diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
index e4b0a24174..6f584dc561 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.cpp
@@ -25,9 +25,7 @@ extern const AP_HAL::HAL &hal;
 
 // parameter defaults
 const float OA_MARGIN_MAX_DEFAULT = 5;
-#if APM_BUILD_TYPE(APM_BUILD_Rover)
-    const int16_t OA_OPTIONS_DEFAULT = 1;
-#endif
+const int16_t OA_OPTIONS_DEFAULT = 1;
 
 const int16_t OA_UPDATE_MS = 1000;      // path planning updates run at 1hz
 const int16_t OA_TIMEOUT_MS = 3000;     // results over 3 seconds old are ignored
@@ -57,16 +55,14 @@ const AP_Param::GroupInfo AP_OAPathPlanner::var_info[] = {
     // @Path: AP_OADatabase.cpp
     AP_SUBGROUPINFO(_oadatabase, "DB_", 4, AP_OAPathPlanner, AP_OADatabase),
 
-#if APM_BUILD_TYPE(APM_BUILD_Rover)
-    // @Param: OPTIONS
+    // @Param{Rover}: OPTIONS
     // @DisplayName: Options while recovering from Object Avoidance
     // @Description: Bitmask which will govern vehicles behaviour while recovering from Obstacle Avoidance (i.e Avoidance is turned off after the path ahead is clear).   
     // @Values: 0:Vehicle will return to its original waypoint trajectory, 1:Reset the origin of the waypoint to the present location
     // @Bitmask: 0: Reset the origin of the waypoint to the present location
     // @User: Standard
-    AP_GROUPINFO("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT),
-#endif
-    
+    AP_GROUPINFO_FRAME("OPTIONS", 5, AP_OAPathPlanner, _options, OA_OPTIONS_DEFAULT, AP_PARAM_FRAME_ROVER),
+
     // @Group: BR_
     // @Path: AP_OABendyRuler.cpp
     AP_SUBGROUPPTR(_oabendyruler, "BR_", 6, AP_OAPathPlanner, AP_OABendyRuler),