diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 3b5fb95d79..a0ba16c106 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -386,7 +386,9 @@ static const ap_message STREAM_EXTRA2_msgs[] = {
 static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_AHRS,
     MSG_SYSTEM_TIME,
+#if AP_RANGEFINDER_ENABLED
     MSG_RANGEFINDER,
+#endif
     MSG_DISTANCE_SENSOR,
 #if AP_TERRAIN_AVAILABLE
     MSG_TERRAIN,