diff --git a/src/main/flight/altitude.c b/src/main/flight/altitude.c
index f40c21d68d..05857e0199 100644
--- a/src/main/flight/altitude.c
+++ b/src/main/flight/altitude.c
@@ -209,11 +209,11 @@ bool sensorUpdateIteration(sensorState_t *sensor) {
         SensorMeasurement tempSensorMeas;
         tempSensorMeas.value    = sensor->currentAltReadingCm - sensor->zeroAltOffsetCm;
         tempSensorMeas.variance = sensor->variance;
-
+#ifdef USE_GPS
         if (sensor->type == SF_GPS) { // ignore the GPS for now, TODO: add the gps to the fusion
             return false;
         }
-            
+#endif
         kf_update(&kf, tempSensorMeas);
         return true;
     }
@@ -237,9 +237,11 @@ bool altSensorFusionUpdate(void) {
     altitudeState.velocityCm = (altitudeState.distCm - previousAltitude) * 1000 / deltaTimeMs;
     previousAltitude         = altitudeState.distCm;
     
-    DEBUG_SET(DEBUG_ALTITUDE, 0, lrintf(10000 - gpsSol.dop.pdop));
     DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(altSenFusSources[SF_BARO].currentAltReadingCm - altSenFusSources[SF_BARO].zeroAltOffsetCm));
+#ifdef USE_GPS
+    DEBUG_SET(DEBUG_ALTITUDE, 0, lrintf(10000 - gpsSol.dop.pdop));
     DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(altSenFusSources[SF_GPS].currentAltReadingCm  - altSenFusSources[SF_GPS].zeroAltOffsetCm));
+#endif
     DEBUG_SET(DEBUG_ALTITUDE, 3, lrintf(altSenFusSources[SF_ACC].velocityAltCmS));
     DEBUG_SET(DEBUG_ALTITUDE, 5, lrintf(altSenFusSources[SF_BARO].zeroAltOffsetCm));
 #ifdef USE_RANGEFINDER