diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 2eec3c84598af7..6a394740eb36f1 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -342,7 +342,7 @@ void AP_AHRS::update_state(void)
 {
     const uint8_t primary_gyro = _get_primary_gyro_index();
     const uint8_t primary_accel = _get_primary_accel_index();
-
+#if AP_INERTIALSENSOR_ENABLED
     // tell the IMUS about primary changes
     if (primary_gyro != state.primary_gyro) {
         AP::ins().set_primary_gyro(primary_gyro);
@@ -351,7 +351,7 @@ void AP_AHRS::update_state(void)
     if (primary_accel != state.primary_accel) {
         AP::ins().set_primary_accel(primary_accel);
     }
-
+#endif
     state.primary_IMU = _get_primary_IMU_index();
     state.primary_gyro = primary_gyro;
     state.primary_accel = primary_accel;