diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index eafb935e9f132..be15da6bb9a84 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -28,10 +28,6 @@
 
 #define GCS_DEBUG_SEND_MESSAGE_TIMINGS 0
 
-#ifndef HAL_HIGH_LATENCY2_ENABLED
-#define HAL_HIGH_LATENCY2_ENABLED 1
-#endif
-
 // macros used to determine if a message will fit in the space available.
 
 void gcs_out_of_space_to_send(mavlink_channel_t chan);
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 42b2a0c97fe0d..eba4c2c1aea7f 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -11,6 +11,10 @@
 #define AP_MAVLINK_BATTERY2_ENABLED 1
 #endif
 
+#ifndef HAL_HIGH_LATENCY2_ENABLED
+#define HAL_HIGH_LATENCY2_ENABLED 1
+#endif
+
 // handling of MISSION_SET_CURRENT (the message) is slated to be
 // removed.  It has signficant deficiencies vs MAV_CMD_DO_SET_CURRENT.
 // The command was added to the spec in January 2019 and to MAVLink in