diff --git a/libraries/SITL/SIM_Gimbal.cpp b/libraries/SITL/SIM_Gimbal.cpp
index addc0e11c7..789413ecc2 100644
--- a/libraries/SITL/SIM_Gimbal.cpp
+++ b/libraries/SITL/SIM_Gimbal.cpp
@@ -18,6 +18,7 @@
 */
 
 #include "SIM_Aircraft.h"
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "SIM_Gimbal.h"
 #include <stdio.h>
 
@@ -30,6 +31,7 @@ Gimbal::Gimbal(const struct sitl_fdm &_fdm) :
     lower_joint_limits(radians(-40), radians(-135), radians(-7.5)),
     upper_joint_limits(radians(40),  radians(45),   radians(7.5)),
     travelLimitGain(20),
+    reporting_period_ms(10),
     seen_heartbeat(false),
     seen_gimbal_control(false),
     mav_socket(false)
@@ -289,3 +291,4 @@ void Gimbal::send_report(void)
         delta_angle.zero();
     }
 }
+#endif // CONFIG_HAL_BOARD
diff --git a/libraries/SITL/SIM_Gimbal.h b/libraries/SITL/SIM_Gimbal.h
index e10803c876..a5e4a34ccb 100644
--- a/libraries/SITL/SIM_Gimbal.h
+++ b/libraries/SITL/SIM_Gimbal.h
@@ -21,6 +21,7 @@
 #define _SIM_GIMBAL_H
 
 #include "SIM_Aircraft.h"
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <utility/Socket.h>
 
 class Gimbal
@@ -67,7 +68,7 @@ private:
     // MAVLink at approx 100Hz
 
     // reporting period in ms
-    static const float reporting_period_ms = 10;
+    const float reporting_period_ms;
         
     // integral of gyro vector over last time interval. In radians
     Vector3f delta_angle;
@@ -104,5 +105,6 @@ private:
 
     void send_report(void);
 };
+#endif // CONFIG_HAL_BOARD
 
 #endif // _SIM_GIMBAL_H