diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index 32244b483e..eb7d8e9102 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -561,15 +561,14 @@ private:
     // support for Robotis servo protocol
     AP_RobotisServo robotis;
     static AP_RobotisServo *robotis_ptr;
-    
+#endif // HAL_BUILD_AP_PERIPH
+
 #if HAL_SUPPORT_RCOUT_SERIAL
     // support for BLHeli protocol
     AP_BLHeli blheli;
     static AP_BLHeli *blheli_ptr;
 #endif
 
-#endif // HAL_BUILD_AP_PERIPH
-
 #if AP_FETTEC_ONEWIRE_ENABLED
     AP_FETtecOneWire fetteconwire;
     static AP_FETtecOneWire *fetteconwire_ptr;
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index 70f1ef35d8..4d1330a45b 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -191,6 +191,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     // @Group: _SBUS_
     // @Path: ../AP_SBusOut/AP_SBusOut.cpp
     AP_SUBGROUPINFO(sbus, "_SBUS_",  20, SRV_Channels, AP_SBusOut),
+#endif // HAL_BUILD_AP_PERIPH
 
 #if HAL_SUPPORT_RCOUT_SERIAL
     // @Group: _BLH_
@@ -198,6 +199,7 @@ const AP_Param::GroupInfo SRV_Channels::var_info[] = {
     AP_SUBGROUPINFO(blheli, "_BLH_",  21, SRV_Channels, AP_BLHeli),
 #endif
 
+#ifndef HAL_BUILD_AP_PERIPH
     // @Group: _ROB_
     // @Path: ../AP_RobotisServo/AP_RobotisServo.cpp
     AP_SUBGROUPINFO(robotis, "_ROB_",  22, SRV_Channels, AP_RobotisServo),