diff --git a/Tools/AP_Periph/AP_Periph.cpp b/Tools/AP_Periph/AP_Periph.cpp
index 73f68f2cde..87acfa7309 100644
--- a/Tools/AP_Periph/AP_Periph.cpp
+++ b/Tools/AP_Periph/AP_Periph.cpp
@@ -92,7 +92,7 @@ void AP_Periph_FW::init()
 
     stm32_watchdog_pat();
 
-#ifdef HAL_NO_GCS
+#if !HAL_GCS_ENABLED
     hal.serial(0)->begin(AP_SERIALMANAGER_CONSOLE_BAUD, 32, 32);
 #endif
     hal.serial(3)->begin(115200, 128, 256);
@@ -103,13 +103,13 @@ void AP_Periph_FW::init()
 
     can_start();
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
     stm32_watchdog_pat();
     gcs().init();
 #endif
     serial_manager.init();
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
     gcs().setup_console();
     gcs().send_text(MAV_SEVERITY_INFO, "AP_Periph GCS Initialised!");
 #endif
@@ -347,7 +347,7 @@ void AP_Periph_FW::update()
         rcout_init_1Hz();
 #endif
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
         gcs().send_message(MSG_HEARTBEAT);
         gcs().send_message(MSG_SYS_STATUS);
 #endif    
@@ -384,7 +384,7 @@ void AP_Periph_FW::update()
 #ifdef HAL_PERIPH_ENABLE_NOTIFY
         notify.update();
 #endif
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
         gcs().update_receive();
         gcs().update_send();
 #endif
diff --git a/Tools/AP_Periph/AP_Periph.h b/Tools/AP_Periph/AP_Periph.h
index 0b685b998a..4bc39d3444 100644
--- a/Tools/AP_Periph/AP_Periph.h
+++ b/Tools/AP_Periph/AP_Periph.h
@@ -23,7 +23,7 @@
 #include <AP_HAL_SITL/CANSocketIface.h>
 #endif
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
 #include "GCS_MAVLink.h"
 #endif
 
@@ -219,7 +219,7 @@ public:
     AP_Logger logger;
 #endif
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
     GCS_Periph _gcs;
 #endif
     // setup the var_info table
diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
index ae911f25be..70bd4e5f0a 100644
--- a/Tools/AP_Periph/GCS_MAVLink.cpp
+++ b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -16,7 +16,7 @@
 #include "GCS_MAVLink.h"
 #include "AP_Periph.h"
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
 
 static const ap_message STREAM_RAW_SENSORS_msgs[] = {
     MSG_RAW_IMU
@@ -75,4 +75,4 @@ MAV_RESULT GCS_MAVLINK_Periph::handle_preflight_reboot(const mavlink_command_lon
 #endif
 }
 
-#endif // #ifndef HAL_NO_GCS
+#endif // #if HAL_GCS_ENABLED
diff --git a/Tools/AP_Periph/GCS_MAVLink.h b/Tools/AP_Periph/GCS_MAVLink.h
index 8b3305e67c..4196d70010 100644
--- a/Tools/AP_Periph/GCS_MAVLink.h
+++ b/Tools/AP_Periph/GCS_MAVLink.h
@@ -15,7 +15,7 @@
 #pragma once
 
 #include <GCS_MAVLink/GCS.h>
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
 
 /*
  *  GCS backend used for many examples and tools
@@ -89,4 +89,4 @@ private:
     MAV_TYPE frame_type() const override { return MAV_TYPE_GENERIC; }
     uint32_t custom_mode() const override { return 3; } // magic number
 };
-#endif // HAL_NO_GCS
+#endif // HAL_GCS_ENABLED
diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index a8674eafcc..3e3b078bcd 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -334,7 +334,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     GSCALAR(log_bitmask,    "LOG_BITMASK",          4),
 #endif
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
     // @Param: SYSID_THISMAV
     // @DisplayName: MAVLink system ID of this vehicle
     // @Description: Allows setting an individual system id for this vehicle to distinguish it from others on the same network
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index 65bff7d9d6..6af734ae65 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -114,7 +114,7 @@ public:
     AP_Int32        log_bitmask;
 #endif
 
-#ifndef HAL_NO_GCS
+#if HAL_GCS_ENABLED
     AP_Int16 sysid_this_mav;
 #endif
 
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 83a4d2950f..7304b9fbd7 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -70,7 +70,7 @@ class Board:
 
         # allow GCS disable for AP_DAL example
         if cfg.options.no_gcs:
-            env.CXXFLAGS += ['-DHAL_NO_GCS=1']
+            env.CXXFLAGS += ['-DHAL_GCS_ENABLED=0']
 
         # setup for supporting onvif cam control
         if cfg.options.enable_onvif:
@@ -626,7 +626,7 @@ class sitl_periph_gps(sitl):
             HAL_CAN_DEFAULT_NODE_ID = 0,
             HAL_RAM_RESERVE_START = 0,
             APJ_BOARD_ID = 100,
-            HAL_NO_GCS = 1,
+            HAL_GCS_ENABLED = 0,
             HAL_LOGGING_ENABLED = 0,
             HAL_LOGGING_MAVLINK_ENABLED = 0,
             HAL_MISSION_ENABLED = 0,