diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp
index 7a325250b9..735c6b6e50 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_SITL.cpp
@@ -40,9 +40,12 @@ void AP_ESC_Telem_SITL::update()
         return;
     }
 
+#if HAL_WITH_ESC_TELEM
     for (uint8_t i = 0; i < sitl->state.num_motors; i++) {
         update_rpm(i, sitl->state.rpm[sitl->state.vtol_motor_start+i]);
     }
+#endif
+
 }
 
 #endif
\ No newline at end of file