diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index bb90385c87..8a08e83bdb 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -316,12 +316,10 @@ static AP_Camera camera(&relay);
 ////////////////////////////////////////////////////////////////////////////////
 // Optical flow sensor
 ////////////////////////////////////////////////////////////////////////////////
-#if  CONFIG_HAL_BOARD == HAL_BOARD_PX4
-static AP_OpticalFlow_PX4 optflow(ahrs);
-#endif
+static OpticalFlow optflow;
 
 //Rally Ponints
-AP_Rally rally(ahrs);
+static AP_Rally rally(ahrs);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Global variables
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index b105c64485..d29d194ef1 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -140,7 +140,7 @@
 //
 
 #ifndef OPTFLOW
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
+#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
  # define OPTFLOW ENABLED
 #else
  # define OPTFLOW DISABLED