diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 102c1958204f2..2e978abf4be8e 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -331,6 +331,7 @@ def __init__(self,
     Feature('MAVLink', 'MAVLINK_VERSION_REQUEST', 'AP_MAVLINK_AUTOPILOT_VERSION_REQUEST_ENABLED', 'Enable old AUTOPILOT_VERSION_REQUEST mesage', 0, None),  # noqa
     Feature('MAVLink', 'REQUEST_AUTOPILOT_CAPA', 'AP_MAVLINK_MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES_ENABLED', 'Enable old REQUEST_AUTOPILOT_CAPABILITIES command', 0, None),  # noqa
     Feature('MAVLink', 'MAV_MSG_RELAY_STATUS', 'AP_MAVLINK_MSG_RELAY_STATUS_ENABLED', 'Enable sending of RELAY_STATUS message', 0, 'RELAY'),  # noqa
+    Feature('MAVLink', 'MAV_MSG_HIL_GPS', 'AP_MAVLINK_MSG_HIL_GPS_ENABLED', 'Enable receiving of HIL_GPS messages', 0, None),  # noqa
     Feature('MAVLink', 'MAV_MSG_MOUNT_CONTROL', 'AP_MAVLINK_MSG_MOUNT_CONTROL_ENABLED', 'Enable handling of deprecated MOUNT_CONTROL message', 0, None),  # noqa
     Feature('MAVLink', 'MAV_MSG_MOUNT_CONFIGURE', 'AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED', 'Enable handling of deprecated MOUNT_CONFIGURE message', 0, None),  # noqa
     Feature('MAVLink', 'AP_MAVLINK_BATTERY2_ENABLED', 'AP_MAVLINK_BATTERY2_ENABLED', 'Enable sending of old BATTERY2 message', 0, None),  # noqa
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index cc9274955df70..659b2a1a9468b 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -253,6 +253,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('AP_CUSTOMROTATIONS_ENABLED', 'AP_CustomRotation::init'),
             ('AP_OSD_LINK_STATS_EXTENSIONS_ENABLED', r'AP_OSD_Screen::draw_rc_tx_power'),
             ('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'),
+            ('AP_MAVLINK_MSG_HIL_GPS_ENABLED', r'mavlink_msg_hil_gps_decode'),
         ]
 
     def progress(self, msg):
diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
index d5c3f4925ea88..68f0ef957666f 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.cpp
+++ b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -140,6 +140,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
             break;
             }
 
+#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
         case MAVLINK_MSG_ID_HIL_GPS: {
             mavlink_hil_gps_t packet;
             mavlink_msg_hil_gps_decode(&msg, &packet);
@@ -176,6 +177,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
             _new_data = true;
             break;
             }
+#endif  // AP_MAVLINK_MSG_HIL_GPS_ENABLED
         default:
             // ignore all other messages
             break;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index fadf622bdc21e..1f5ec42104cbe 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4121,9 +4121,13 @@ void GCS_MAVLINK::handle_message(const mavlink_message_t &msg)
 #endif
 
 #if AP_GPS_ENABLED
+#if AP_MAVLINK_MSG_HIL_GPS_ENABLED
+    case MAVLINK_MSG_ID_HIL_GPS:
+        send_received_message_deprecation_warning("HIL_GPS");
+        FALLTHROUGH;
+#endif
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
     case MAVLINK_MSG_ID_GPS_INPUT:
-    case MAVLINK_MSG_ID_HIL_GPS:
     case MAVLINK_MSG_ID_GPS_INJECT_DATA:
         AP::gps().handle_msg(chan, msg);
         break;
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 64877c10649dd..ceb24e5c75660 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -59,6 +59,12 @@
 #define AP_MAVLINK_RALLY_POINT_PROTOCOL_ENABLED HAL_GCS_ENABLED && HAL_RALLY_ENABLED
 #endif
 
+// handling of HIL_GPS is slated to be removed in 4.7; GPS_INPUT can be used
+// in its place
+#ifndef AP_MAVLINK_MSG_HIL_GPS_ENABLED
+#define AP_MAVLINK_MSG_HIL_GPS_ENABLED 0
+#endif
+
 #ifndef AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED
 #define AP_MAVLINK_MSG_MOUNT_CONFIGURE_ENABLED HAL_GCS_ENABLED
 #endif