diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index daa491b89b..9490b5e63e 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -342,7 +342,9 @@ void AP_UAVCAN::init(uint8_t driver_index, bool enable_filters)
 #if AP_OPTICALFLOW_HEREFLOW_ENABLED
     AP_OpticalFlow_HereFlow::subscribe_msgs(this);
 #endif
+#if AP_RANGEFINDER_UAVCAN_ENABLED
     AP_RangeFinder_UAVCAN::subscribe_msgs(this);
+#endif
 #if HAL_EFI_ENABLED
     AP_EFI_DroneCAN::subscribe_msgs(this);
 #endif