diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index df53675ea8..f032d0f9f8 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -19,7 +19,7 @@
 #endif
 
 #ifndef AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED
-#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED
+#define AP_COMPASS_CALIBRATION_FIXED_YAW_ENABLED AP_COMPASS_ENABLED && AP_GPS_ENABLED && AP_AHRS_ENABLED
 #endif
 
 #define COMPASS_MAX_SCALE_FACTOR 1.5