diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index bfaa356e8f90d..04f80777fcf7f 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -957,11 +957,14 @@ void AP_Vehicle::accel_cal_update()
         return;
     }
     ins.acal_update();
+
+#if AP_AHRS_ENABLED
     // check if new trim values, and set them
     Vector3f trim_rad;
     if (ins.get_new_trim(trim_rad)) {
         ahrs.set_trim(trim_rad);
     }
+#endif
 
 #if HAL_CAL_ALWAYS_REBOOT
     if (ins.accel_cal_requires_reboot() &&