diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 1d032b9925..3f10354b84 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -2,6 +2,7 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
+#if HAL_INS_ENABLED
 #include <AP_HAL/I2CDevice.h>
 #include <AP_HAL/SPIDevice.h>
 #include <AP_Math/AP_Math.h>
@@ -2293,3 +2294,6 @@ AP_InertialSensor &ins()
 }
 
 };
+
+#endif //#if HAL_INS_ENABLED
+
diff --git a/libraries/AP_InertialSensor/BatchSampler.cpp b/libraries/AP_InertialSensor/BatchSampler.cpp
index 1b5df69289..b6e8ac72af 100644
--- a/libraries/AP_InertialSensor/BatchSampler.cpp
+++ b/libraries/AP_InertialSensor/BatchSampler.cpp
@@ -1,4 +1,6 @@
 #include "AP_InertialSensor.h"
+
+#if HAL_INS_ENABLED
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -276,3 +278,4 @@ void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSenso
 
     data_write_offset++; // may unblock the reading process
 }
+#endif //#if HAL_INS_ENABLED