diff --git a/src/MissionManager/PlanMasterController.cc b/src/MissionManager/PlanMasterController.cc
index 9f9071b71e1d5a63858260f850f4da18dd319548..c872b765fd3f79fd223f993ee2be4dd3e4ac44da 100644
--- a/src/MissionManager/PlanMasterController.cc
+++ b/src/MissionManager/PlanMasterController.cc
@@ -272,12 +272,14 @@ void PlanMasterController::_sendRallyPointsComplete(void)
     }
 }
 
+#if defined(QGC_AIRMAP_ENABLED)
 void PlanMasterController::_startFlightPlanning(void) {
     if (qgcApp()->toolbox()->airspaceManager()->connected()) {
         qCDebug(PlanMasterControllerLog) << "PlanMasterController::_startFlightPlanning client connected, start flight planning";
         qgcApp()->toolbox()->airspaceManager()->flightPlan()->startFlightPlanning(this);
     }
 }
+#endif
 
 void PlanMasterController::sendToVehicle(void)
 {
diff --git a/src/MissionManager/PlanMasterController.h b/src/MissionManager/PlanMasterController.h
index c8f0c70796e83f6deb867c0e54eedf538a25588c..344465a1ae64cd35fff8892ce0b3535f451a8ee8 100644
--- a/src/MissionManager/PlanMasterController.h
+++ b/src/MissionManager/PlanMasterController.h
@@ -111,7 +111,9 @@ private slots:
     void _sendMissionComplete(void);
     void _sendGeoFenceComplete(void);
     void _sendRallyPointsComplete(void);
+#if defined(QGC_AIRMAP_ENABLED)
     void _startFlightPlanning(void);
+#endif
 
 private:
     void _showPlanFromManagerVehicle(void);