diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index ea1fce25f3..307304d877 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -106,8 +106,10 @@ void AP_AHRS_NavEKF::update(bool skip_ins_update)
         update_EKF2();
     }
 
+#if AP_MODULE_SUPPORTED
     // call AHRS_update hook if any
     AP_Module::call_hook_AHRS_update(*this);
+#endif
 
     // push gyros if optical flow present
     if (hal.opticalflow) {