diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_config.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_config.h
index 616b6c99bca64..fdd9cea2feba1 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_config.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_config.h
@@ -4,5 +4,5 @@
 #include <SRV_Channel/SRV_Channel_config.h>
 
 #ifndef HAL_WITH_ESC_TELEM
-#define HAL_WITH_ESC_TELEM ((NUM_SERVO_CHANNELS > 0) && ((HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS) && !defined(HAL_BUILD_AP_PERIPH)))
+#define HAL_WITH_ESC_TELEM ((NUM_SERVO_CHANNELS > 0) && ((HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS)))
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 47e90a8828899..f8f8395862d21 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -317,6 +317,10 @@
 #define AP_SCRIPTING_ENABLED 0
 #endif
 
+#ifndef HAL_WITH_ESC_TELEM
+#define HAL_WITH_ESC_TELEM 0
+#endif
+
 #ifndef AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED
 #define AP_BATTERY_ESC_TELEM_OUTBOUND_ENABLED 0
 #endif