diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index e13bb562f1..601a6a15a3 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -20,7 +20,10 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
-#include <GCS_MAVLink/GCS.h>
+#include <GCS_MAVLink/GCS_config.h>
+#if HAL_GCS_ENABLED
+#include <GCS_MAVLink/GCS_MAVLink.h>
+#endif
 #include <AP_Math/AP_Math.h>
 
 class AP_VisualOdom_Backend;
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
index 9ca080be03..e38662dfda 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
@@ -19,6 +19,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
+#include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
 #define VISUALODOM_RESET_IGNORE_DURATION_MS 1000    // sensor data is ignored for 1sec after a position reset