diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 7ccddaad109e0..a2c73c904ff4c 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -696,6 +696,12 @@ def configure_env(self, cfg, env):
         cfg.define('AP_NOTIFY_LP5562_BUS', 2)
         cfg.define('AP_NOTIFY_LP5562_ADDR', 0x30)
 
+        # turn on fencepoint and rallypoint protocols so they're still tested:
+        env.CXXFLAGS.extend([
+            '-DAP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED=HAL_GCS_ENABLED&&HAL_RALLY_ENABLED',
+            '-DAC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT=HAL_GCS_ENABLED&&AP_FENCE_ENABLED'
+        ])
+
         try:
             env.CXXFLAGS.remove('-DHAL_NAVEKF2_AVAILABLE=0')
         except ValueError: