diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index da18c2b172..b266c49875 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -406,9 +406,11 @@ void AP_Baro::init(void)
         break;
 
     case AP_BoardConfig::PX4_BOARD_AEROFC:
+#ifdef HAL_BARO_MS5607_I2C_BUS
         ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
                                           std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
                                           AP_Baro_MS56XX::BARO_MS5607));
+#endif
         break;
 
     default: