diff --git a/libraries/AP_Module/AP_Module.cpp b/libraries/AP_Module/AP_Module.cpp
index 18bbc8d315..725cacbcbf 100644
--- a/libraries/AP_Module/AP_Module.cpp
+++ b/libraries/AP_Module/AP_Module.cpp
@@ -13,6 +13,10 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <AP_HAL/AP_HAL.h>
+
+#if AP_MODULE_SUPPORTED
+
 /*
   support for external modules
  */
@@ -280,3 +284,5 @@ void AP_Module::call_hook_accel_sample(uint8_t instance, float dt, const Vector3
     }
 #endif
 }
+
+#endif // AP_MODULE_SUPPORTED
diff --git a/libraries/AP_Module/AP_Module.h b/libraries/AP_Module/AP_Module.h
index d3b5b14ed4..bfb7c3d6f9 100644
--- a/libraries/AP_Module/AP_Module.h
+++ b/libraries/AP_Module/AP_Module.h
@@ -28,13 +28,10 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include <AP_AHRS/AP_AHRS.h>
 
-#ifdef HAVE_LIBDL
-#define AP_MODULE_SUPPORTED 1
-#else
-#define AP_MODULE_SUPPORTED 0
-#endif
+#if AP_MODULE_SUPPORTED
+
+#include <AP_AHRS/AP_AHRS.h>
 
 #ifndef AP_MODULE_DEFAULT_DIRECTORY
 #define AP_MODULE_DEFAULT_DIRECTORY "/usr/lib/ardupilot/modules"
@@ -90,3 +87,5 @@ private:
     // scan a module for hooks
     static void module_scan(const char *path);
 };
+
+#endif // AP_MODULE_SUPPORTED