diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index a6231ed988..148757e0b4 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -522,12 +522,14 @@ protected:
     void handle_set_mode(const mavlink_message_t &msg);
     void handle_command_int(const mavlink_message_t &msg);
 
-    MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
     virtual MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     MAV_RESULT handle_command_int_external_position_estimate(const mavlink_command_int_t &packet);
 
+#if AP_HOME_ENABLED
+    MAV_RESULT handle_command_do_set_home(const mavlink_command_int_t &packet);
     bool set_home_to_current_location(bool lock);
     bool set_home(const Location& loc, bool lock);
+#endif
 
 #if AP_ARMING_ENABLED
     virtual MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_int_t &packet);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 3b81e551ad..207143d08a 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5066,6 +5066,7 @@ void GCS_MAVLINK::handle_landing_target(const mavlink_message_t &msg)
 }
 
 
+#if AP_HOME_ENABLED
 bool GCS_MAVLINK::set_home_to_current_location(bool _lock)
 {
 #if AP_VEHICLE_ENABLED
@@ -5082,7 +5083,9 @@ bool GCS_MAVLINK::set_home(const Location& loc, bool _lock) {
     return false;
 #endif
 }
+#endif  // AP_HOME_ENABLED
 
+#if AP_HOME_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &packet)
 {
     if (is_equal(packet.param1, 1.0f) || (packet.x == 0 && packet.y == 0)) {
@@ -5105,6 +5108,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_home(const mavlink_command_int_t &
     }
     return MAV_RESULT_ACCEPTED;
 }
+#endif  // AP_HOME_ENABLED
 
 #if AP_AHRS_POSITION_RESET_ENABLED
 MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavlink_command_int_t &packet)
@@ -5309,8 +5313,11 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         send_banner();
         return MAV_RESULT_ACCEPTED;
 
+#if AP_HOME_ENABLED
     case MAV_CMD_DO_SET_HOME:
         return handle_command_do_set_home(packet);
+#endif
+
 #if AP_AHRS_POSITION_RESET_ENABLED
     case MAV_CMD_EXTERNAL_POSITION_ESTIMATE:
         return handle_command_int_external_position_estimate(packet);