diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 4e8103d2e..674317a38 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -46,7 +46,7 @@ endif # UORB_TESTS
 config DEBUG_UORB
 	bool "uorb debug output"
 	select LIBC_PRINT_EXTENSION
-	depends on LIBC_FLOATINGPOINT
+	depends on LIBC_FLOATINGPOINT && SENSORS_USE_FLOAT
 	default n
 
 if DEBUG_UORB