diff --git a/Blimp/GCS_Mavlink.cpp b/Blimp/GCS_Mavlink.cpp
index 37ab03a2d0..320807e618 100644
--- a/Blimp/GCS_Mavlink.cpp
+++ b/Blimp/GCS_Mavlink.cpp
@@ -343,7 +343,9 @@ static const ap_message STREAM_POSITION_msgs[] = {
 static const ap_message STREAM_RC_CHANNELS_msgs[] = {
     MSG_SERVO_OUTPUT_RAW,
     MSG_RC_CHANNELS,
+#if AP_MAVLINK_MSG_RC_CHANNELS_RAW_ENABLED
     MSG_RC_CHANNELS_RAW, // only sent on a mavlink1 connection
+#endif
 };
 static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_ATTITUDE,