diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_config.h b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
index e38580cd3b..b4cba125a0 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_config.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
@@ -3,5 +3,5 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef HAL_VISUALODOM_ENABLED
-#define HAL_VISUALODOM_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
+#define HAL_VISUALODOM_ENABLED BOARD_FLASH_SIZE > 1024
 #endif