diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 0ae1e3ce79..2d176c53c9 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4778,12 +4778,14 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
         result = handle_command_request_message(packet);
         break;
 
+#if AP_SERVORELAYEVENTS_ENABLED
     case MAV_CMD_DO_SET_SERVO:
     case MAV_CMD_DO_REPEAT_SERVO:
     case MAV_CMD_DO_SET_RELAY:
     case MAV_CMD_DO_REPEAT_RELAY:
         result = handle_servorelay_message(packet);
         break;
+#endif
 
     case MAV_CMD_DO_FLIGHTTERMINATION:
         result = handle_flight_termination(packet);
diff --git a/libraries/GCS_MAVLink/GCS_ServoRelay.cpp b/libraries/GCS_MAVLink/GCS_ServoRelay.cpp
index e2e8a24a1d..65f949a00e 100644
--- a/libraries/GCS_MAVLink/GCS_ServoRelay.cpp
+++ b/libraries/GCS_MAVLink/GCS_ServoRelay.cpp
@@ -2,6 +2,8 @@
 
 #include "AP_ServoRelayEvents/AP_ServoRelayEvents.h"
 
+#if AP_SERVORELAYEVENTS_ENABLED
+
 MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &packet)
 {
     AP_ServoRelayEvents *handler = AP::servorelayevents();
@@ -24,6 +26,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
         }
         break;
 
+#if AP_RELAY_ENABLED
     case MAV_CMD_DO_SET_RELAY:
         if (handler->do_set_relay(packet.param1, packet.param2)) {
             result = MAV_RESULT_ACCEPTED;
@@ -35,6 +38,7 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
             result = MAV_RESULT_ACCEPTED;
         }
         break;
+#endif
 
     default:
         result = MAV_RESULT_UNSUPPORTED;
@@ -43,3 +47,5 @@ MAV_RESULT GCS_MAVLINK::handle_servorelay_message(const mavlink_command_long_t &
 
     return result;
 }
+
+#endif