diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index 45eccb97e7..ad7397d061 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -1,3 +1,7 @@
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
 #include <AP_HAL_Linux/I2CDevice.h>
@@ -2236,3 +2240,5 @@ Compass &compass()
 }
 
 }
+
+#endif  // AP_COMPASS_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_Backend.cpp b/libraries/AP_Compass/AP_Compass_Backend.cpp
index c0a7bf973e..7d430c3193 100644
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@@ -1,3 +1,7 @@
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_Compass.h"
@@ -294,3 +298,5 @@ enum Rotation AP_Compass_Backend::get_board_orientation(void) const
 {
     return _compass._board_orientation;
 }
+
+#endif  // AP_COMPASS_ENABLED