diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index 4fd10a7da4..021f3ca284 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -263,8 +263,8 @@
 #define HAL_ENABLE_THREAD_STATISTICS 0
 #endif
 
-#ifndef HAL_INS_ENABLED
-#define HAL_INS_ENABLED (!defined(HAL_BUILD_AP_PERIPH))
+#ifndef AP_INERTIALSENSOR_ENABLED
+#define AP_INERTIALSENSOR_ENABLED (!defined(HAL_BUILD_AP_PERIPH))
 #endif
 
 #ifndef AP_STATS_ENABLED