diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_Servers.h b/libraries/AP_UAVCAN/AP_UAVCAN_Servers.h
index 63fe2d02fe..dc738909b4 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_Servers.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_Servers.h
@@ -1,7 +1,7 @@
 #pragma once
 #include <AP_HAL/AP_HAL.h>
 
-#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO)
+#if (HAL_OS_POSIX_IO || HAL_OS_FATFS_IO) && !(HAL_MINIMIZE_FEATURES && CONFIG_HAL_BOARD == HAL_BOARD_PX4)
 
 #define HAS_UAVCAN_SERVERS