diff --git a/libraries/AP_BLHeli/AP_BLHeli.h b/libraries/AP_BLHeli/AP_BLHeli.h
index 3e5f2ed87b5cbb..50f8135767eafd 100644
--- a/libraries/AP_BLHeli/AP_BLHeli.h
+++ b/libraries/AP_BLHeli/AP_BLHeli.h
@@ -24,9 +24,11 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 
+#ifndef HAVE_AP_BLHELI_SUPPORT
 #define HAVE_AP_BLHELI_SUPPORT HAL_SUPPORT_RCOUT_SERIAL
+#endif
 
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
 
 #include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>
 
@@ -295,4 +297,4 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
     bool protocol_handler(uint8_t , AP_HAL::UARTDriver *);
 };
 
-#endif // HAL_SUPPORT_RCOUT_SERIAL
+#endif // HAVE_AP_BLHELI_SUPPORT
diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index c347583b5c4377..9f2a4776be2ea2 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -661,7 +661,7 @@ class SRV_Channels {
     AP_RobotisServo robotis;
 #endif
 
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
     // support for BLHeli protocol
     AP_BLHeli blheli;
 #endif
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index afc0a6356d45fd..530e70b8f374b4 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -282,7 +282,7 @@ void SRV_Channels::enable_aux_servos()
     // propagate channel masks to the ESCS
     hal.rcout->update_channel_masks();
 
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
     blheli.update();
 #endif
 }
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index 4706d0123a7a6b..1d281d99187059 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -181,7 +181,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     AP_SUBGROUPINFO(sbus, "_SBUS_",  20, SRV_Channels, AP_SBusOut),
 #endif
 
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
     // @Group: _BLH_
     // @Path: ../AP_BLHeli/AP_BLHeli.cpp
     AP_SUBGROUPINFO(blheli, "_BLH_",  21, SRV_Channels, AP_BLHeli),
@@ -365,7 +365,7 @@ SRV_Channels::SRV_Channels(void)
 void SRV_Channels::init(uint32_t motor_mask, AP_HAL::RCOutput::output_mode mode)
 {
     // initialize BLHeli late so that all of the masks it might setup don't get trodden on by motor initialization
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
     blheli.init(motor_mask, mode);
 #endif
 #ifndef HAL_BUILD_AP_PERIPH
@@ -502,7 +502,7 @@ void SRV_Channels::push()
     robotis.update();
 #endif
 
-#if HAL_SUPPORT_RCOUT_SERIAL
+#if HAVE_AP_BLHELI_SUPPORT
     // give blheli telemetry a chance to update
     blheli.update_telemetry();
 #endif