diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 6f532a066b..84c00518ce 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -657,7 +657,9 @@ static const ap_message STREAM_EXTRA1_msgs[] = {
     MSG_AOA_SSA,
     MSG_PID_TUNING,
     MSG_LANDING,
+#if HAL_WITH_ESC_TELEM
     MSG_ESC_TELEMETRY,
+#endif
 #if HAL_EFI_ENABLED
     MSG_EFI_STATUS,
 #endif