diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 8b8a478ece354b..9f591f814a40ef 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -644,6 +644,8 @@ def configure_env(self, cfg, env):
             AP_BARO_PROBE_EXTERNAL_I2C_BUSES = 1,
         )
 
+        cfg.define('HAL_NAVEKF2_AVAILABLE', 1)
+
         cfg.define('AP_SIM_ENABLED', 1)
         cfg.define('HAL_WITH_SPI', 1)
         cfg.define('HAL_WITH_RAMTRON', 1)