diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index e09aa8b43df5e5..6faa1929d63c5e 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -1038,8 +1038,10 @@ class GCS_MAVLINK
 
     void send_distance_sensor(const class AP_RangeFinder_Backend *sensor, const uint8_t instance) const;
 
+#if HAL_GCS_GUIDED_MISSION_REQUESTS_ENABLED
     virtual bool handle_guided_request(AP_Mission::Mission_Command &cmd) { return false; };
     virtual void handle_change_alt_request(AP_Mission::Mission_Command &cmd) {};
+#endif
     void handle_common_mission_message(const mavlink_message_t &msg);
 
     virtual void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) {};
@@ -1127,9 +1129,14 @@ class GCS_MAVLINK
     // someone's doing SERIAL_CONTROL over mavlink)
     bool _locked;
 
+#if HAL_GCS_GUIDED_MISSION_REQUESTS_ENABLED
     // handle a mission item int uploaded with current==2 or
     // current==3, meaning go somewhere when in guided mode:
     void handle_mission_item_guided_mode_request(const mavlink_message_t &msg, const mavlink_mission_item_int_t &mission_item_int);
+    // a timer so that we don't flood the GCS with deprecation
+    // warnings about people uploading missions with guided
+    uint32_t last_guided_mission_request_received_ms;
+#endif
 };
 
 /// @class GCS
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 709a23cf0cce78..b286844fa0e02a 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -915,6 +915,12 @@ void GCS_MAVLINK::handle_radio_status(const mavlink_message_t &msg)
 #if AP_MISSION_ENABLED
 void GCS_MAVLINK::handle_mission_item_guided_mode_request(const mavlink_message_t &msg, const mavlink_mission_item_int_t &mission_item_int)
 {
+        const uint32_t now_ms = AP_HAL::millis();
+        if (now_ms - last_guided_mission_request_received_ms > 60000) {
+            GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Guided mode mission request received; use SET_POSITION_TARGET_GLOBAL_INT instead");
+            last_guided_mission_request_received_ms = now_ms;
+        }
+
         const uint8_t current = mission_item_int.current;
 
         struct AP_Mission::Mission_Command cmd = {};
@@ -971,7 +977,7 @@ void GCS_MAVLINK::handle_mission_item(const mavlink_message_t &msg)
     }
     const MAV_MISSION_TYPE type = (MAV_MISSION_TYPE)mission_item_int.mission_type;
 
-#if AP_MISSION_ENABLED
+#if HAL_GCS_GUIDED_MISSION_REQUESTS_ENABLED
     const uint8_t current = mission_item_int.current;
 
     if (type == MAV_MISSION_TYPE_MISSION && (current == 2 || current == 3)) {
diff --git a/libraries/GCS_MAVLink/GCS_config.h b/libraries/GCS_MAVLink/GCS_config.h
index 5f059cb9a10429..783d21a71b797d 100644
--- a/libraries/GCS_MAVLink/GCS_config.h
+++ b/libraries/GCS_MAVLink/GCS_config.h
@@ -139,3 +139,12 @@
 #ifndef AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED
 #define AP_MAVLINK_MSG_VIDEO_STREAM_INFORMATION_ENABLED HAL_GCS_ENABLED
 #endif
+
+// CODE_REMOVAL
+// ArduPilot can be commanded by upload of a mission item with the "current" field set to 2 (for position) or 3 (for just altitude.  This behaviour is slated to be removed:
+// ArduPilot 4.6 warns if the functionality is used
+// ArduPilot 4.7 stops compiling support in
+// ArduPilot 4.8 removes the code entirely
+#ifndef HAL_GCS_GUIDED_MISSION_REQUESTS_ENABLED
+#define HAL_GCS_GUIDED_MISSION_REQUESTS_ENABLED AP_MISSION_ENABLED
+#endif