diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
index dcad74e37b..84c3302c99 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
@@ -3,10 +3,8 @@
 #include <AP_HAL/AP_HAL.h>
 #include <SRV_Channel/SRV_Channel_config.h>
 
-#if defined(NUM_SERVO_CHANNELS) && NUM_SERVO_CHANNELS == 0
-#define HAL_WITH_ESC_TELEM 0
-#elif !defined(HAL_WITH_ESC_TELEM)
-#define HAL_WITH_ESC_TELEM (HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS) && !defined(HAL_BUILD_AP_PERIPH)
+#ifndef HAL_WITH_ESC_TELEM
+#define HAL_WITH_ESC_TELEM ((NUM_SERVO_CHANNELS > 0) && ((HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS) && !defined(HAL_BUILD_AP_PERIPH)))
 #endif
 
 #if HAL_WITH_ESC_TELEM