diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index b798cf4eca..439873850f 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -44,6 +44,8 @@
  */
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 && (defined(CONFIG_ARCH_BOARD_PX4FMU_V1) || defined(CONFIG_ARCH_BOARD_PX4FMU_V2))
 #define AP_AHRS_WITH_EKF1 0
+#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN && !defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
+#define AP_AHRS_WITH_EKF1 0
 #else
 #define AP_AHRS_WITH_EKF1 1
 #endif