diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index e71264a7ed..439f4a014b 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -788,7 +788,11 @@ void ModeAuto::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));
 }