diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 73c1b1f763..7ada4605d5 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1151,7 +1151,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("TKOFF_SLEW_TIME", 57, ParametersG2, takeoff_throttle_slew_time, 2.0),
 
-#if FRAME_CONFIG != HELI_FRAME
+#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
     // @Param: TKOFF_RPM_MIN
     // @DisplayName: Takeoff Check RPM minimum
     // @Description: Takeoff is not permitted until motors report at least this RPM.  Set to zero to disable check
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 07c4822a0b..2f7221cec5 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -670,7 +670,9 @@ public:
 
     // ramp time of throttle during take-off
     AP_Float takeoff_throttle_slew_time;
-    AP_Int16                takeoff_rpm_min;
+#if HAL_WITH_ESC_TELEM && FRAME_CONFIG != HELI_FRAME
+    AP_Int16 takeoff_rpm_min;
+#endif
 };
 
 extern const AP_Param::Info        var_info[];