diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 7617dd71e1..78dc36dfed 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -47,7 +47,6 @@
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
 #include <AP_Mission/AP_Mission.h>         // Mission command library
-#include <AP_Rally/AP_Rally.h>           // Rally point library
 #include <AC_PID/AC_PID.h>             // PID library
 #include <AC_PID/AC_PI_2D.h>           // PID library (2-axis)
 #include <AC_PID/AC_P.h>               // P library
@@ -107,6 +106,10 @@
 #include <AC_Avoidance/AC_Avoid.h>           // Stop at fence library
 #endif
 
+#if AC_RALLY == ENABLED
+#include <AP_Rally/AP_Rally.h>           // Rally point library
+#endif
+
 // Local modules
 #include "Parameters.h"