diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index e69f7abe2b..6b046df3ad 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -71,7 +71,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(calc_airspeed_errors,   10,    100,  42),
     SCHED_TASK(update_alt,             10,    200,  45),
     SCHED_TASK(adjust_altitude_target, 10,    200,  48),
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     SCHED_TASK(afs_fs_check,           10,    100,  51),
 #endif
     SCHED_TASK(ekf_check,              10,     75,  54),
@@ -277,7 +277,7 @@ void Plane::update_logging25(void)
 /*
   check for AFS failsafe check
  */
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
 void Plane::afs_fs_check(void)
 {
     afs.check(failsafe.AFS_last_valid_rc_ms);
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index f7df82af5b..8860f0af00 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -927,7 +927,7 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(sitl, "SIM_", SITL::SIM),
 #endif
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     // @Group: AFS_
     // @Path: ../libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
     GOBJECT(afs,  "AFS_", AP_AdvancedFailsafe),
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index afc9c5cf98..1eddd5ba86 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -92,7 +92,7 @@
 // Configuration
 #include "config.h"
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
 #include "afs_plane.h"
 #endif
 
@@ -656,7 +656,7 @@ private:
 #endif
 
     // Outback Challenge Failsafe Support
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     AP_AdvancedFailsafe_Plane afs;
 #endif
 
@@ -1004,7 +1004,7 @@ private:
     void update_GPS_10Hz(void);
     void update_compass(void);
     void update_alt(void);
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     void afs_fs_check(void);
 #endif
     void one_second_loop(void);
diff --git a/ArduPlane/afs_plane.cpp b/ArduPlane/afs_plane.cpp
index f01297470b..2900d6e767 100644
--- a/ArduPlane/afs_plane.cpp
+++ b/ArduPlane/afs_plane.cpp
@@ -4,7 +4,7 @@
 
 #include "Plane.h"
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
 
 /*
   setup radio_out values for all channels to termination values
@@ -103,4 +103,4 @@ AP_AdvancedFailsafe::control_mode AP_AdvancedFailsafe_Plane::afs_mode(void)
     }
     return AP_AdvancedFailsafe::AFS_STABILIZED;
 }
-#endif // ADVANCED_FAILSAFE
+#endif // AP_ADVANCEDFAILSAFE_ENABLED
diff --git a/ArduPlane/afs_plane.h b/ArduPlane/afs_plane.h
index fb67b61a52..142de7f345 100644
--- a/ArduPlane/afs_plane.h
+++ b/ArduPlane/afs_plane.h
@@ -18,7 +18,7 @@
   advanced failsafe support for plane
  */
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
 #include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
 
 /*
@@ -41,5 +41,4 @@ protected:
     enum control_mode afs_mode(void) override;
 };
 
-#endif // ADVANCED_FAILSAFE
-
+#endif // AP_ADVANCEDFAILSAFE_ENABLED
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index 0bc95aa615..ba29c2062d 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -24,15 +24,6 @@
  # define MAV_SYSTEM_ID          1
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Advanced Failsafe support
-//
-
-#ifndef ADVANCED_FAILSAFE
- # define ADVANCED_FAILSAFE ENABLED
-#endif
-
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
index 8119b4101e..9c2a215608 100644
--- a/ArduPlane/events.cpp
+++ b/ArduPlane/events.cpp
@@ -275,7 +275,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
         }
 
         case Failsafe_Action_Terminate:
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
             char battery_type_str[17];
             snprintf(battery_type_str, 17, "%s battery", type_str);
             afs.gcs_terminate(true, battery_type_str);
diff --git a/ArduPlane/failsafe.cpp b/ArduPlane/failsafe.cpp
index ac8ff68558..6216126100 100644
--- a/ArduPlane/failsafe.cpp
+++ b/ArduPlane/failsafe.cpp
@@ -47,7 +47,7 @@ void Plane::failsafe_check(void)
 
         rc().read_input();
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
         if (in_calibration) {
             // tell the failsafe system that we are calibrating
             // sensors, so don't trigger failsafe
@@ -83,7 +83,7 @@ void Plane::failsafe_check(void)
         // this is to allow the failsafe module to deliberately crash 
         // the plane. Only used in extreme circumstances to meet the
         // OBC rules
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
         if (afs.should_crash_vehicle()) {
             afs.terminate_vehicle();
             if (!afs.terminating_vehicle_via_landing()) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index c887e8b087..e74bb9d5d9 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1756,7 +1756,7 @@ void QuadPlane::update(void)
         ahrs_view->set_pitch_trim(_last_ahrs_trim_pitch);
     }
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     if (plane.afs.should_crash_vehicle() && !plane.afs.terminating_vehicle_via_landing()) {
         set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
         motors->output();
@@ -1983,7 +1983,7 @@ void QuadPlane::motors_output(bool run_rate_controller)
         }
     }
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     if (!hal.util->get_soft_armed() ||
         (plane.afs.should_crash_vehicle() && !plane.afs.terminating_vehicle_via_landing()) ||
          SRV_Channels::get_emergency_stop()) {
diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index c550d3aba7..db693cff17 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -723,7 +723,7 @@ void Plane::servos_twin_engine_mix(void)
     float rud_gain = float(plane.g2.rudd_dt_gain) * 0.01f;
     rudder_dt = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / SERVO_MAX;
 
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     if (afs.should_crash_vehicle()) {
         // when in AFS failsafe force rudder input for differential thrust to zero
         rudder_dt = 0;
@@ -824,7 +824,7 @@ void Plane::set_servos(void)
     // this is to allow the failsafe module to deliberately crash 
     // the plane. Only used in extreme circumstances to meet the
     // OBC rules
-#if ADVANCED_FAILSAFE == ENABLED
+#if AP_ADVANCEDFAILSAFE_ENABLED
     if (afs.should_crash_vehicle()) {
         afs.terminate_vehicle();
         if (!afs.terminating_vehicle_via_landing()) {