diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
index ce07a75e97..1f2d3a4810 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h
@@ -5,7 +5,7 @@
 #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
+#define HAL_WITH_ESC_TELEM (HAL_SUPPORT_RCOUT_SERIAL || HAL_MAX_CAN_PROTOCOL_DRIVERS) && !defined(HAL_BUILD_AP_PERIPH)
 #endif
 
 #if HAL_WITH_ESC_TELEM