diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index 128ab1cc1e..36b1d7a551 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -64,6 +64,10 @@ using namespace ChibiOS;
 #define HAL_RCIN_THREAD_ENABLED 1
 #endif
 
+#ifndef HAL_MONITOR_THREAD_ENABLED
+#define HAL_MONITOR_THREAD_ENABLED 1
+#endif
+
 extern const AP_HAL::HAL& hal;
 #ifndef HAL_NO_TIMER_THREAD
 THD_WORKING_AREA(_timer_thread_wa, TIMER_THD_WA_SIZE);
@@ -80,7 +84,7 @@ THD_WORKING_AREA(_io_thread_wa, IO_THD_WA_SIZE);
 #ifndef HAL_USE_EMPTY_STORAGE
 THD_WORKING_AREA(_storage_thread_wa, STORAGE_THD_WA_SIZE);
 #endif
-#ifndef HAL_NO_MONITOR_THREAD
+#if HAL_MONITOR_THREAD_ENABLED
 THD_WORKING_AREA(_monitor_thread_wa, MONITOR_THD_WA_SIZE);
 #endif
 
@@ -100,7 +104,7 @@ void Scheduler::init()
     chBSemObjectInit(&_timer_semaphore, false);
     chBSemObjectInit(&_io_semaphore, false);
 
-#ifndef HAL_NO_MONITOR_THREAD
+#if HAL_MONITOR_THREAD_ENABLED
     // setup the monitor thread - this is used to detect software lockups
     _monitor_thread_ctx = chThdCreateStatic(_monitor_thread_wa,
                      sizeof(_monitor_thread_wa),
@@ -407,7 +411,7 @@ bool Scheduler::in_expected_delay(void) const
     return false;
 }
 
-#ifndef HAL_NO_MONITOR_THREAD
+#if HAL_MONITOR_THREAD_ENABLED
 void Scheduler::_monitor_thread(void *arg)
 {
     Scheduler *sched = (Scheduler *)arg;
@@ -513,7 +517,7 @@ void Scheduler::_monitor_thread(void *arg)
 #endif
     }
 }
-#endif // HAL_NO_MONITOR_THREAD
+#endif  // HAL_MONITOR_THREAD_ENABLED
 
 void Scheduler::_rcin_thread(void *arg)
 {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat
index 8d728a4567..6e780be0b3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AR-F407SmartBat/hwdef.dat
@@ -30,8 +30,6 @@ PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW HIGH
 
 CAN_ORDER 1
 
-define HAL_NO_MONITOR_THREAD
-
 # debugger support
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
index 231285620e..a817aea2f9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-GNSS_F9P/hwdef.dat
@@ -32,7 +32,6 @@ MAIN_STACK 0x300
 
 # PROCESS_STACK controls stack for main thread
 PROCESS_STACK 0xA00
-define HAL_NO_MONITOR_THREAD
 
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
@@ -92,7 +91,6 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_YAW_180
 define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
-define HAL_NO_MONITOR_THREAD
 define HAL_NO_TIMER_THREAD
 
 # enable LED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc
index 726c65dd54..8de0308412 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/AeroFox-PMU/hwdef.inc
@@ -36,8 +36,6 @@ MAIN_STACK 0x300
 # PROCESS_STACK controls stack for main thread
 PROCESS_STACK 0xA00
 
-define HAL_NO_MONITOR_THREAD
-
 # setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
index 9f7f7d829f..e27f72b600 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/BirdCANdy/hwdef.dat
@@ -89,9 +89,6 @@ PB8 CAN1_RX CAN1
 PB9 CAN1_TX CAN1
 PB2 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_NO_MONITOR_THREAD
-
-
 define HAL_DEVICE_THREAD_STACK 768
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
index 4add4c593c..205562fc6d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/C-RTK2-HP/hwdef.dat
@@ -90,8 +90,6 @@ PA4 RTK_RESET_N OUTPUT HIGH
 # PPS
 PA7 PPS INPUT PULLUP
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
index a5514acaff..58c9756d6d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -119,10 +119,6 @@ PB8 CAN1_RX CAN1
 PB9 CAN1_TX CAN1
 PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-
-define HAL_NO_MONITOR_THREAD
-
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
index 2bb60402c2..9bc6e1920a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixF405/hwdef.dat
@@ -109,7 +109,6 @@ PB1 VSENSE4 ADC1 SCALE(1)
 define AP_STATS_ENABLED 1
 
 define HAL_NO_GCS
-define HAL_NO_MONITOR_THREAD
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
index c84f2d0adc..baa3a17da9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CarbonixL496/hwdef.dat
@@ -112,7 +112,6 @@ PB1 VSENSE4 ADC1 SCALE(1)
 define AP_STATS_ENABLED 1
 
 define HAL_NO_GCS
-define HAL_NO_MONITOR_THREAD
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
index f1ae6809ea..b7b5592eb2 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack-periph/hwdef.dat
@@ -35,8 +35,6 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
index ea87ad64b0..b2dfc2a1cf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph-heavy/hwdef.dat
@@ -32,8 +32,6 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 define HAL_GCS_ENABLED 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
index b8ba9df8ea..1d094e4ebd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat
@@ -31,8 +31,6 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
index 0e0f1898c8..0dcf4bba30 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeRedPrimary-PPPGW/hwdef.dat
@@ -23,8 +23,6 @@ define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
 
 define AP_NETWORKING_BACKEND_PPP 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 # use amber LED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
index 27f4495679..feb334dbb0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/FreeflyRTK/hwdef.dat
@@ -110,9 +110,6 @@ define DMA_RESERVE_SIZE 0
 PB8 CAN1_RX CAN1
 PB9 CAN1_TX CAN1
 
-
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat
index f272f5fd13..088062cadf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/G4-ESC/hwdef.dat
@@ -130,10 +130,6 @@ define HAL_UART_MIN_RX_SIZE 128
 
 define HAL_UART_STACK_SIZE 0x200
 
-
-define HAL_NO_MONITOR_THREAD
-
-
 define HAL_DEVICE_THREAD_STACK 0x200
 define STORAGE_THD_WA_SIZE 512
 define IO_THD_WA_SIZE      512
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
index e3e6dca8be..2468fe4167 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4AP/hwdef-bl.dat
@@ -45,8 +45,6 @@ STM32_VDD 330U
 PB8 LED_SCK OUTPUT LOW
 PB9 LED_DI OUTPUT HIGH
 
-define HAL_NO_MONITOR_THREAD
-
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
index b83fa886e2..ce612d3480 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Here4FC/hwdef-bl.dat
@@ -45,8 +45,6 @@ STM32_VDD 330U
 PB8 LED_SCK OUTPUT LOW
 PB9 LED_DI OUTPUT HIGH
 
-define HAL_NO_MONITOR_THREAD
-
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat
index daffe92078..02e4dc43f3 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Hitec-Airspeed/hwdef.dat
@@ -92,9 +92,6 @@ define HAL_USE_ADC FALSE
 define STM32_ADC_USE_ADC1 FALSE
 define HAL_DISABLE_ADC_DRIVER TRUE
 
-define HAL_NO_MONITOR_THREAD
-
-
 define HAL_DEVICE_THREAD_STACK 0x200
 define STORAGE_THD_WA_SIZE 512
 define IO_THD_WA_SIZE      512
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
index 5e63804ec1..5ad3e22add 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HitecMosaic/hwdef.dat
@@ -101,10 +101,6 @@ define HAL_UART_MIN_RX_SIZE 128
 
 define HAL_UART_STACK_SIZE 0x200
 
-
-define HAL_NO_MONITOR_THREAD
-
-
 # only one I2C bus
 I2C_ORDER I2C1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
index c9fdb38025..2b849b6f64 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_Compass/hwdef.dat
@@ -81,8 +81,6 @@ PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PC13 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
index 51e7ae2096..b19878781d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
@@ -109,8 +109,6 @@ PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 PB14 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
index f9904d1ddf..a5257aff3e 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/HolybroGPS/hwdef.dat
@@ -126,10 +126,6 @@ PB12 CAN2_RX CAN2
 PB13 CAN2_TX CAN2
 PA4 GPIO_CAN2_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-
-define HAL_NO_MONITOR_THREAD
-
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
index c37b823031..2fcb842569 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-periph/hwdef.dat
@@ -40,7 +40,6 @@ define HAL_PERIPH_ADSB_PORT_DEFAULT 3
 # default ADSB off by setting 0 baudrate
 define HAL_PERIPH_ADSB_BAUD_DEFAULT 0
 
-define HAL_NO_MONITOR_THREAD
 define HAL_USE_RTC FALSE
 
 define AP_SCRIPTING_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat
index 4a2612749a..cf3ace13ad 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-BattMon/hwdef.dat
@@ -13,7 +13,6 @@ SPIDEV INA23X SPI1 DEVID1 SPARE_CS MODE1 10*MHZ 10*MHZ
 define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
-define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
 define HAL_NO_TIMER_THREAD
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat
index 45a49c8d71..3a46d72a0b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat
@@ -37,7 +37,6 @@ PB11  USART3_RX USART3 SPEED_HIGH
 define HAL_USE_ADC FALSE
 
 # disable unnecessary threads
-define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD
 define HAL_NO_TIMER_THREAD
 undef HAL_RCIN_THREAD_ENABLED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc
index c172fe5ac5..8c13942329 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431/hwdef.inc
@@ -38,8 +38,6 @@ MAIN_STACK 0x300
 # PROCESS_STACK controls stack for main thread
 PROCESS_STACK 0xA00
 
-define HAL_NO_MONITOR_THREAD
-
 # we setup a small defaults.parm
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
index 3cd7b0f0dc..6db0ac1f72 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L476/hwdef.dat
@@ -87,9 +87,6 @@ define HAL_USE_ADC TRUE
 define STM32_ADC_USE_ADC1 TRUE
 PA4 VSENSE ADC1 SCALE(2)
 
-define HAL_NO_MONITOR_THREAD
-
-
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define HAL_PERIPH_ENABLE_GPS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
index 2532dfa2b9..322ee11049 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Nucleo-L496/hwdef.dat
@@ -95,8 +95,6 @@ define HAL_USE_ADC TRUE
 define STM32_ADC_USE_ADC1 TRUE
 PA4 VSENSE ADC1 SCALE(2)
 
-define HAL_NO_MONITOR_THREAD
-
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define HAL_PERIPH_ENABLE_GPS
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
index a199216c91..8a3ca1c079 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X-PPPGW/hwdef.dat
@@ -24,8 +24,6 @@ define HAL_PERIPH_ENABLE_SERIAL_OPTIONS
 
 define AP_NETWORKING_BACKEND_PPP 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 # use blue LED
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
index 59e704a045..700fbd0cd0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixracer-periph/hwdef.dat
@@ -35,8 +35,6 @@ define GPS_MAX_RECEIVERS 1
 define GPS_MAX_INSTANCES 1
 define HAL_COMPASS_MAX_SENSORS 1
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_USE_RTC FALSE
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
index be2be38e15..46b4ac476a 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F405/hwdef.dat
@@ -34,8 +34,6 @@ define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
index 4952b98e52..840e642e23 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F412/hwdef.dat
@@ -95,7 +95,6 @@ PA12 CAN1_TX CAN1
 # use DNA
 define HAL_CAN_DEFAULT_NODE_ID 0
 
-define HAL_NO_MONITOR_THREAD
 define HAL_DEVICE_THREAD_STACK 768
 
 # disable dual GPS and GPS blending to save flash space
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
index 79cb3ce542..726e786945 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-F9P/hwdef.dat
@@ -104,7 +104,6 @@ PB8 CAN1_RX CAN1
 PB9 CAN1_TX CAN1
 PC1 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_NO_MONITOR_THREAD
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat
index 515d3671b5..4ae1b0a63d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-L431/hwdef.dat
@@ -92,7 +92,6 @@ define HAL_USE_ADC TRUE
 define STM32_ADC_USE_ADC1 TRUE
 PA0 VDD_5V_SENS ADC1 SCALE(2)
 
-define HAL_NO_MONITOR_THREAD
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 define HAL_PERIPH_ENABLE_MAG
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
index 70d3d01636..61598a1eb0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavIC/hwdef.dat
@@ -37,7 +37,6 @@ PROCESS_STACK 0xA00
 
 # save memory
 define HAL_GCS_ENABLED 0
-define HAL_NO_MONITOR_THREAD
 define HAL_NO_LOGGING
 define HAL_USE_ADC FALSE
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
index 5162c63078..994cce76fc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro-G4/hwdef.dat
@@ -68,7 +68,6 @@ define HAL_NO_GPIO_IRQ
 
 define HAL_USE_RTC FALSE
 define DMA_RESERVE_SIZE 0
-define HAL_NO_MONITOR_THREAD
 
 define HAL_DEVICE_THREAD_STACK 768
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
index f63913f67a..115ae799cc 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNavPro/hwdef.dat
@@ -36,7 +36,6 @@ MAIN_STACK 0x300
 PROCESS_STACK 0xA00
 
 # save memory
-define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat
index cb94ecf57f..93d1f863d0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueNorth/hwdef.dat
@@ -36,7 +36,6 @@ MAIN_STACK 0x300
 PROCESS_STACK 0xA00
 
 # save memory
-define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat
index 3509c384aa..c831aece13 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Sierra-TrueSpeed/hwdef.dat
@@ -36,7 +36,6 @@ MAIN_STACK 0x300
 PROCESS_STACK 0xA00
 
 # save memory
-define HAL_NO_MONITOR_THREAD
 define HAL_USE_ADC FALSE
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
index 6b74e3529f..6ac45e7d00 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
@@ -87,8 +87,6 @@ define HAL_UART_MIN_RX_SIZE 128
 define HAL_UART_STACK_SIZE 256
 define STORAGE_THD_WA_SIZE 512
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 define AP_PARAM_MAX_EMBEDDED_PARAM 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
index 260885221c..662e6d4cc5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
@@ -130,9 +130,6 @@ BARO MS56XX SPI:ms5611
 
 define HAL_BARO_ALLOW_INIT_NO_BARO
 
-
-define HAL_NO_MONITOR_THREAD
-
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define HAL_PERIPH_ENABLE_BARO
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc
index 7c076f657e..aa854499da 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.inc
@@ -98,9 +98,6 @@ define HAL_UART_STACK_SIZE 256
 define STORAGE_THD_WA_SIZE 300
 define IO_THD_WA_SIZE      300
 
-define HAL_NO_MONITOR_THREAD
-
-
 # only one I2C bus
 I2C_ORDER I2C1
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
index 41e003499c..e2fb65b9ee 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f405-MatekGPS/hwdef.dat
@@ -43,8 +43,6 @@ define HAL_USE_RTC FALSE
 
 define DMA_RESERVE_SIZE 0
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc
index 3f6c6ad2c3..8387878750 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc
+++ b/libraries/AP_HAL_ChibiOS/hwdef/iomcu/hwdef.inc
@@ -108,7 +108,6 @@ define PORT_INT_REQUIRED_STACK 64
 
 # avoid timer threads to save memory
 define HAL_NO_TIMER_THREAD
-define HAL_NO_MONITOR_THREAD
 define HAL_NO_RCOUT_THREAD  # also disables LED thread
 
 define AP_HAL_SHARED_DMA_ENABLED 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
index 238198fad0..5345cd6617 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/mRo-M10095/hwdef.dat
@@ -80,8 +80,6 @@ define PORT_INT_REQUIRED_STACK 64
 PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 
-define HAL_NO_MONITOR_THREAD
-
 define AP_PARAM_MAX_EMBEDDED_PARAM 512
 
 # keep ROMFS uncompressed as we don't have enough RAM
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
index 7ef2eeb335..f8a442c258 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/rGNSS/hwdef.dat
@@ -100,8 +100,6 @@ PA11 CAN1_RX CAN1
 PA12 CAN1_TX CAN1
 PA15 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
 
-define HAL_NO_MONITOR_THREAD
-
 define HAL_DEVICE_THREAD_STACK 768
 
 # we setup a small defaults.parm
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index 3f3a1a4b53..77dd2b5262 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -325,6 +325,10 @@
 #define HAL_RCIN_THREAD_ENABLED 0
 #endif
 
+#ifndef HAL_MONITOR_THREAD_ENABLED
+#define HAL_MONITOR_THREAD_ENABLED 0
+#endif
+
 #ifndef HAL_SCHEDULER_LOOP_DELAY_ENABLED
 #define HAL_SCHEDULER_LOOP_DELAY_ENABLED 0
 #endif