diff --git a/libraries/AP_HAL/GPIO.cpp b/libraries/AP_HAL/GPIO.cpp
index 603b16b58c..15f66ae9c0 100644
--- a/libraries/AP_HAL/GPIO.cpp
+++ b/libraries/AP_HAL/GPIO.cpp
@@ -1,12 +1,15 @@
 #include "GPIO.h"
 
 #include <AP_HAL/AP_HAL.h>
-#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)
-#define GCS_SEND_TEXT(severity, format, args...)
-#else
+
+#ifndef HAL_BOOTLOADER_BUILD
 #include <GCS_MAVLink/GCS.h>
 #endif
 
+#ifndef GCS_SEND_TEXT
+#define GCS_SEND_TEXT(severity, format, args...)
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 bool AP_HAL::PWMSource::set_pin(int16_t new_pin, const char *subsystem)
diff --git a/libraries/AP_HAL/utility/packetise.cpp b/libraries/AP_HAL/utility/packetise.cpp
index 67e1584a55..499c8a5eaf 100644
--- a/libraries/AP_HAL/utility/packetise.cpp
+++ b/libraries/AP_HAL/utility/packetise.cpp
@@ -8,6 +8,8 @@
 #include <GCS_MAVLink/GCS.h>
 #include "packetise.h"
 
+#if HAL_GCS_ENABLED
+
 /*
   return the number of bytes to send for a packetised connection
  */
@@ -68,3 +70,5 @@ uint16_t mavlink_packetise(ByteBuffer &writebuf, uint16_t n)
     return n;
 }
 #endif // HAL_BOOTLOADER_BUILD
+
+#endif // HAL_GCS_ENABLED