diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 524fde06c6..44107d0c8a 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3988,7 +3988,7 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         break;
 #endif
 
-#if HAL_RALLY_ENABLED
+#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
     case MAVLINK_MSG_ID_RALLY_POINT:
     case MAVLINK_MSG_ID_RALLY_FETCH_POINT:
         handle_common_rally_message(msg);
diff --git a/libraries/GCS_MAVLink/GCS_Rally.cpp b/libraries/GCS_MAVLink/GCS_Rally.cpp
index 8ef69c5f6d..c19c9d55b5 100644
--- a/libraries/GCS_MAVLink/GCS_Rally.cpp
+++ b/libraries/GCS_MAVLink/GCS_Rally.cpp
@@ -21,7 +21,7 @@
 #include <AP_Rally/AP_Rally.h>
 #include <AP_Logger/AP_Logger.h>
 
-#if HAL_RALLY_ENABLED
+#if AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
 
 void GCS_MAVLINK::handle_rally_point(const mavlink_message_t &msg) const
 {
@@ -105,4 +105,4 @@ void GCS_MAVLINK::handle_common_rally_message(const mavlink_message_t &msg)
         break;
     }
 }
-#endif //#if HAL_RALLY_ENABLED
+#endif // AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 8837515d5e..cea11e107c 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -49,3 +49,7 @@
 #ifndef AP_MAVLINK_FAILURE_CREATION_ENABLED
 #define AP_MAVLINK_FAILURE_CREATION_ENABLED 1
 #endif
+
+#ifndef AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED
+#define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
+#endif