diff --git a/libraries/AP_AccelCal/AP_AccelCal.cpp b/libraries/AP_AccelCal/AP_AccelCal.cpp
index 45cd9b765e..8fbf9b09c1 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.cpp
+++ b/libraries/AP_AccelCal/AP_AccelCal.cpp
@@ -17,6 +17,7 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_HAL/AP_HAL.h>
 
+#if HAL_INS_ACCELCAL_ENABLED
 #define AP_ACCELCAL_POSITION_REQUEST_INTERVAL_MS 1000
 
 #define _printf(fmt, args ...) do {                                     \
@@ -388,3 +389,4 @@ bool AP_AccelCal::running(void) const
 {
     return _status == ACCEL_CAL_WAITING_FOR_ORIENTATION || _status == ACCEL_CAL_COLLECTING_SAMPLE;
 }
+#endif //HAL_INS_ACCELCAL_ENABLED
diff --git a/libraries/AP_AccelCal/AP_AccelCal.h b/libraries/AP_AccelCal/AP_AccelCal.h
index 5c1191fec1..1eb6e43357 100644
--- a/libraries/AP_AccelCal/AP_AccelCal.h
+++ b/libraries/AP_AccelCal/AP_AccelCal.h
@@ -4,6 +4,14 @@
 #include "AccelCalibrator.h"
 #include "AP_Vehicle/AP_Vehicle_Type.h"
 
+#ifndef HAL_INS_ACCELCAL_ENABLED
+#ifndef HAL_NO_GCS
+#define HAL_INS_ACCELCAL_ENABLED 1
+#else
+#define HAL_INS_ACCELCAL_ENABLED 0
+#endif
+#endif
+
 #define AP_ACCELCAL_MAX_NUM_CLIENTS 4
 class GCS_MAVLINK;
 class AP_AccelCal_Client;