diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 08cb8c6da0..e16fe909f6 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -38,7 +38,9 @@ void GCS::get_sensor_status_flags(uint32_t &present,
 
 MissionItemProtocol_Waypoints *GCS::_missionitemprotocol_waypoints;
 MissionItemProtocol_Rally *GCS::_missionitemprotocol_rally;
+#if AC_FENCE
 MissionItemProtocol_Fence *GCS::_missionitemprotocol_fence;
+#endif
 
 const MAV_MISSION_TYPE GCS_MAVLINK::supported_mission_types[] = {
     MAV_MISSION_TYPE_MISSION,
@@ -267,7 +269,7 @@ void GCS::update_sensor_status_flags()
     }
 #endif
 
-#if !defined(HAL_BUILD_AP_PERIPH)
+#if !defined(HAL_BUILD_AP_PERIPH) && AC_FENCE
     const AC_Fence *fence = AP::fence();
     if (fence != nullptr) {
         if (fence->sys_status_enabled()) {
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index b587c11b19..2be5bdd701 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -25,6 +25,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_OpticalFlow/AP_OpticalFlow.h>
 #include <AP_Mount/AP_Mount.h>
+#include <AC_Fence/AC_Fence.h>
 
 #include "ap_message.h"
 
@@ -1063,7 +1064,9 @@ public:
 
     static class MissionItemProtocol_Waypoints *_missionitemprotocol_waypoints;
     static class MissionItemProtocol_Rally *_missionitemprotocol_rally;
+#if AC_FENCE
     static class MissionItemProtocol_Fence *_missionitemprotocol_fence;
+#endif
     class MissionItemProtocol *get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const;
     void try_send_queued_message_for_type(MAV_MISSION_TYPE type) const;
 
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a4e4e2987e..27ee062584 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -561,8 +561,10 @@ MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE missi
         return _missionitemprotocol_waypoints;
     case MAV_MISSION_TYPE_RALLY:
         return _missionitemprotocol_rally;
+#if AC_FENCE
     case MAV_MISSION_TYPE_FENCE:
         return _missionitemprotocol_fence;
+#endif
     default:
         return nullptr;
     }
@@ -2194,7 +2196,7 @@ void GCS::send_message(enum ap_message id)
 void GCS::update_send()
 {
     update_send_has_been_called = true;
-#ifndef HAL_BUILD_AP_PERIPH
+#if !defined(HAL_BUILD_AP_PERIPH) && AC_FENCE
     if (!initialised_missionitemprotocol_objects) {
         initialised_missionitemprotocol_objects = true;
         // once-only initialisation of MissionItemProtocol objects:
@@ -6162,9 +6164,11 @@ uint64_t GCS_MAVLINK::capabilities() const
     }
 #endif
 
+#if AC_FENCE
     if (AP::fence()) {
         ret |= MAV_PROTOCOL_CAPABILITY_MISSION_FENCE;
     }
+#endif
 
     if (!AP_BoardConfig::ftp_disabled()){  //if ftp disable board option is not set
         ret |= MAV_PROTOCOL_CAPABILITY_FTP;
diff --git a/libraries/GCS_MAVLink/GCS_Fence.cpp b/libraries/GCS_MAVLink/GCS_Fence.cpp
index b6bffdad07..71da22bb6a 100644
--- a/libraries/GCS_MAVLink/GCS_Fence.cpp
+++ b/libraries/GCS_MAVLink/GCS_Fence.cpp
@@ -6,6 +6,7 @@
 
 MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_long_t &packet)
 {
+#if AC_FENCE
     AC_Fence *fence = AP::fence();
     if (fence == nullptr) {
         return MAV_RESULT_UNSUPPORTED;
@@ -29,10 +30,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_fence_enable(const mavlink_command_lon
     default:
         return MAV_RESULT_FAILED;
     }
+#else
+    return MAV_RESULT_UNSUPPORTED;
+#endif // AC_FENCE
 }
 
 void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
 {
+#if AC_FENCE
     AC_Fence *fence = AP::fence();
     if (fence == nullptr) {
         return;
@@ -49,11 +54,13 @@ void GCS_MAVLINK::handle_fence_message(const mavlink_message_t &msg)
 #endif
         break;
     }
+#endif // AC_FENCE
 }
 
 // fence_send_mavlink_status - send fence status to ground station
 void GCS_MAVLINK::send_fence_status() const
 {
+#if AC_FENCE
     const AC_Fence *fence = AP::fence();
     if (fence == nullptr) {
         return;
@@ -95,4 +102,5 @@ void GCS_MAVLINK::send_fence_status() const
                                   mavlink_breach_type,
                                   fence->get_breach_time(),
                                   breach_mitigation);
+#endif // AC_FENCE
 }
diff --git a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
index 294c28e387..611f03c8ab 100644
--- a/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
+++ b/libraries/GCS_MAVLink/MissionItemProtocol_Fence.cpp
@@ -4,6 +4,8 @@
 #include <AP_InternalError/AP_InternalError.h>
 #include <GCS_MAVLink/GCS.h>
 
+#if AC_FENCE
+
 /*
   public function to format mission item as mavlink_mission_item_int_t
  */
@@ -241,3 +243,5 @@ MAV_MISSION_RESULT MissionItemProtocol_Fence::allocate_update_resources()
     _new_items_count = _item_count;
     return MAV_MISSION_ACCEPTED;
 }
+
+#endif // AC_FENCE