diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 4bbbcf9b64..3d793bd34e 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -587,7 +587,9 @@ protected:
 
     virtual MAV_RESULT handle_flight_termination(const mavlink_command_long_t &packet);
 
+#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
     void handle_send_autopilot_version(const mavlink_message_t &msg);
+#endif
     MAV_RESULT handle_command_request_autopilot_capabilities(const mavlink_command_long_t &packet);
 
     virtual void send_banner();
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 7e9b8f2c5c..ec697621e1 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -3869,9 +3869,11 @@ void GCS_MAVLINK::handle_common_message(const mavlink_message_t &msg)
         handle_set_mode(msg);
         break;
 
+#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
         handle_send_autopilot_version(msg);
         break;
+#endif
 
     case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
     case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
@@ -4141,10 +4143,12 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
     }
 }
 
+#if AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
 void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
 {
     send_message(MSG_AUTOPILOT_VERSION);
 }
+#endif
 
 void GCS_MAVLINK::send_banner()
 {
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 31fdc205ea..2442546d27 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -18,3 +18,10 @@
 #ifndef AP_MAVLINK_MISSION_SET_CURRENT_ENABLED
 #define AP_MAVLINK_MISSION_SET_CURRENT_ENABLED 1
 #endif
+
+// AUTOPILOT_VERSION_REQUEST is slated to be removed; an instance of
+// AUTOPILOT_VERSION can be requested with MAV_CMD_REQUEST_MESSAGE,
+// which gets you an ACK/NACK
+#ifndef AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED
+#define AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED 1
+#endif