diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 78fc8f2530e..9ac2fd7e07f 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -99,7 +99,6 @@ static void NOINLINE send_meminfo(mavlink_channel_t chan)
 
 static void NOINLINE send_location(mavlink_channel_t chan)
 {
-#if QUATERNION_ENABLE == DISABLED
     Matrix3f rot = dcm.get_dcm_matrix(); // neglecting angle of attack for now
     mavlink_msg_global_position_int_send(
         chan,
@@ -109,7 +108,6 @@ static void NOINLINE send_location(mavlink_channel_t chan)
         g_gps->ground_speed * rot.a.x,
         g_gps->ground_speed * rot.b.x,
         g_gps->ground_speed * rot.c.x);
-#endif
 }
 
 static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)