diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index e45e5e77b4..2a48a24b13 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -184,12 +184,13 @@
 #define BOARD_FLASH_SIZE 2048
 #endif
 
-#ifndef HAL_WITH_DSP
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || defined(HAL_BOOTLOADER_BUILD) || defined(HAL_BUILD_AP_PERIPH) || BOARD_FLASH_SIZE <= 1024
-#define HAL_WITH_DSP 0
-#else
-#define HAL_WITH_DSP !HAL_MINIMIZE_FEATURES
+#ifndef HAL_GYROFFT_ENABLED
+#define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024)
 #endif
+
+// enable AP_GyroFFT library only if required:
+#ifndef HAL_WITH_DSP
+#define HAL_WITH_DSP HAL_GYROFFT_ENABLED
 #endif
 
 #ifndef HAL_OS_FATFS_IO
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index 1bbdcddd5f..c36205d737 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -392,3 +392,7 @@
 #ifndef HAL_WITH_EKF_DOUBLE
 #define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
 #endif
+
+#ifndef HAL_GYROFFT_ENABLED
+#define HAL_GYROFFT_ENABLED 0
+#endif