diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 700be7c3f4..73b0e58c55 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -326,7 +326,9 @@ bool AP_Arming::gps_checks(bool report)
                                                  "PreArm: GPS %d has not been fully configured",
                                                   first_unconfigured);
             }
+#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
             return false;
+#endif
         }
     }
     return true;