diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 1b12f3505c312..5ff1dca6c03f2 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -30,6 +30,7 @@
 #include <AP_Button/AP_Button.h>
 #include <AP_Compass/AP_Compass.h>
 #include <AP_EFI/AP_EFI.h>
+#include <AP_ExternalControl/AP_ExternalControl_config.h>
 #include <AP_GPS/AP_GPS.h>
 #include <AP_Generator/AP_Generator.h>
 #include <AP_Notify/AP_Notify.h>                    // Notify library
@@ -151,12 +152,15 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     // returns true if the vehicle has crashed
     virtual bool is_crashed() const;
 
+#if AP_EXTERNAL_CONTROL_ENABLED
+    // Method to control vehicle position for use by external control
+    virtual bool set_target_location(const Location& target_loc) { return false; }
+#endif // AP_EXTERNAL_CONTROL_ENABLED
 #if AP_SCRIPTING_ENABLED
     /*
       methods to control vehicle for use by scripting
     */
     virtual bool start_takeoff(float alt) { return false; }
-    virtual bool set_target_location(const Location& target_loc) { return false; }
     virtual bool set_target_pos_NED(const Vector3f& target_pos, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative, bool terrain_alt) { return false; }
     virtual bool set_target_posvel_NED(const Vector3f& target_pos, const Vector3f& target_vel) { return false; }
     virtual bool set_target_posvelaccel_NED(const Vector3f& target_pos, const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }