diff --git a/libraries/AP_Notify/AP_BoardLED.cpp b/libraries/AP_Notify/AP_BoardLED.cpp
index be8dc06190..51f970cbdc 100644
--- a/libraries/AP_Notify/AP_BoardLED.cpp
+++ b/libraries/AP_Notify/AP_BoardLED.cpp
@@ -16,9 +16,19 @@
 
 #include "AP_Notify.h"
 
-#if (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && \
+#if (defined(HAL_GPIO_A_LED_PIN) || defined(HAL_GPIO_B_LED_PIN) || \
      defined(HAL_GPIO_C_LED_PIN))
 
+#ifndef HAL_GPIO_A_LED_PIN
+#define HAL_GPIO_A_LED_PIN        -1
+#endif
+#ifndef HAL_GPIO_B_LED_PIN
+#define HAL_GPIO_B_LED_PIN        -1
+#endif
+#ifndef HAL_GPIO_C_LED_PIN
+#define HAL_GPIO_C_LED_PIN        -1
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 bool AP_BoardLED::init(void)
diff --git a/libraries/AP_Notify/AP_BoardLED2.cpp b/libraries/AP_Notify/AP_BoardLED2.cpp
index 79fcfcc1db..333f36469b 100644
--- a/libraries/AP_Notify/AP_BoardLED2.cpp
+++ b/libraries/AP_Notify/AP_BoardLED2.cpp
@@ -19,7 +19,14 @@
 
 // show all status on only 2 leds
 
-#if defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) 
+#if defined(HAL_GPIO_A_LED_PIN) || defined(HAL_GPIO_B_LED_PIN)
+
+#ifndef HAL_GPIO_A_LED_PIN
+#define HAL_GPIO_A_LED_PIN        -1
+#endif
+#ifndef HAL_GPIO_B_LED_PIN
+#define HAL_GPIO_B_LED_PIN        -1
+#endif
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 31b9c75e81..9c86f83aae 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -168,8 +168,10 @@ void AP_Notify::add_backends(void)
 #elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 # ifdef HAL_HAVE_PIXRACER_LED
     ADD_BACKEND(new PixRacerLED());
-# else
+# elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
     ADD_BACKEND(new AP_BoardLED());
+#else
+    ADD_BACKEND(new AP_BoardLED2());
 # endif
 #ifdef HAL_BUZZER_PIN
     ADD_BACKEND(new Buzzer());
diff --git a/libraries/AP_Notify/PixRacerLED.cpp b/libraries/AP_Notify/PixRacerLED.cpp
index 63c9171cae..dd9957dcda 100644
--- a/libraries/AP_Notify/PixRacerLED.cpp
+++ b/libraries/AP_Notify/PixRacerLED.cpp
@@ -18,6 +18,16 @@
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 \
     || CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 
+#ifndef HAL_GPIO_A_LED_PIN
+#define HAL_GPIO_A_LED_PIN        -1
+#endif
+#ifndef HAL_GPIO_B_LED_PIN
+#define HAL_GPIO_B_LED_PIN        -1
+#endif
+#ifndef HAL_GPIO_C_LED_PIN
+#define HAL_GPIO_C_LED_PIN        -1
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 PixRacerLED::PixRacerLED() :