diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 96a103077d..906cb772d0 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -29,11 +29,6 @@
 #include "AP_PiccoloCAN_Servo.h"
 #include <AP_EFI/AP_EFI_Currawong_ECU.h>
 
-
-#ifndef HAL_PICCOLO_CAN_ENABLE
-#define HAL_PICCOLO_CAN_ENABLE HAL_NUM_CAN_IFACES
-#endif
-
 #if HAL_PICCOLO_CAN_ENABLE
 
 #define PICCOLO_MSG_RATE_HZ_MIN 1
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
index 82c9bbb43c..e0b3cd9f16 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
@@ -22,7 +22,7 @@
 #include <AP_CANManager/AP_CANManager.h>
 
 #ifndef HAL_PICCOLO_CAN_ENABLE
-#define HAL_PICCOLO_CAN_ENABLE (HAL_NUM_CAN_IFACES && !HAL_MINIMIZE_FEATURES)
+#define HAL_PICCOLO_CAN_ENABLE HAL_NUM_CAN_IFACES
 #endif
 
 #if HAL_PICCOLO_CAN_ENABLE