diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 47f9b42f69..7a7b6900c2 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -27,6 +27,7 @@
 /// change in your local copy of APM_Config.h.
 ///
 #include "APM_Config.h"
+#include <AP_Follow/AP_Follow_config.h>
 
 
 //////////////////////////////////////////////////////////////////////////////
@@ -189,7 +190,7 @@
 //////////////////////////////////////////////////////////////////////////////
 // Follow - follow another vehicle or GCS
 #ifndef MODE_FOLLOW_ENABLED
-# define MODE_FOLLOW_ENABLED ENABLED
+# define MODE_FOLLOW_ENABLED AP_FOLLOW_ENABLED
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index af446e44fe..b4e99d60f4 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -1718,6 +1718,7 @@ private:
 
 };
 
+#if AP_FOLLOW_ENABLED
 class ModeFollow : public ModeGuided {
 
 public:
@@ -1747,6 +1748,7 @@ protected:
 
     uint32_t last_log_ms;   // system time of last time desired velocity was logging
 };
+#endif
 
 class ModeZigZag : public Mode {