diff --git a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
index 3684c9b9e3..c4992dd0a7 100644
--- a/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_Source.cpp
@@ -443,9 +443,16 @@ bool AP_NavEKF_Source::pre_arm_check(bool requires_position, char *failure_msg,
         return false;
     }
 
-    if (beacon_required && (dal.beacon() == nullptr || !dal.beacon()->enabled())) {
-        hal.util->snprintf(failure_msg, failure_msg_len, ekf_requires_msg, "Beacon");
-        return false;
+    if (beacon_required) {
+#if AP_BEACON_ENABLED
+        const bool beacon_available = (dal.beacon() != nullptr && dal.beacon()->enabled());
+#else
+        const bool beacon_available = false;
+#endif
+        if (!beacon_available) {
+            hal.util->snprintf(failure_msg, failure_msg_len, ekf_requires_msg, "Beacon");
+            return false;
+        }
     }
 
     if (compass_required && (dal.compass().get_num_enabled() == 0)) {