diff --git a/APMrover2/make.inc b/APMrover2/make.inc
index 812bd7b39d..9445d466d3 100644
--- a/APMrover2/make.inc
+++ b/APMrover2/make.inc
@@ -47,7 +47,6 @@ LIBRARIES += AR_AttitudeControl
 LIBRARIES += AC_PID
 LIBRARIES += AC_Fence
 LIBRARIES += AP_SmartRTL
-LIBRARIES += AC_Avoidance
 LIBRARIES += AC_AttitudeControl
 LIBRARIES += AP_Devo_Telem
 LIBRARIES += AP_Follow
diff --git a/APMrover2/wscript b/APMrover2/wscript
index 5ecd1a29a6..b9afff7a52 100644
--- a/APMrover2/wscript
+++ b/APMrover2/wscript
@@ -21,7 +21,6 @@ def build(bld):
             'AP_WheelEncoder',
             'AP_SmartRTL',
             'AC_Fence',
-            'AC_Avoidance',
             'AC_AttitudeControl',
             'AP_Devo_Telem',
             'AP_Follow',