diff --git a/libraries/AP_RPM/RPM_PX4_PWM.cpp b/libraries/AP_RPM/RPM_PX4_PWM.cpp
index fe61686104..2411246ce0 100644
--- a/libraries/AP_RPM/RPM_PX4_PWM.cpp
+++ b/libraries/AP_RPM/RPM_PX4_PWM.cpp
@@ -46,8 +46,7 @@ extern "C" {
 AP_RPM_PX4_PWM::AP_RPM_PX4_PWM(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
 	AP_RPM_Backend(_ap_rpm, instance, _state)
 {
-#if !defined(CONFIG_ARCH_BOARD_PX4FMU_V1) && \
-    !defined(CONFIG_ARCH_BOARD_AEROFC_V1)
+#if HAL_PX4_HAVE_PWM_INPUT
     if (AP_BoardConfig::px4_start_driver(pwm_input_main, "pwm_input", "start")) {
         hal.console->printf("started pwm_input driver\n");
     }