diff --git a/src/main/fc/core.h b/src/main/fc/core.h
index 2fa7770afe..2ea825d96d 100644
--- a/src/main/fc/core.h
+++ b/src/main/fc/core.h
@@ -67,14 +67,10 @@ void updateArmingStatus(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
 
-#if defined(USE_RUNAWAY_TAKEOFF) || defined(USE_GPS_RESCUE)
-// determine if the R/P/Y stick deflection exceeds the specified limit - integer math is good enough here.
-bool areSticksActive(uint8_t stickPercentLimit);
-#endif
-
 bool isFlipOverAfterCrashActive(void);
 int8_t calculateThrottlePercent(void);
 uint8_t calculateThrottlePercentAbs(void);
+bool areSticksActive(uint8_t stickPercentLimit);
 void runawayTakeoffTemporaryDisable(uint8_t disableFlag);
 bool isAirmodeActivated();
 timeUs_t getLastDisarmTimeUs(void);
diff --git a/src/main/flight/failsafe.c b/src/main/flight/failsafe.c
index a35c05cc5b..58991c6e63 100644
--- a/src/main/flight/failsafe.c
+++ b/src/main/flight/failsafe.c
@@ -76,8 +76,10 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
 
 const char * const failsafeProcedureNames[FAILSAFE_PROCEDURE_COUNT] = {
     "AUTO-LAND",
-    "DROP",
-    "GPS-RESCUE"
+    "DROP"
+#ifdef USE_GPS_RESCUE
+    , "GPS-RESCUE"
+#endif
 };
 
 /*
@@ -143,11 +145,12 @@ static void failsafeActivate(void)
 
 static void failsafeApplyControlInput(void)
 {
+#ifdef USE_GPS_RESCUE
     if (failsafeConfig()->failsafe_procedure == FAILSAFE_PROCEDURE_GPS_RESCUE) {
         ENABLE_FLIGHT_MODE(GPS_RESCUE_MODE);
-
         return;
     }
+#endif
 
     for (int i = 0; i < 3; i++) {
         rcData[i] = rxConfig()->midrc;
@@ -229,7 +232,11 @@ void failsafeUpdateState(void)
                         failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_1_SECONDS;    // require 1 seconds of valid rxData
                         reprocessState = true;
                     } else if (!receivingRxData) {
-                        if (millis() > failsafeState.throttleLowPeriod && failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE) {
+                        if (millis() > failsafeState.throttleLowPeriod 
+#ifdef USE_GPS_RESCUE
+                            && failsafeConfig()->failsafe_procedure != FAILSAFE_PROCEDURE_GPS_RESCUE
+#endif
+                            ) {
                             // JustDisarm: throttle was LOW for at least 'failsafe_throttle_low_delay' seconds
                             failsafeActivate();
                             failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure
@@ -266,10 +273,12 @@ void failsafeUpdateState(void)
                             failsafeActivate();
                             failsafeState.phase = FAILSAFE_LANDED;      // skip auto-landing procedure
                             break;
+#ifdef USE_GPS_RESCUE
                         case FAILSAFE_PROCEDURE_GPS_RESCUE:
                             failsafeActivate();
                             failsafeState.phase = FAILSAFE_GPS_RESCUE;
                             break;
+#endif
                     }
                 }
                 reprocessState = true;
@@ -292,6 +301,7 @@ void failsafeUpdateState(void)
                     reprocessState = true;
                 }
                 break;
+#ifdef USE_GPS_RESCUE
             case FAILSAFE_GPS_RESCUE:
                 if (receivingRxData) {
                     if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > (failsafeConfig()->failsafe_recovery_delay * MILLIS_PER_TENTH_SECOND + PERIOD_RXDATA_RECOVERY)) {
@@ -310,6 +320,7 @@ void failsafeUpdateState(void)
                     reprocessState = true;
                 }
                 break;
+#endif
             case FAILSAFE_LANDED:
                 setArmingDisabled(ARMING_DISABLED_FAILSAFE); // To prevent accidently rearming by an intermittent rx link
                 disarm();
diff --git a/src/main/flight/failsafe.h b/src/main/flight/failsafe.h
index 9eff9eba05..da32184878 100644
--- a/src/main/flight/failsafe.h
+++ b/src/main/flight/failsafe.h
@@ -63,7 +63,9 @@ typedef enum {
 typedef enum {
     FAILSAFE_PROCEDURE_AUTO_LANDING = 0,
     FAILSAFE_PROCEDURE_DROP_IT,
+#ifdef USE_GPS_RESCUE
     FAILSAFE_PROCEDURE_GPS_RESCUE,
+#endif
     FAILSAFE_PROCEDURE_COUNT   // must be last
 } failsafeProcedure_e;