diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 3d793bd34e..940c46f98d 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -590,7 +590,9 @@ protected:
 #if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
     void handle_send_autopilot_version(const mavlink_message_t &msg);
 #endif
+#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
     MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
+#endif
 
     virtual void send_banner();
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index ec697621e1..104bddaff8 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4410,6 +4410,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_mag_cal(const mavlink_command_long_t &pac
 #endif
 }
 
+#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet)
 {
     if (!is_equal(packet.param1,1.0f)) {
@@ -4420,6 +4421,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_request_autopilot_capabilities(const mavl
 
     return MAV_RESULT_ACCEPTED;
 }
+#endif
 
 
 MAV_RESULT GCS_MAVLINK::handle_command_do_send_banner(const mavlink_command_long_t &packet)
@@ -4679,10 +4681,12 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
         result = handle_command_mount(packet);
         break;
 
+#if AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
     case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
         result = handle_command_request_autopilot_capabilities(packet);
         break;
     }
+#endif
 
     case MAV_CMD_DO_SET_ROI_NONE:
         return handle_command_do_set_roi_none();
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 2442546d27..171765b9d7 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -25,3 +25,9 @@
 #ifndef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
 #define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
 #endif
+
+// handling of MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES is slated to be
+// removed; the message can be requested with MAV_CMD_REQUEST_MESSAGE
+#ifndef AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED
+#define AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED 1
+#endif