diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index a305f0cbd1..b7ee26a8e8 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -79,7 +79,9 @@ const AP_Param::GroupInfo SIM::var_info[] = {
     AP_SUBGROUPINFO(shipsim, "SHIP_", 59, SIM, ShipSim),
 #endif
     AP_SUBGROUPEXTENSION("",      60, SIM,  var_mag),
+#if HAL_SIM_GPS_ENABLED
     AP_SUBGROUPEXTENSION("",      61, SIM,  var_gps),
+#endif
     AP_SUBGROUPEXTENSION("",      62, SIM,  var_info3),
     AP_SUBGROUPEXTENSION("",      63, SIM,  var_info2),
     AP_GROUPEND
@@ -317,7 +319,8 @@ const AP_Param::GroupInfo SIM::BaroParm::var_info[] = {
     AP_GROUPINFO("WCF_LFT", 10, SIM::BaroParm, wcof_yn, 0.0),
     AP_GROUPEND
 };
-    
+
+#if HAL_SIM_GPS_ENABLED
 // GPS SITL parameters
 const AP_Param::GroupInfo SIM::var_gps[] = {
     AP_GROUPINFO("GPS_DISABLE",    1, SIM,  gps_disable[0], 0),
@@ -358,6 +361,7 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
 
     AP_GROUPEND
 };
+#endif  // HAL_SIM_GPS_ENABLED
 
 // Mag SITL parameters
 const AP_Param::GroupInfo SIM::var_mag[] = {
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index 14194ccfe5..950ab20830 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 
@@ -102,7 +102,9 @@ public:
         AP_Param::setup_object_defaults(this, var_info);
         AP_Param::setup_object_defaults(this, var_info2);
         AP_Param::setup_object_defaults(this, var_info3);
+#if HAL_SIM_GPS_ENABLED
         AP_Param::setup_object_defaults(this, var_gps);
+#endif
         AP_Param::setup_object_defaults(this, var_mag);
         AP_Param::setup_object_defaults(this, var_ins);
 #ifdef SFML_JOYSTICK
@@ -148,7 +150,9 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Param::GroupInfo var_info2[];
     static const struct AP_Param::GroupInfo var_info3[];
+#if HAL_SIM_GPS_ENABLED
     static const struct AP_Param::GroupInfo var_gps[];
+#endif
     static const struct AP_Param::GroupInfo var_mag[];
     static const struct AP_Param::GroupInfo var_ins[];
 #ifdef SFML_JOYSTICK