diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 026db3b64c..9141e22fef 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -307,6 +307,7 @@ void AP_Vehicle::setup()
     }
 #endif
 
+#if AP_SCHEDULER_ENABLED
     // initialise the main loop scheduler
     const AP_Scheduler::Task *tasks;
     uint8_t task_count;
@@ -317,6 +318,7 @@ void AP_Vehicle::setup()
     // time per loop - this gets updated in the main loop() based on
     // actual loop rate
     G_Dt = scheduler.get_loop_period_s();
+#endif
 
     // this is here for Plane; its failsafe_check method requires the
     // RC channels to be set as early as possible for maximum
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 3e38ac9b63..5d780933a7 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -123,7 +123,9 @@ public:
     void get_common_scheduler_tasks(const AP_Scheduler::Task*& tasks, uint8_t& num_tasks);
     // implementations *MUST* fill in all passed-in fields or we get
     // Valgrind errors
+#if AP_SCHEDULER_ENABLED
     virtual void get_scheduler_tasks(const AP_Scheduler::Task *&tasks, uint8_t &task_count, uint32_t &log_bit) = 0;
+#endif
 
     /*
       set the "likely flying" flag. This is not guaranteed to be