diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 576751abb..8457c1362 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -41,6 +41,7 @@ endif # UORB_TESTS
 config DEBUG_UORB
 	bool "uorb debug output"
 	select LIBC_PRINT_EXTENSION
+	depends on LIBC_FLOATINGPOINT
 	default n
 
 if DEBUG_UORB
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 08b57e6e1..4897c63ec 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -49,6 +49,10 @@
 #define ORB_TOP_WAIT_TIME  1000
 #define ORB_DATA_DIR       "/data/uorb/"
 
+#if defined(CONFIG_DEBUG_UORB) && !defined(CONFIG_LIBC_FLOATINGPOINT)
+#error "Enable CONFIG_LIBC_FLOATINGPOINT, required to see debug output"
+#endif
+
 /****************************************************************************
  * Private Types
  ****************************************************************************/