diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index d2c6f70e6c..7c05550acb 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -127,7 +127,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if STATS_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Stats, &plane.g2.stats, update, 1, 100, 153),
 #endif
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     SCHED_TASK_CLASS(AP_Gripper, &plane.g2.gripper, update, 10, 75, 156),
 #endif
 #if LANDING_GEAR_ENABLED == ENABLED
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 9bf0838f6f..7f8bcc3f5e 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1070,7 +1070,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("HOME_RESET_ALT", 11, ParametersG2, home_reset_threshold, 0),
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     // @Group: GRIP_
     // @Path: ../libraries/AP_Gripper/AP_Gripper.cpp
     AP_SUBGROUPINFO(gripper, "GRIP_", 12, ParametersG2, AP_Gripper),
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index ab94503a9d..81f2c1faed 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_Common/AP_Common.h>
+#include <AP_Gripper/AP_Gripper.h>
 
 // Global parameter class.
 //
@@ -513,7 +514,7 @@ public:
     // home reset altitude threshold
     AP_Int8 home_reset_threshold;
 
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     // Payload Gripper
     AP_Gripper gripper;
 #endif
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 03597cc758..9588c2bda3 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -80,7 +80,6 @@
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_ICEngine/AP_ICEngine.h>
-#include <AP_Gripper/AP_Gripper.h>
 #include <AP_Landing/AP_Landing.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Follow/AP_Follow.h>
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 1cb57afba4..1530e40c06 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -238,12 +238,6 @@
 #define PARACHUTE HAL_PARACHUTE_ENABLED
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Payload Gripper
-#ifndef GRIPPER_ENABLED
-  #define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
-#endif
-
 #ifndef STATS_ENABLED
  # define STATS_ENABLED ENABLED
 #endif
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index a87b7c08ac..aaed743186 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -146,7 +146,7 @@ void Plane::init_ardupilot()
 #endif
 
 // init cargo gripper
-#if GRIPPER_ENABLED == ENABLED
+#if AP_GRIPPER_ENABLED
     g2.gripper.init();
 #endif
 }