diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index eaec9cc815..9f0d6d305d 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1321,7 +1321,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         }
         break;
 
-#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
     case MAVLINK_MSG_ID_SERIAL_CONTROL:
         handle_serial_control(msg, rover.gps);
         break;
@@ -1329,8 +1328,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_GPS_INJECT_DATA:
         handle_gps_inject(msg, rover.gps);
         break;
-        
-#endif
 
     case MAVLINK_MSG_ID_AUTOPILOT_VERSION_REQUEST:
         rover.gcs[chan-MAVLINK_COMM_0].send_autopilot_version(FIRMWARE_VERSION);
diff --git a/APMrover2/Log.cpp b/APMrover2/Log.cpp
index eb1905495b..2215c45915 100644
--- a/APMrover2/Log.cpp
+++ b/APMrover2/Log.cpp
@@ -291,10 +291,7 @@ void Rover::Log_Write_Attitude()
 #endif
     DataFlash.Log_Write_POS(ahrs);
 
-#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
     DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info());
-#endif
-
 }
 
 struct PACKED log_Sonar {
diff --git a/APMrover2/config.h b/APMrover2/config.h
index ff81250deb..19cc7cec3f 100644
--- a/APMrover2/config.h
+++ b/APMrover2/config.h
@@ -284,11 +284,7 @@
 
 // use this to completely disable the CLI
 #ifndef CLI_ENABLED
-#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
-# define CLI_ENABLED ENABLED
-#else
-# define CLI_ENABLED DISABLED
-#endif
+#define CLI_ENABLED ENABLED
 #endif
 
 // if RESET_SWITCH_CH is not zero, then this is the PWM value on