diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 2ecb4c0196..b444e8523d 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -346,6 +346,11 @@ class sitl(Board):
                 if fnmatch.fnmatch(f, "font*bin"):
                     env.ROMFS_FILES += [(f,'libraries/AP_OSD/fonts/'+f)]
 
+        if cfg.options.enable_sfml_audio:
+            if not cfg.check_SFML_Audio(env):
+                cfg.fatal("Failed to find SFML Audio libraries")
+            env.CXXFLAGS += ['-DWITH_SITL_TONEALARM']
+
         if cfg.options.sitl_flash_storage:
             env.CXXFLAGS += ['-DSTORAGE_USE_FLASH=1']
 
diff --git a/Tools/ardupilotwaf/cxx_checks.py b/Tools/ardupilotwaf/cxx_checks.py
index 3944d06a70..96d4816065 100644
--- a/Tools/ardupilotwaf/cxx_checks.py
+++ b/Tools/ardupilotwaf/cxx_checks.py
@@ -260,3 +260,27 @@ def check_SFML(cfg, env):
     env.LIB += libs
     return True
 
+
+@conf
+def check_SFML_Audio(cfg, env):
+    if not cfg.options.enable_sfml_audio:
+        cfg.msg("Checking for SFML audio:", 'disabled', color='YELLOW')
+        return False
+    libs = ['sfml-audio']
+    for lib in libs:
+        if not cfg.check(compiler='cxx', lib=lib, mandatory=False,
+                         global_define=True):
+            cfg.fatal("Missing SFML libraries - please install libsfml-dev")
+            return False
+
+    # see if we need Audio.hpp or Audio.h
+    if not cfg.check(compiler='cxx',
+                     fragment='''#include <SFML/Audio.hpp>\nint main() {}''', define_name="HAVE_SFML_AUDIO_HPP",
+                     msg="Checking for Audio.hpp", mandatory=False):
+        if not cfg.check(compiler='cxx', fragment='''#include <SFML/Audio.h>\nint main() {}''', define_name="HAVE_SFML_AUDIO_H",
+                         msg="Checking for Audio.h", mandatory=False):
+            cfg.fatal("Missing SFML headers SFML/Audio.hpp or SFML/Audio.h")
+            return False
+    env.LIB += libs
+    return True
+