diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 017402f4d27c6c..6e2037b1926d53 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -644,6 +644,10 @@ def configure_env(self, cfg, env):
             AP_BARO_PROBE_EXTERNAL_I2C_BUSES = 1,
         )
 
+        env.DEFINES.update(
+            'HAL_NAVEKF2_AVAILABLE' = 1,
+        )
+
         cfg.define('AP_SIM_ENABLED', 1)
         cfg.define('HAL_WITH_SPI', 1)
         cfg.define('HAL_WITH_RAMTRON', 1)