diff --git a/ArduSub/commands_logic.cpp b/ArduSub/commands_logic.cpp
index f35eac7967..681022a3dd 100644
--- a/ArduSub/commands_logic.cpp
+++ b/ArduSub/commands_logic.cpp
@@ -401,7 +401,11 @@ void Sub::do_nav_delay(const AP_Mission::Mission_Command& cmd)
         nav_delay_time_max_ms = cmd.content.nav_delay.seconds * 1000; // convert seconds to milliseconds
     } else {
         // absolute delay to utc time
+#if AP_RTC_ENABLED
         nav_delay_time_max_ms = AP::rtc().get_time_utc(cmd.content.nav_delay.hour_utc, cmd.content.nav_delay.min_utc, cmd.content.nav_delay.sec_utc, 0);
+#else
+        nav_delay_time_max_ms = 0;
+#endif
     }
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec", (unsigned)(nav_delay_time_max_ms/1000));
 }