diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index e5d78fb8601e0..b26c727d35c4a 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -127,3 +127,7 @@
 #ifndef AP_MAVLINK_MSG_HIGHRES_IMU_ENABLED
 #define AP_MAVLINK_MSG_HIGHRES_IMU_ENABLED (BOARD_FLASH_SIZE > 1024) && AP_INERTIALSENSOR_ENABLED
 #endif
+
+#ifndef AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED
+#define AP_MAVLINK_MAV_CMD_SET_HAGL_ENABLED (BOARD_FLASH_SIZE > 1024)
+#endif