diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index 913fd5c67b..5ec99224ae 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -111,10 +111,10 @@ void nav_run(void) {
   /* saturate it */
   VECT2_STRIM(path_to_waypoint, -(1<<15), (1<<15));
 
+#if GUIDANCE_H_USE_REF
   int32_t dist_to_waypoint;
   INT32_VECT2_NORM(dist_to_waypoint, path_to_waypoint);
 
-#if GUIDANCE_H_USE_REF
   if (dist_to_waypoint < CLOSE_TO_WAYPOINT) {
     VECT2_COPY(navigation_carrot, navigation_target);
   }