diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index 45febe518a..c4614a079c 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -170,8 +170,7 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     AP_GROUPINFO("TYPE", 9, AP_BoardConfig, state.board_type, BOARD_TYPE_DEFAULT),
 #endif
 
-#if AP_FEATURE_BOARD_DETECT
-#if HAL_PX4_HAVE_PX4IO || HAL_WITH_IO_MCU
+#if HAL_WITH_IO_MCU
     // @Param: IO_ENABLE
     // @DisplayName: Enable IO co-processor
     // @Description: This allows for the IO co-processor on FMUv1 and FMUv2 to be disabled
@@ -180,7 +179,6 @@ const AP_Param::GroupInfo AP_BoardConfig::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("IO_ENABLE", 10, AP_BoardConfig, state.io_enable, 1),
 #endif
-#endif
 
 #if HAL_RCINPUT_WITH_AP_RADIO
     // @Group: RADIO
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 9a99007aa4..3b2fd95504 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -104,7 +104,7 @@ public:
     // developer debugging by setting BRD_IO_ENABLE=100 to avoid the
     // crc check of IO firmware on startup
     static uint8_t io_enabled(void) {
-#if AP_FEATURE_BOARD_DETECT
+#if HAL_WITH_IO_MCU
         return _singleton?uint8_t(_singleton->state.io_enable.get()):0;
 #else
         return 0;