diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 2286831185..afb498e0c9 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -2756,6 +2756,7 @@ void GCS_MAVLINK::send_named_float(const char *name, float value) const
     mavlink_msg_named_value_float_send(chan, AP_HAL::millis(), float_name, value);
 }
 
+#if AP_AHRS_ENABLED
 void GCS_MAVLINK::send_home_position() const
 {
     if (!AP::ahrs().home_is_set()) {
@@ -2801,6 +2802,7 @@ void GCS_MAVLINK::send_gps_global_origin() const
         ekf_origin.alt * 10,
         AP_HAL::micros64());
 }
+#endif  // AP_AHRS_ENABLED
 
 MAV_STATE GCS_MAVLINK::system_status() const
 {
@@ -5652,6 +5654,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_global_position_int();
         break;
 
+#if AP_AHRS_ENABLED
     case MSG_HOME:
         CHECK_PAYLOAD_SIZE(HOME_POSITION);
         send_home_position();
@@ -5661,6 +5664,7 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         CHECK_PAYLOAD_SIZE(GPS_GLOBAL_ORIGIN);
         send_gps_global_origin();
         break;
+#endif  // AP_AHRS_ENABLED
 
 #if AP_RPM_ENABLED
     case MSG_RPM: