diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 21928b0fcf..5dd56c8f54 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -891,7 +891,7 @@ void RC_Channel::do_aux_function_avoid_adsb(const AuxSwitchPos ch_flag)
 
 void RC_Channel::do_aux_function_avoid_proximity(const AuxSwitchPos ch_flag)
 {
-#if !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
+#if AP_AVOIDANCE_ENABLED && !APM_BUILD_TYPE(APM_BUILD_ArduPlane)
     AC_Avoid *avoid = AP::ac_avoid();
     if (avoid == nullptr) {
         return;