diff --git a/libraries/GCS_MAVLink/GCS.cpp b/libraries/GCS_MAVLink/GCS.cpp
index 609b91a17c..9539ded757 100644
--- a/libraries/GCS_MAVLink/GCS.cpp
+++ b/libraries/GCS_MAVLink/GCS.cpp
@@ -376,9 +376,11 @@ bool GCS::out_of_time() const
         return false;
     }
 
+#if AP_SCHEDULER_ENABLED
     if (min_loop_time_remaining_for_message_send_us() <= AP::scheduler().time_available_usec()) {
         return false;
     }
+#endif
 
     return true;
 }