diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
index 7ccdce7db5..33c2fe864b 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_LORD.cpp
@@ -262,12 +262,14 @@ void AP_ExternalAHRS_LORD::post_imu() const
         AP::ins().handle_external(ins);
     }
 
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     {
         AP_ExternalAHRS::mag_data_message_t mag {
             field: imu_data.mag
         };
         AP::compass().handle_external(mag);
     }
+#endif
 
 #if AP_BARO_EXTERNALAHRS_ENABLED
     {
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
index a273372f99..74cd286afc 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_VectorNav.cpp
@@ -486,6 +486,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
     }
 #endif
 
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     {
         AP_ExternalAHRS::mag_data_message_t mag;
         mag.field = Vector3f{pkt1.mag[0], pkt1.mag[1], pkt1.mag[2]};
@@ -493,6 +494,7 @@ void AP_ExternalAHRS_VectorNav::process_packet1(const uint8_t *b)
 
         AP::compass().handle_external(mag);
     }
+#endif
 
     {
         AP_ExternalAHRS::ins_data_message_t ins;
@@ -617,6 +619,7 @@ void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
     }
 #endif
 
+#if AP_COMPASS_EXTERNALAHRS_ENABLED
     {
         AP_ExternalAHRS::mag_data_message_t mag;
         if (use_uncomp) {
@@ -628,6 +631,7 @@ void AP_ExternalAHRS_VectorNav::process_packet_VN_100(const uint8_t *b)
 
         AP::compass().handle_external(mag);
     }
+#endif
 
     {
         AP_ExternalAHRS::ins_data_message_t ins;