diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 3487d3a974..22d6f60c36 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -10,6 +10,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents_config.h>
+#include <RC_Channel/RC_Channel_config.h>
 
 const AP_Param::GroupInfo AP_Mission::var_info[] = {
 
@@ -405,8 +406,10 @@ bool AP_Mission::start_command(const Mission_Command& cmd)
     }
 
     switch (cmd.id) {
+#if AP_RC_CHANNEL_ENABLED
     case MAV_CMD_DO_AUX_FUNCTION:
         return start_command_do_aux_function(cmd);
+#endif
 #if AP_GRIPPER_ENABLED
     case MAV_CMD_DO_GRIPPER:
         return start_command_do_gripper(cmd);
diff --git a/libraries/AP_Mission/AP_Mission_Commands.cpp b/libraries/AP_Mission/AP_Mission_Commands.cpp
index 83716ec718..9d82550e48 100644
--- a/libraries/AP_Mission/AP_Mission_Commands.cpp
+++ b/libraries/AP_Mission/AP_Mission_Commands.cpp
@@ -10,6 +10,7 @@
 #include <RC_Channel/RC_Channel.h>
 #include <AP_Mount/AP_Mount.h>
 
+#if AP_RC_CHANNEL_ENABLED
 bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command& cmd)
 {
     const RC_Channel::AUX_FUNC function = (RC_Channel::AUX_FUNC)cmd.content.auxfunction.function;
@@ -28,6 +29,7 @@ bool AP_Mission::start_command_do_aux_function(const AP_Mission::Mission_Command
     rc().run_aux_function(function, pos, RC_Channel::AuxFuncTriggerSource::MISSION);
     return true;
 }
+#endif  // AP_RC_CHANNEL_ENABLED
 
 #if AP_GRIPPER_ENABLED
 bool AP_Mission::start_command_do_gripper(const AP_Mission::Mission_Command& cmd)