diff --git a/libraries/AP_HAL_ChibiOS/RCOutput.h b/libraries/AP_HAL_ChibiOS/RCOutput.h
index 037e656984..8fbfa6615b 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput.h
+++ b/libraries/AP_HAL_ChibiOS/RCOutput.h
@@ -164,14 +164,13 @@ public:
      */
     void set_telem_request_mask(uint32_t mask) override;
 
-#ifdef HAL_WITH_BIDIR_DSHOT
     /*
       enable bi-directional telemetry request for a mask of channels. This is used
       with Dshot to get telemetry feedback
       The mask uses servo channel numbering
      */
     void set_bidir_dshot_mask(uint32_t mask) override;
-
+#ifdef HAL_WITH_BIDIR_DSHOT
     void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
index 31a7d7f4c6..d8fd73fc8f 100644
--- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
@@ -28,8 +28,6 @@
 extern AP_IOMCU iomcu;
 #endif
 
-#ifdef HAL_WITH_BIDIR_DSHOT
-
 #if defined(IOMCU_FW)
 #undef INTERNAL_ERROR
 #define INTERNAL_ERROR(x) do {} while (0)
@@ -39,25 +37,20 @@ using namespace ChibiOS;
 
 extern const AP_HAL::HAL& hal;
 
-#if RCOU_DSHOT_TIMING_DEBUG
-#define DEBUG_CHANNEL 1
-#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
-#else
-#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
-#endif
-
+#if HAL_USE_PWM
 /*
  * enable bi-directional telemetry request for a mask of channels. This is used
  * with DShot to get telemetry feedback
  */
 void RCOutput::set_bidir_dshot_mask(uint32_t mask)
 {
-#if HAL_WITH_IO_MCU
+#if HAL_WITH_IO_MCU_BIDIR_DSHOT
     const uint32_t iomcu_mask = ((1U<<chan_offset)-1);
     if (iomcu_dshot && (mask & iomcu_mask)) {
         iomcu.set_bidir_dshot_mask(mask & iomcu_mask);
     }
 #endif
+#ifdef HAL_WITH_BIDIR_DSHOT
     const uint32_t local_mask = (mask >> chan_offset) & ~_bdshot.disabled_mask;
     _bdshot.mask = local_mask;
     // we now need to reconfigure the DMA channels since they are affected by the value of the mask
@@ -69,7 +62,18 @@ void RCOutput::set_bidir_dshot_mask(uint32_t mask)
         }
         set_group_mode(group);
     }
+#endif
 }
+#endif // HAL_USE_PWM
+
+#ifdef HAL_WITH_BIDIR_DSHOT
+
+#if RCOU_DSHOT_TIMING_DEBUG
+#define DEBUG_CHANNEL 1
+#define TOGGLE_PIN_CH_DEBUG(pin, channel) do { if (channel == DEBUG_CHANNEL) palToggleLine(HAL_GPIO_LINE_GPIO ## pin); } while (0)
+#else
+#define TOGGLE_PIN_CH_DEBUG(pin, channel) do {} while (0)
+#endif
 
 bool RCOutput::bdshot_setup_group_ic_DMA(pwm_group &group)
 {
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
index 3103a5c72c..a4b8e930d0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6C/hwdef.dat
@@ -257,4 +257,4 @@ define HAL_OS_FATFS_IO 1
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_lowpolh.bin
 # enable support for dshot on iomcu
 ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
-define HAL_WITH_IO_MCU_DSHOT 1
+define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
index 1419ab5aa2..a67d7f9ab0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
@@ -379,4 +379,4 @@ env BUILD_ABIN True
 
 # enable support for dshot on iomcu
 ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_dshot_lowpolh.bin
-define HAL_WITH_IO_MCU_DSHOT 1
+define HAL_WITH_IO_MCU_BIDIR_DSHOT 1