diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index a8ad20a0a51459..ffa00067cecc79 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -149,6 +149,7 @@ int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
     return rover.g2.motors.get_throttle();
 }
 
+#if AP_RANGEFINDER_ENABLED
 void GCS_MAVLINK_Rover::send_rangefinder() const
 {
     float distance = 0;
@@ -178,6 +179,7 @@ void GCS_MAVLINK_Rover::send_rangefinder() const
         distance,
         voltage);
 }
+#endif  // AP_RANGEFINDER_ENABLED
 
 /*
   send PID tuning message
diff --git a/Rover/GCS_Mavlink.h b/Rover/GCS_Mavlink.h
index f628bfa530bc4e..050109f5ccc3b3 100644
--- a/Rover/GCS_Mavlink.h
+++ b/Rover/GCS_Mavlink.h
@@ -58,7 +58,9 @@ class GCS_MAVLINK_Rover : public GCS_MAVLINK
 
     int16_t vfr_hud_throttle() const override;
 
+#if AP_RANGEFINDER_ENABLED
     void send_rangefinder() const override;
+#endif
 
 #if HAL_HIGH_LATENCY2_ENABLED
     uint8_t high_latency_tgt_heading() const override;