diff --git a/libraries/AP_Camera/AP_Camera_config.h b/libraries/AP_Camera/AP_Camera_config.h
index b153c479639486..0d2f92e609cf44 100644
--- a/libraries/AP_Camera/AP_Camera_config.h
+++ b/libraries/AP_Camera/AP_Camera_config.h
@@ -22,7 +22,7 @@
 #endif
 
 #ifndef AP_CAMERA_MAVLINKCAMV2_ENABLED
-#define AP_CAMERA_MAVLINKCAMV2_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
+#define AP_CAMERA_MAVLINKCAMV2_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED && BOARD_FLASH_SIZE > 1024
 #endif
 
 #ifndef AP_CAMERA_MOUNT_ENABLED