diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 6fab0bc591..45eb2a01b5 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -568,7 +568,9 @@ static const ap_message STREAM_EXTRA2_msgs[] = {
 static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_AHRS,
     MSG_WIND,
+#if AP_RANGEFINDER_ENABLED
     MSG_RANGEFINDER,
+#endif
     MSG_DISTANCE_SENSOR,
     MSG_SYSTEM_TIME,
 #if AP_BATTERY_ENABLED