diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index 669b646fe5..221a92bb9a 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -153,8 +153,10 @@ void Copter::init_ardupilot()
     barometer.set_log_baro_bit(MASK_LOG_IMU);
     barometer.calibrate();
 
+#if RANGEFINDER_ENABLED == ENABLED
     // initialise rangefinder
     init_rangefinder();
+#endif
 
 #if HAL_PROXIMITY_ENABLED
     // init proximity sensor