diff --git a/Tools/AP_Periph/Parameters.cpp b/Tools/AP_Periph/Parameters.cpp
index 7c11d51c36..83944fe6ba 100644
--- a/Tools/AP_Periph/Parameters.cpp
+++ b/Tools/AP_Periph/Parameters.cpp
@@ -307,7 +307,7 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
     // @RebootRequired: True
     GSCALAR(esc_pwm_type, "ESC_PWM_TYPE",     0),
 
-#if HAL_WITH_ESC_TELEM
+#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
     // @Param: ESC_TELEM_PORT
     // @DisplayName: ESC Telemetry Serial Port
     // @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
diff --git a/Tools/AP_Periph/Parameters.h b/Tools/AP_Periph/Parameters.h
index a5b9937ac0..14a2714bfc 100644
--- a/Tools/AP_Periph/Parameters.h
+++ b/Tools/AP_Periph/Parameters.h
@@ -106,7 +106,7 @@ public:
 
 #ifdef HAL_PERIPH_ENABLE_RC_OUT
     AP_Int8 esc_pwm_type;
-#if HAL_WITH_ESC_TELEM
+#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
     AP_Int8 esc_telem_port;
 #endif
 #endif
diff --git a/Tools/AP_Periph/rc_out.cpp b/Tools/AP_Periph/rc_out.cpp
index 32427e135c..d50cee638b 100644
--- a/Tools/AP_Periph/rc_out.cpp
+++ b/Tools/AP_Periph/rc_out.cpp
@@ -31,9 +31,11 @@ void AP_Periph_FW::rcout_init()
     // start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
     hal.rcout->force_safety_on();
 
+#if HAL_WITH_ESC_TELEM && !HAL_GCS_ENABLED
     if (g.esc_telem_port >= 0) {
         serial_manager.set_protocol_and_baud(g.esc_telem_port, AP_SerialManager::SerialProtocol_ESCTelemetry, 115200);
     }
+#endif
 
     SRV_Channels::init();