diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.cpp b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
index 8416a09e73..0e33853e12 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.cpp
@@ -1333,7 +1333,9 @@ void RCOutput::send_pulses_DMAR(pwm_group &group, uint32_t buffer_length)
     stm32_cacheBufferFlush(group.dma_buffer, buffer_length);
     dmaStreamSetMemory0(group.dma, group.dma_buffer);
     dmaStreamSetTransactionSize(group.dma, buffer_length/sizeof(uint32_t));
+#ifdef STM32_DMA_FCR_FTH_FULL
     dmaStreamSetFIFO(group.dma, STM32_DMA_FCR_DMDIS | STM32_DMA_FCR_FTH_FULL);
+#endif
     dmaStreamSetMode(group.dma,
                      STM32_DMA_CR_CHSEL(group.dma_up_channel) |
                      STM32_DMA_CR_DIR_M2P | STM32_DMA_CR_PSIZE_WORD | STM32_DMA_CR_MSIZE_WORD |
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 321de76f61..7427f9e9b4 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -24,7 +24,7 @@
 
 #if HAL_USE_PWM == TRUE
 
-#if !STM32_DMA_ADVANCED
+#if !STM32_DMA_ADVANCED && !defined(STM32G4)
 #define DISABLE_DSHOT
 #endif