diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 1fc82f841b..b5990fd237 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -107,10 +107,10 @@
 #define AP_LANDINGGEAR_ENABLED 0
 
 // disable avoid-fence-follow in copter, these all kinda need each other, so its all or none.
-#define AC_AVOID_ENABLED 0
+#define AP_AVOIDANCE_ENABLED 0
 #define AP_FENCE_ENABLED 0
 #define MODE_FOLLOW_ENABLED 0
-#define AC_OAPATHPLANNER_ENABLED 0
+#define AP_OAPATHPLANNER_ENABLED 0
 
 
 // other big things..