diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index abfbf2fec5..93f55a2277 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -31,6 +31,7 @@
 #include <AP_InternalError/AP_InternalError.h>
 #include <AP_Common/ExpandingString.h>
 #include <AP_HAL/SIMState.h>
+#include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
@@ -113,10 +114,12 @@ void AP_Scheduler::init(const AP_Scheduler::Task *tasks, uint8_t num_tasks, uint
     _vehicle_tasks = tasks;
     _num_vehicle_tasks = num_tasks;
 
+#if AP_VEHICLE_ENABLED
     AP_Vehicle* vehicle = AP::vehicle();
     if (vehicle != nullptr) {
         vehicle->get_common_scheduler_tasks(_common_tasks, _num_common_tasks);
     }
+#endif
 
     _num_tasks = _num_vehicle_tasks + _num_common_tasks;