diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index f02d3b43cb..c66edc5af4 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -35,10 +35,9 @@ void Plane::Log_Write_Attitude(void)
     logger.Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
     logger.Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
 
-#if AP_AHRS_NAVEKF_AVAILABLE
     AP::ahrs_navekf().Log_Write();
     ahrs.Write_AHRS2();
-#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     sitl.Log_Write_SIMSTATE();
 #endif
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index be30eb011b..ed0914943f 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -979,7 +979,6 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(fence, "FENCE_",        AC_Fence),
 #endif
 
-#if AP_AHRS_NAVEKF_AVAILABLE
 #if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -990,7 +989,6 @@ const AP_Param::Info Plane::var_info[] = {
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
     GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
-#endif
 #endif
 
     // @Group: RPM
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 089f287f20..e190dd2ce2 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -38,11 +38,7 @@
 //
 
 #ifndef OPTFLOW
-#if AP_AHRS_NAVEKF_AVAILABLE
  # define OPTFLOW ENABLED
-#else
- # define OPTFLOW DISABLED
-#endif
 #endif