diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 6a39311eade23..3704110ec9e2f 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -541,10 +541,16 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
 #endif
     MSG_MEMINFO,
     MSG_CURRENT_WAYPOINT,
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
-#if GPS_MAX_RECEIVERS > 1
+#endif
+#if AP_GPS_GPS2_RAW_SENDING_ENABLED
     MSG_GPS2_RAW,
+#endif
+#if AP_GPS_GPS2_RTK_SENDING_ENABLED
     MSG_GPS2_RTK,
 #endif
     MSG_NAV_CONTROLLER_OUTPUT,
diff --git a/Tools/AP_Periph/GCS_MAVLink.cpp b/Tools/AP_Periph/GCS_MAVLink.cpp
index a3df4631fef87..f35ee3a580c8c 100644
--- a/Tools/AP_Periph/GCS_MAVLink.cpp
+++ b/Tools/AP_Periph/GCS_MAVLink.cpp
@@ -32,8 +32,10 @@ static const ap_message STREAM_EXTENDED_STATUS_msgs[] = {
     MSG_MCU_STATUS,
 #endif
     MSG_MEMINFO,
-#if AP_GPS_ENABLED
+#if AP_GPS_GPS_RAW_INT_SENDING_ENABLED
     MSG_GPS_RAW,
+#endif
+#if AP_GPS_GPS_RTK_SENDING_ENABLED
     MSG_GPS_RTK,
 #endif
 };