diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index c493eda2913c2e..8c5745ef11f635 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -260,7 +260,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,            &copter.button,              update,           5, 100, 168),
 #endif
-#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
+#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED && AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED
     // don't delete this, there is an equivalent (virtual) in AP_Vehicle for the non-rate loop case
     SCHED_TASK(update_dynamic_notch_at_specified_rate_main,                       LOOP_RATE, 200, 215),
 #endif