diff --git a/libraries/AC_Fence/AC_Fence_config.h b/libraries/AC_Fence/AC_Fence_config.h
index dbc607afa7..4abb471eac 100644
--- a/libraries/AC_Fence/AC_Fence_config.h
+++ b/libraries/AC_Fence/AC_Fence_config.h
@@ -2,6 +2,8 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 
+#include <GCS_MAVLink/GCS_config.h>
+
 // Enabled 0 is compiled out
 // Enabled 1 is always enabled on all vehicles
 // Enabled 2 is enabled with dummy methods for tracker and blimp
@@ -11,5 +13,5 @@
 #endif
 
 #ifndef AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT
-#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT AP_FENCE_ENABLED
+#define AC_POLYFENCE_FENCE_POINT_PROTOCOL_SUPPORT HAL_GCS_ENABLED && AP_FENCE_ENABLED
 #endif