diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_config.h b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
index ed10e44160..b0aa192eaf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_config.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
@@ -4,6 +4,7 @@
 #include <AP_Scripting/AP_Scripting_config.h>
 #include <AP_CANManager/AP_CANManager_config.h>
 #include <AP_MSP/AP_MSP_config.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef AP_RANGEFINDER_ENABLED
 #define AP_RANGEFINDER_ENABLED 1
@@ -97,7 +98,7 @@
 #endif
 
 #ifndef AP_RANGEFINDER_MAVLINK_ENABLED
-#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
 #endif
 
 #ifndef AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED