diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
index 2d390ff44b..eda7f91c4e 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
@@ -269,6 +269,7 @@ void AP_ExternalAHRS_LORD::post_imu() const
         AP::compass().handle_external(mag);
     }
 
+#if AP_BARO_EXTERNALAHRS_ENABLED
     {
         const AP_ExternalAHRS::baro_data_message_t baro {
             instance: 0,
@@ -278,6 +279,7 @@ void AP_ExternalAHRS_LORD::post_imu() const
         };        
         AP::baro().handle_external(baro);
     }
+#endif
 }
 
 // Collects data from a gnss packet into `gnss_data`
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index da14f5be54..72b64a160b 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -244,7 +244,8 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
                                   Location::AltFrame::ABSOLUTE};
         state.have_location = true;
     }
-    
+
+#if AP_BARO_EXTERNALAHRS_ENABLED
     {
         AP_ExternalAHRS::baro_data_message_t baro;
         baro.instance = 0;
@@ -253,6 +254,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
 
         AP::baro().handle_external(baro);
     }
+#endif
 
     {
         AP_ExternalAHRS::mag_data_message_t mag;