diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 017402f4d27c6c..29e4ab2ed619c9 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -654,6 +654,9 @@ def configure_env(self, cfg, env):
         cfg.define('AP_NOTIFY_LP5562_BUS', 2)
         cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)
 
+        env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
+        env.CXXFLAGS += ['-DHAL_NAVEKF2_AVAILABLE=1']
+
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             env.DEFINES.update(CANARD_MULTI_IFACE=1,