diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index d34f3844cb..256d1d9694 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -308,6 +308,7 @@ BUILD_OPTIONS = [
     Feature('MAVLink', 'AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'Enable handling of DeviceOp mavlink messages', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'AP_MAVLINK_SERVO_RELAY_ENABLED', 'Enable handling of ServoRelay mavlink messages', 0, 'SERVORELAY_EVENTS'),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'Enable handling of Serial Control mavlink messages', 0, None),  # noqa
+    Feature('MAVLink', 'AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'Enable handling of MISSION_REQUEST mavlink messages', 0, None),  # noqa
 
     Feature('Developer', 'KILL_IMU', 'AP_INERTIALSENSOR_KILL_IMU_ENABLED', 'Allow IMUs to be disabled at runtime', 0, None),
     Feature('Developer', 'CRASHCATCHER', 'AP_CRASHDUMP_ENABLED', 'Enable CrashCatcher', 0, None),
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 61e670cc04..301b007c70 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -219,7 +219,7 @@ class ExtractFeatures(object):
             ('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
             ('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
             ('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
-
+            ('AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED', 'GCS_MAVLINK::handle_mission_request\b'),
             ('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
             ('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
             ('COMPASS_CAL_ENABLED', 'CompassCalibrator::stop'),
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 08268b3aee..bf0f4dd1f9 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -525,7 +525,9 @@ protected:
     MAV_RESULT handle_command_do_aux_function(const mavlink_command_int_t &packet);
     MAV_RESULT handle_command_storage_format(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     void handle_mission_request_list(const mavlink_message_t &msg);
+#if AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
     void handle_mission_request(const mavlink_message_t &msg);
+#endif
     void handle_mission_request_int(const mavlink_message_t &msg);
     void handle_mission_clear_all(const mavlink_message_t &msg);
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 93b5ed45b7..7403acb39c 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -608,6 +608,7 @@ void GCS_MAVLINK::handle_mission_request_int(const mavlink_message_t &msg)
         prot->handle_mission_request_int(*this, packet, msg);
 }
 
+#if AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
 void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg)
 {
         // decode
@@ -620,6 +621,7 @@ void GCS_MAVLINK::handle_mission_request(const mavlink_message_t &msg)
         }
         prot->handle_mission_request(*this, packet, msg);
 }
+#endif
 
 // returns a MISSION_STATE numeration value best describing out
 // current mission state.
@@ -4179,9 +4181,12 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
     case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
         handle_mission_request_int(msg);
         break;
+
+#if AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
     case MAVLINK_MSG_ID_MISSION_REQUEST:
         handle_mission_request(msg);
         break;
+#endif
 
 #if AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
     case MAVLINK_MSG_ID_MISSION_SET_CURRENT:    // MAV ID: 41
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 889a5c1448..2b981702f7 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -78,3 +78,11 @@
 #ifndef AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED
 #define AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED HAL_GCS_ENABLED
 #endif
+
+// GCS should be using MISSION_REQUEST_INT instead; this is a waste of
+// flash.  MISSION_REQUEST was deprecated in June 2020.  We started
+// sending warnings to the GCS in Sep 2022 if this command was used.
+// Copter 4.4.0 sends this warning.
+#ifndef AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
+#define AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED 1
+#endif
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol.cpp b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
index 302f9dd833..d29faaa7f6 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol.cpp
@@ -159,6 +159,7 @@ void MissionItemProtocol::handle_mission_request_int(GCS_MAVLINK &_link,
     _link.send_message(MAVLINK_MSG_ID_MISSION_ITEM_INT, (const char*)&ret_packet);
 }
 
+#if AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
 void MissionItemProtocol::handle_mission_request(GCS_MAVLINK &_link,
                                                  const mavlink_mission_request_t &packet,
                                                  const mavlink_message_t &msg
@@ -202,6 +203,7 @@ void MissionItemProtocol::handle_mission_request(GCS_MAVLINK &_link,
     // buffer space is checked by send_message
     _link.send_message(MAVLINK_MSG_ID_MISSION_ITEM, (const char*)&ret_packet);
 }
+#endif  // AP_MAVLINK_MSG_MISSION_REQUEST_ENABLED
 
 void MissionItemProtocol::send_mission_item_warning()
 {