diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 89738d9cae..792e501534 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -425,9 +425,11 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(afs, "AFS_", 5, ParametersG2, AP_AdvancedFailsafe),
 #endif
 
+#if AP_BEACON_ENABLED
     // @Group: BCN
     // @Path: ../libraries/AP_Beacon/AP_Beacon.cpp
     AP_SUBGROUPINFO(beacon, "BCN", 6, ParametersG2, AP_Beacon),
+#endif
 
     // 7 was used by AP_VisualOdometry
 
@@ -730,7 +732,9 @@ ParametersG2::ParametersG2(void)
 #if ADVANCED_FAILSAFE == ENABLED
     afs(),
 #endif
+#if AP_BEACON_ENABLED
     beacon(),
+#endif
     motors(rover.ServoRelayEvents, wheel_rate_control),
     wheel_rate_control(wheel_encoder),
     attitude_control(),
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 83f718b91e..3c3040ce53 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -312,7 +312,9 @@ public:
     AP_AdvancedFailsafe_Rover afs;
 #endif
 
+#if AP_BEACON_ENABLED
     AP_Beacon beacon;
+#endif
 
     // Motor library
     AP_MotorsUGV motors;
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index f264315234..2ef70f1c9e 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -80,7 +80,9 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(set_servos,            400,    200,  15),
     SCHED_TASK_CLASS(AP_GPS,              &rover.gps,              update,         50,  300,  18),
     SCHED_TASK_CLASS(AP_Baro,             &rover.barometer,        update,         10,  200,  21),
+#if AP_BEACON_ENABLED
     SCHED_TASK_CLASS(AP_Beacon,           &rover.g2.beacon,        update,         50,  200,  24),
+#endif
 #if HAL_PROXIMITY_ENABLED
     SCHED_TASK_CLASS(AP_Proximity,        &rover.g2.proximity,     update,         50,  200,  27),
 #endif
@@ -377,7 +379,9 @@ void Rover::update_logging1(void)
 
     if (should_log(MASK_LOG_THR)) {
         Log_Write_Throttle();
+#if AP_BEACON_ENABLED
         g2.beacon.log();
+#endif
     }
 
     if (should_log(MASK_LOG_NTUN)) {
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 78e4107254..bd6ed6b1cc 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -75,8 +75,10 @@ void Rover::init_ardupilot()
     g2.proximity.init();
 #endif
 
+#if AP_BEACON_ENABLED
     // init beacons used for non-gps position estimation
     g2.beacon.init();
+#endif
 
     // and baro for EKF
     barometer.set_log_baro_bit(MASK_LOG_IMU);