diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index c13eb4af7c..73c1b1f763 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1151,12 +1151,14 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("TKOFF_SLEW_TIME", 57, ParametersG2, takeoff_throttle_slew_time, 2.0),
 
+#if FRAME_CONFIG != HELI_FRAME
     // @Param: TKOFF_RPM_MIN
     // @DisplayName: Takeoff Check RPM minimum
     // @Description: Takeoff is not permitted until motors report at least this RPM.  Set to zero to disable check
     // @Range: 0 10000
     // @User: Standard
     AP_GROUPINFO("TKOFF_RPM_MIN", 58, ParametersG2, takeoff_rpm_min, 0),
+#endif
 
     // ID 62 is reserved for the SHOW_... parameters from the Skybrush fork at
     // https://github.com/skybrush-io/ardupilot
diff --git a/ArduCopter/takeoff_check.cpp b/ArduCopter/takeoff_check.cpp
index 8ee0df6c62..f3b55ec45f 100644
--- a/ArduCopter/takeoff_check.cpp
+++ b/ArduCopter/takeoff_check.cpp
@@ -7,7 +7,7 @@
 // detects if the vehicle should be allowed to takeoff or not and sets the motors.blocked flag
 void Copter::takeoff_check()
 {
-#if HAL_WITH_ESC_TELEM
+#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
     // If takeoff check is disabled or vehicle is armed and flying then clear block and return
     if ((g2.takeoff_rpm_min <= 0) || (motors->armed() && !ap.land_complete)) {
         motors->set_spoolup_block(false);