diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index a81f3d5a38cb7b..310562bb983ab3 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -68,6 +68,8 @@
 #include "MissionItemProtocol_Rally.h"
 #include "MissionItemProtocol_Fence.h"
 
+#include <AP_Vehicle/AP_Vehicle_config.h>
+
 #include <stdio.h>
 
 #if HAL_RCINPUT_WITH_AP_RADIO
@@ -652,7 +654,11 @@ void GCS_MAVLINK::send_mission_current(const class AP_Mission &mission, uint16_t
         num_commands -= 1;
     }
 
+#if AP_VEHICLE_ENABLED
     const uint8_t mission_mode = AP::vehicle()->current_mode_requires_mission() ? 1 : 0;
+#else
+    const uint8_t mission_mode = 0;
+#endif
 
     mavlink_msg_mission_current_send(
         chan,
@@ -2587,6 +2593,7 @@ void GCS_MAVLINK::handle_set_mode(const mavlink_message_t &msg)
 MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32_t _custom_mode)
 {
     // only accept custom modes because there is no easy mapping from Mavlink flight modes to AC flight modes
+#if AP_VEHICLE_ENABLED
     if (uint32_t(_base_mode) & MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) {
         if (!AP::vehicle()->set_mode(_custom_mode, ModeReason::GCS_COMMAND)) {
             // often we should be returning DENIED rather than FAILED
@@ -2596,6 +2603,7 @@ MAV_RESULT GCS_MAVLINK::_set_mode_common(const MAV_MODE _base_mode, const uint32
         }
         return MAV_RESULT_ACCEPTED;
     }
+#endif
 
     if (_base_mode == (MAV_MODE)MAV_MODE_FLAG_DECODE_POSITION_SAFETY) {
         // set the safety switch position. Must be in a command by itself
@@ -3269,7 +3277,11 @@ MAV_RESULT GCS_MAVLINK::handle_preflight_reboot(const mavlink_command_int_t &pac
     // when packet.param1 == 3 we reboot to hold in bootloader
     const bool hold_in_bootloader = is_equal(packet.param1, 3.0f);
 
+#if AP_VEHICLE_ENABLED
     AP::vehicle()->reboot(hold_in_bootloader);  // not expected to return
+#else
+    hal.scheduler->reboot(hold_in_bootloader);
+#endif
 
     return MAV_RESULT_FAILED;
 }
@@ -5613,10 +5625,12 @@ void GCS_MAVLINK::send_autopilot_state_for_gimbal_device() const
 
     // get vehicle earth-frame rotation rate targets
     Vector3f rate_ef_targets;
+#if AP_VEHICLE_ENABLED
     const AP_Vehicle *vehicle = AP::vehicle();
     if (vehicle != nullptr) {
         vehicle->get_rate_ef_targets(rate_ef_targets);
     }
+#endif
 
     // get estimator flags
     uint16_t est_status_flags = 0;