RALLY_ENABLED = 0,
             HAL_SCHEDULER_ENABLED = 0,
+            CANARD_ENABLE_TAO_OPTION = 1,
         )
         # libcanard is written for 32bit platforms
         env.CXXFLAGS += [