diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 8dff4ee879..f180bf250a 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -68,9 +68,9 @@ static constexpr uint16_t DELAY_AIRSPEED_TOPIC_MS = AP_DDS_DELAY_AIRSPEED_TOPIC_
 #if AP_DDS_GEOPOSE_PUB_ENABLED
 static constexpr uint16_t DELAY_GEO_POSE_TOPIC_MS = AP_DDS_DELAY_GEO_POSE_TOPIC_MS;
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
 static constexpr uint16_t DELAY_GOAL_TOPIC_MS = AP_DDS_DELAY_GOAL_TOPIC_MS ;
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
 static constexpr uint16_t DELAY_CLOCK_TOPIC_MS =AP_DDS_DELAY_CLOCK_TOPIC_MS;
 #endif // AP_DDS_CLOCK_PUB_ENABLED
@@ -567,7 +567,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
 }
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
 
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
 bool AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg)
 {
     const auto &vehicle = AP::vehicle();
@@ -598,7 +598,7 @@ bool AP_DDS_Client::update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg)
         return false;
     }
 }
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 
 #if AP_DDS_IMU_PUB_ENABLED
 void AP_DDS_Client::update_topic(sensor_msgs_msg_Imu& msg)
@@ -1628,7 +1628,7 @@ void AP_DDS_Client::write_gps_global_origin_topic()
 }
 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
 void AP_DDS_Client::write_goal_topic()
 {
     WITH_SEMAPHORE(csem);
@@ -1642,7 +1642,7 @@ void AP_DDS_Client::write_goal_topic()
         }
     }
 }
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 
 #if AP_DDS_STATUS_PUB_ENABLED
 void AP_DDS_Client::write_status_topic()
@@ -1740,14 +1740,14 @@ void AP_DDS_Client::update()
         write_gps_global_origin_topic();
     }
 #endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
     if (cur_time_ms - last_goal_time_ms > DELAY_GOAL_TOPIC_MS) {
         if (update_topic_goal(goal_topic)) {
             write_goal_topic();
         }
         last_goal_time_ms = cur_time_ms;
     }
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_STATUS_PUB_ENABLED
     if (cur_time_ms - last_status_check_time_ms > DELAY_STATUS_TOPIC_MS) {
         if (update_topic(status_topic)) {
diff --git a/libraries/AP_DDS/AP_DDS_Client.h b/libraries/AP_DDS/AP_DDS_Client.h
index 6895bce8bd..3a3678412e 100644
--- a/libraries/AP_DDS/AP_DDS_Client.h
+++ b/libraries/AP_DDS/AP_DDS_Client.h
@@ -114,7 +114,7 @@ private:
     static void update_topic(geographic_msgs_msg_GeoPointStamped& msg);
 # endif // AP_DDS_GPS_GLOBAL_ORIGIN_PUB_ENABLED
 
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
     geographic_msgs_msg_GeoPointStamped goal_topic;
     // The last ms timestamp AP_DDS wrote a goal message
     uint64_t last_goal_time_ms;
@@ -122,7 +122,7 @@ private:
     void write_goal_topic();
     bool update_topic_goal(geographic_msgs_msg_GeoPointStamped& msg);
     geographic_msgs_msg_GeoPointStamped prev_goal_msg;
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 
 #if AP_DDS_GEOPOSE_PUB_ENABLED
     geographic_msgs_msg_GeoPoseStamped geo_pose_topic;
diff --git a/libraries/AP_DDS/AP_DDS_Topic_Table.h b/libraries/AP_DDS/AP_DDS_Topic_Table.h
index ee38133d58..d471a25437 100644
--- a/libraries/AP_DDS/AP_DDS_Topic_Table.h
+++ b/libraries/AP_DDS/AP_DDS_Topic_Table.h
@@ -42,9 +42,9 @@ enum class TopicIndex: uint8_t {
 #if AP_DDS_GEOPOSE_PUB_ENABLED
     GEOPOSE_PUB,
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
     GOAL_PUB,
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
     CLOCK_PUB,
 #endif // AP_DDS_CLOCK_PUB_ENABLED
@@ -238,7 +238,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
         },
     },
 #endif // AP_DDS_GEOPOSE_PUB_ENABLED
-#if AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#if AP_DDS_GOAL_PUB_ENABLED
     {
         .topic_id = to_underlying(TopicIndex::GOAL_PUB),
         .pub_id = to_underlying(TopicIndex::GOAL_PUB),
@@ -255,7 +255,7 @@ constexpr struct AP_DDS_Client::Topic_table AP_DDS_Client::topics[] = {
             .depth = 1,
         },
     },
-#endif // AP_DDS_GOAL_PUB_ENABLED & AP_SCRIPTING_ENABLED
+#endif // AP_DDS_GOAL_PUB_ENABLED
 #if AP_DDS_CLOCK_PUB_ENABLED
     {
         .topic_id = to_underlying(TopicIndex::CLOCK_PUB),