diff --git a/libraries/AP_DDS/tests/test_ap_dds_external_odom.cpp b/libraries/AP_DDS/tests/test_ap_dds_external_odom.cpp
index 804d891e16..35d37bd97d 100644
--- a/libraries/AP_DDS/tests/test_ap_dds_external_odom.cpp
+++ b/libraries/AP_DDS/tests/test_ap_dds_external_odom.cpp
@@ -1,9 +1,13 @@
 #include <AP_gtest.h>
 
+#include <AP_DDS/AP_DDS_config.h>
+
 #include <AP_DDS/AP_DDS_External_Odom.h>
 #include "geometry_msgs/msg/TransformStamped.h"
 #include <AP_HAL/AP_HAL.h>
 
+#if AP_DDS_VISUALODOM_ENABLED
+
 const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 
 TEST(AP_DDS_EXTERNAL_ODOM, test_is_odometry_success)
@@ -35,4 +39,6 @@ TEST(AP_DDS_EXTERNAL_ODOM, test_is_odometry_success)
     ASSERT_FALSE(AP_DDS_External_Odom::is_odometry_frame(msg));
 }
 
+#endif // AP_DDS_VISUALODOM_ENABLED
+
 AP_GTEST_MAIN()