diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 1cb63d526d..3c868b9be9 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1435,9 +1435,13 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_ATTITUDE_STATUS", 1.0f);
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
+#if defined(MAVLINK_MSG_ID_GLOBAL_POSITION)
 		configure_stream_local("GLOBAL_POSITION", 5.0f);
+#endif
 		configure_stream_local("GLOBAL_POSITION_INT", 5.0f);
+#if defined(MAVLINK_MSG_ID_GNSS_INTEGRITY)
 		configure_stream_local("GNSS_INTEGRITY", 1.0f);
+#endif
 		configure_stream_local("GPS2_RAW", 1.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", 5.0f);
@@ -1510,7 +1514,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("GIMBAL_DEVICE_SET_ATTITUDE", 5.0f);
 		configure_stream_local("GIMBAL_MANAGER_STATUS", 0.5f);
 		configure_stream_local("GLOBAL_POSITION_INT", 50.0f);
+#if defined(MAVLINK_MSG_ID_GNSS_INTEGRITY)
 		configure_stream_local("GNSS_INTEGRITY", 1.0f);
+#endif
 		configure_stream_local("GPS2_RAW", unlimited_rate);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
@@ -1671,7 +1677,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESTIMATOR_STATUS", 5.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
+#if defined(MAVLINK_MSG_ID_GNSS_INTEGRITY)
 		configure_stream_local("GNSS_INTEGRITY", 1.0f);
+#endif
 		configure_stream_local("GPS2_RAW", unlimited_rate);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
@@ -1770,10 +1778,14 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
+#if defined(MAVLINK_MSG_ID_GLOBAL_POSITION)
 		configure_stream_local("GLOBAL_POSITION", 10.0f);
+#endif
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
+#if defined(MAVLINK_MSG_ID_GNSS_INTEGRITY)
 		configure_stream_local("GNSS_INTEGRITY", 1.0f);
+#endif
 		configure_stream_local("GPS2_RAW", unlimited_rate);
 		configure_stream_local("GPS_RAW_INT", unlimited_rate);
 		configure_stream_local("HOME_POSITION", 0.5f);
@@ -1834,7 +1846,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
 		configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
 		configure_stream_local("GLOBAL_POSITION_INT", 2.0f);
+#if defined(MAVLINK_MSG_ID_GLOBAL_POSITION)
 		configure_stream_local("GLOBAL_POSITION", 2.0f);
+#endif
 		configure_stream_local("GPS_GLOBAL_ORIGIN", 1.0f);
 		configure_stream_local("GPS2_RAW", 2.0f);
 		configure_stream_local("GPS_RAW_INT", 2.0f);