diff --git a/libraries/AP_RobotisServo/AP_RobotisServo.h b/libraries/AP_RobotisServo/AP_RobotisServo.h
index d5522895a1..cd81cf5f9b 100644
--- a/libraries/AP_RobotisServo/AP_RobotisServo.h
+++ b/libraries/AP_RobotisServo/AP_RobotisServo.h
@@ -21,7 +21,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_ROBOTISSERVO_ENABLED
-#define AP_ROBOTISSERVO_ENABLED 1
+#define AP_ROBOTISSERVO_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
 #endif
 
 #if AP_ROBOTISSERVO_ENABLED