diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index e36f0235a5..88bac3ac8c 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -18,7 +18,7 @@
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #ifndef HAL_VISUALODOM_ENABLED
-#define HAL_VISUALODOM_ENABLED !HAL_MINIMIZE_FEATURES
+#define HAL_VISUALODOM_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
 #endif
 
 #if HAL_VISUALODOM_ENABLED