diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index d193b5dbab..2d744a9c0f 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -890,8 +890,10 @@ const clivalue_t valueTable[] = {
     { "gps_rescue_min_sats",        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
     { "gps_rescue_min_dth",         VAR_UINT16  | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
     { "gps_rescue_allow_arming_without_fix", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
+#ifdef USE_MAG
     { "gps_rescue_use_mag",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
 #endif
+#endif
 #endif
 
     { "deadband",                   VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 32 }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, deadband) },
diff --git a/src/main/flight/gps_rescue.c b/src/main/flight/gps_rescue.c
index 0edc34ff8f..e9645a861a 100644
--- a/src/main/flight/gps_rescue.c
+++ b/src/main/flight/gps_rescue.c
@@ -120,6 +120,12 @@ typedef struct {
 #define GPS_RESCUE_RATE_SCALE_DEGREES    45 // Scale the commanded yaw rate when the error is less then this angle
 #define GPS_RESCUE_SLOWDOWN_DISTANCE_M  200 // distance from home to start decreasing speed
 
+#ifdef USE_MAG
+#define GPS_RESCUE_USE_MAG              true
+#else
+#define GPS_RESCUE_USE_MAG              false
+#endif
+
 PG_REGISTER_WITH_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 1);
 
 PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
@@ -141,7 +147,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
     .minSats = 8,
     .minRescueDth = 100,
     .allowArmingWithoutFix = false,
-    .useMag = true
+    .useMag = GPS_RESCUE_USE_MAG,
 );
 
 static uint16_t rescueThrottle;
@@ -371,12 +377,15 @@ static void performSanityChecks()
         lastDistanceToHomeM = rescueState.sensor.distanceToHomeM;
 
         if (secondsFlyingAway == 10) {
+#ifdef USE_MAG
             //If there is a mag and has not been disabled, we have to assume is healthy and has been used in imu.c
             if (sensors(SENSOR_MAG) && gpsRescueConfig()->useMag && !magForceDisable) {
                 //Try again with mag disabled
                 magForceDisable = true;
                 secondsFlyingAway = 0;
-            } else {
+            } else
+#endif
+            {
                 rescueState.failure = RESCUE_FLYAWAY;
             }
         }
@@ -639,9 +648,11 @@ bool gpsRescueIsDisabled(void)
     return (!STATE(GPS_FIX_HOME));
 }
 
+#ifdef USE_MAG
 bool gpsRescueDisableMag(void)
 {
     return ((!gpsRescueConfig()->useMag || magForceDisable) && (rescueState.phase >= RESCUE_INITIALIZE) && (rescueState.phase <= RESCUE_LANDING));
 }
 #endif
+#endif