diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 3b8e9a9c25..ae75ca7369 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -680,14 +680,18 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_packet(const mavlink_command_in
         }
         return MAV_RESULT_FAILED;
 
+#if AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
     case MAV_CMD_NAV_SET_YAW_SPEED:
+        send_received_message_deprecation_warning("MAV_CMD_NAV_SET_YAW_SPEED");
         return handle_command_nav_set_yaw_speed(packet, msg);
+#endif
 
     default:
         return GCS_MAVLINK::handle_command_int_packet(packet, msg);
     }
 }
 
+#if AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
 MAV_RESULT GCS_MAVLINK_Rover::handle_command_nav_set_yaw_speed(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
         // param1 : yaw angle (may be absolute or relative)
@@ -709,6 +713,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_nav_set_yaw_speed(const mavlink_com
         }
         return MAV_RESULT_ACCEPTED;
 }
+#endif
 
 MAV_RESULT GCS_MAVLINK_Rover::handle_command_int_do_reposition(const mavlink_command_int_t &packet)
 {
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index 14ab0a8194..2c22249c0a 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -2,6 +2,11 @@
 
 #include <GCS_MAVLink/GCS.h>
 
+  // set 0 in 4.6, remove feature in 4.7:
+#ifndef AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED
+#define AP_MAVLINK_MAV_CMD_NAV_SET_YAW_SPEED_ENABLED 1
+#endif
+
 class GCS_MAVLINK_Rover : public GCS_MAVLINK
 {
 public: