diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 67298272ffe85..a35a95920bd84 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -394,7 +394,9 @@ void NavEKF3_core::InitialiseVariables()
     storedGPS.reset();
     storedBaro.reset();
     storedTAS.reset();
+#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
     storedRange.reset();
+#endif
     storedOutput.reset();
 #if EK3_FEATURE_BEACON_FUSION
     rngBcn.storedRange.reset();
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 322ebc6907ab2..d930bbb0fc5b9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1056,7 +1056,9 @@ class NavEKF3_core : public NavEKF_core_common
     EKF_obs_buffer_t<mag_elements> storedMag;      // Magnetometer data buffer
     EKF_obs_buffer_t<baro_elements> storedBaro;    // Baro data buffer
     EKF_obs_buffer_t<tas_elements> storedTAS;      // TAS data buffer
+#if EK3_FEATURE_RANGEFINDER_MEASUREMENTS
     EKF_obs_buffer_t<range_elements> storedRange;  // Range finder data buffer
+#endif
     EKF_IMU_buffer_t<output_elements> storedOutput;// output state buffer
     Matrix3F prevTnb;               // previous nav to body transformation used for INS earth rotation compensation
     ftype accNavMag;                // magnitude of navigation accel - used to adjust GPS obs variance (m/s^2)