diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index fadf622bdc..1f5ec42104 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4121,9 +4121,13 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
 #endif
 
 #if AP_GPS_ENABLED
+#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
+    case MAVLINK_MSG_ID_HIL_GPS:
+        send_received_message_deprecation_warning("HIL_GPS");
+        FALLTHROUGH;
+#endif
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
     case MAVLINK_MSG_ID_GPS_INPUT:
-    case MAVLINK_MSG_ID_HIL_GPS:
     case MAVLINK_MSG_ID_GPS_INJECT_DATA:
         AP::gps().handle_msg(chan, msg);
         break;
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 64877c1064..ceb24e5c75 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -59,6 +59,12 @@
 #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
 #endif
 
+// handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used
+// in its place
+#ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED
+#define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0
+#endif
+
 #ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 #define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED
 #endif