diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index fcffc61e7b..380a473610 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -99,7 +99,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_RPM,              &sub.rpm_sensor,   update,              10, 200,  66),
 #endif
     SCHED_TASK(terrain_update,        10,    100,  72),
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper,          &sub.g2.gripper,   update,              10,  75,  75),
 #endif
 #ifdef USERHOOK_FASTLOOP
diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index bdea7800aa..4377db4be3 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -631,7 +631,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     AP_SUBGROUPINFO(proximity, "PRX", 2, ParametersG2, AP_Proximity),
 #endif
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
     AP_SUBGROUPINFO(gripper, "GRIP_", 3, ParametersG2, AP_Gripper),
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index ff2cba528f..90bc0d0108 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -320,7 +320,7 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-#if GRIPPER_ENABLED
+#if AP_GRIPPER_ENABLED
     AP_Gripper gripper;
 #endif
 
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index af49987d1e..e2fed1afee 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -87,7 +87,8 @@
 #include <AP_RPM/AP_RPM.h>
 #endif
 
-#if GRIPPER_ENABLED == ENABLED
+#include <AP_Gripper/AP_Gripper_config.h>
+#if AP_GRIPPER_ENABLED
 #include <AP_Gripper/AP_Gripper.h>             // gripper stuff
 #endif
 
diff --git a/ArduSub/config.h b/ArduSub/config.h
index c97107c5b3..d09d7e351c 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -91,12 +91,6 @@
 # define EKF_ORIGIN_MAX_DIST_M         50000   // EKF origin and waypoints (including home) must be within 50km
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-//  gripper
-#ifndef GRIPPER_ENABLED
-# define GRIPPER_ENABLED DISABLED
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Nav-Guided - allows external nav computer to control vehicle
 #ifndef NAV_GUIDED
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 6fa584378e..7743b1179a 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -20,7 +20,7 @@ void Sub::init_ardupilot()
 #endif
 
     // init cargo gripper
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     g2.gripper.init();
 #endif