diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 5218124926..d18ffab3f0 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -456,6 +456,11 @@ class sitl(Board):
             if not cfg.check_SFML(env):
                 cfg.fatal("Failed to find SFML libraries")
 
+        if cfg.options.enable_sfml_joystick:
+            if not cfg.check_SFML(env):
+                cfg.fatal("Failed to find SFML libraries")
+            env.CXXFLAGS += ['-DSFML_JOYSTICK']
+
         if cfg.options.sitl_osd:
             env.CXXFLAGS += ['-DWITH_SITL_OSD','-DOSD_ENABLED=1']
             for f in os.listdir('libraries/AP_OSD/fonts'):