diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index 4ce0516731..0640f3df0c 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -31,6 +31,7 @@
 //#define OPTFLOW               DISABLED            // disable optical flow sensor to save 5K of flash space
 //#define FRSKY_TELEM_ENABLED   DISABLED            // disable FRSky telemetry
 #define PRECISION_LANDING     DISABLED             // enable precision landing using companion computer or IRLock sensor
+#define TRANSECT_ENABLED      DISABLED
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index f6d57e6407..cbaaee40d0 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -817,9 +817,11 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Standard
     GGROUP(p_pos_xy,                "POS_XY_", AC_P),
 
+#if TRANSECT_ENABLED == ENABLED
 	GGROUP(pid_crosstrack_control, "XTRACK_", AC_PID),
 
 	GGROUP(pid_heading_control, "HEAD_", AC_PID),
+#endif
 
     // variables not in the g class which contain EEPROM saved variables
 
diff --git a/ArduSub/flight_mode.cpp b/ArduSub/flight_mode.cpp
index 4a8cf2ccc0..e082afdcdc 100644
--- a/ArduSub/flight_mode.cpp
+++ b/ArduSub/flight_mode.cpp
@@ -67,9 +67,11 @@ bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
             success = drift_init(ignore_checks);
             break;
 
+#if TRANSECT_ENABLED == ENABLED
         case TRANSECT:
             success = transect_init(ignore_checks);
             break;
+#endif
 
         case FLIP:
             success = flip_init(ignore_checks);
@@ -184,9 +186,11 @@ void Sub::update_flight_mode()
             drift_run();
             break;
 
+#if TRANSECT_ENABLED == ENABLED
         case TRANSECT:
             transect_run();
             break;
+#endif
 
         case FLIP:
             flip_run();