diff --git a/libraries/AP_Scheduler/AP_Scheduler.cpp b/libraries/AP_Scheduler/AP_Scheduler.cpp
index 62a702bb86..f879a1f6e7 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.cpp
+++ b/libraries/AP_Scheduler/AP_Scheduler.cpp
@@ -21,6 +21,8 @@
 
 #include "AP_Scheduler_config.h"
 
+#if AP_SCHEDULER_ENABLED
+
 #include "AP_Scheduler.h"
 
 #include <AP_HAL/AP_HAL.h>
@@ -539,3 +541,5 @@ AP_Scheduler &scheduler()
 }
 
 };
+
+#endif  // AP_SCHEDULER_ENABLED
diff --git a/libraries/AP_Scheduler/AP_Scheduler.h b/libraries/AP_Scheduler/AP_Scheduler.h
index 68f39de24a..bf15592d49 100644
--- a/libraries/AP_Scheduler/AP_Scheduler.h
+++ b/libraries/AP_Scheduler/AP_Scheduler.h
@@ -22,6 +22,8 @@
 
 #include "AP_Scheduler_config.h"
 
+#if AP_SCHEDULER_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_HAL/Semaphores.h>
 #include <AP_HAL/Util.h>
@@ -268,3 +270,5 @@ private:
 namespace AP {
     AP_Scheduler &scheduler();
 };
+
+#endif  // AP_SCHEDULER_ENABLED
diff --git a/libraries/AP_Scheduler/PerfInfo.cpp b/libraries/AP_Scheduler/PerfInfo.cpp
index 1a9db4a96e..6fb2f6dd5d 100644
--- a/libraries/AP_Scheduler/PerfInfo.cpp
+++ b/libraries/AP_Scheduler/PerfInfo.cpp
@@ -1,3 +1,7 @@
+#include "AP_Scheduler_config.h"
+
+#if AP_SCHEDULER_ENABLED
+
 #include "PerfInfo.h"
 
 #include <AP_Logger/AP_Logger.h>
@@ -217,3 +221,5 @@ void AP::PerfInfo::set_loop_rate(uint16_t rate_hz)
         filtered_loop_time = 1.0f / rate_hz;
     }
 }
+
+#endif  // AP_SCHEDULER_ENABLED
diff --git a/libraries/AP_Scheduler/PerfInfo.h b/libraries/AP_Scheduler/PerfInfo.h
index 83a8e3bdf9..bbf6052e60 100644
--- a/libraries/AP_Scheduler/PerfInfo.h
+++ b/libraries/AP_Scheduler/PerfInfo.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AP_Scheduler_config.h"
+
+#if AP_SCHEDULER_ENABLED
+
 #include <stdint.h>
 #include <AP_Common/ExpandingString.h>
 
@@ -76,3 +80,5 @@ private:
 };
 
 };
+
+#endif  // AP_SCHEDULER_ENABLED