diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 6189b2d281..e718273703 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -142,7 +142,12 @@ void GCS_MAVLINK_Rover::send_servo_out()
         0,
         0,
         0,
-        receiver_rssi());
+#if AP_RSSI_ENABLED
+        receiver_rssi()
+#else
+        255
+#endif
+        );
 }
 
 int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 6a3edb0184..3490e2a703 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -237,9 +237,11 @@ void Rover::Log_Write_RC(void)
 {
     logger.Write_RCIN();
     logger.Write_RCOUT();
+#if AP_RSSI_ENABLED
     if (rssi.enabled()) {
         logger.Write_RSSI();
     }
+#endif
 }
 
 void Rover::Log_Write_Vehicle_Startup_Messages()
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 49c1f9a0be..0c740105e5 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -358,9 +358,11 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Mission/AP_Mission.cpp
     GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
 
+#if AP_RSSI_ENABLED
     // @Group: RSSI_
     // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
     GOBJECT(rssi, "RSSI_",  AP_RSSI),
+#endif
 
     // @Group: NTF_
     // @Path: ../libraries/AP_Notify/AP_Notify.cpp
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 451df4614e..02b93ab644 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -18,7 +18,9 @@ void Rover::init_ardupilot()
     rpm_sensor.init();
 #endif
 
+#if AP_RSSI_ENABLED
     rssi.init();
+#endif
 
     g2.windvane.init(serial_manager);