diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index c6e24f10a3..96ac8a49bb 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -2109,13 +2109,11 @@ bool AP_GPS::is_healthy(uint8_t instance) const
         return false;
     }
 
-#ifdef HAL_BUILD_AP_PERIPH
+#ifndef HAL_BUILD_AP_PERIPH
     /*
       on AP_Periph handling of timing is done by the flight controller
       receiving the DroneCAN messages
      */
-    return drivers[instance] != nullptr && drivers[instance]->is_healthy();
-#else
     /*
       allow two lost frames before declaring the GPS unhealthy, but
       require the average frame rate to be close to 5Hz. We allow for
@@ -2131,6 +2129,7 @@ bool AP_GPS::is_healthy(uint8_t instance) const
     if (!delay_ok) {
         return false;
     }
+#endif // HAL_BUILD_AP_PERIPH
 
 #if defined(GPS_BLENDED_INSTANCE)
     if (instance == GPS_BLENDED_INSTANCE) {
@@ -2140,7 +2139,6 @@ bool AP_GPS::is_healthy(uint8_t instance) const
 
     return drivers[instance] != nullptr &&
            drivers[instance]->is_healthy();
-#endif // HAL_BUILD_AP_PERIPH
 }
 
 bool AP_GPS::prepare_for_arming(void) {