diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index 5519f86d45..568a4b6a01 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -56,6 +56,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
 
     // send to EKF
     const float time_delta_sec = packet.time_delta_usec * 1.0E-6;
+#if AP_AHRS_ENABLED
     AP::ahrs().writeBodyFrameOdom(packet.confidence,
                                   position_delta,
                                   angle_delta,
@@ -63,6 +64,7 @@ void AP_VisualOdom_Backend::handle_vision_position_delta_msg(const mavlink_messa
                                   now_ms,
                                   _frontend.get_delay_ms(),
                                   _frontend.get_pos_offset());
+#endif
 
     // log sensor data
     Write_VisualOdom(time_delta_sec,