diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 191b723d43..827d623025 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1049,13 +1049,17 @@ const AP_Param::Info Plane::var_info[] = {
     GOBJECT(rally,  "RALLY_",       AP_Rally),
 
 #if AP_AHRS_NAVEKF_AVAILABLE
+#if HAL_NAVEKF2_AVAILABLE
     // @Group: EK2_
     // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
     GOBJECTN(ahrs.EKF2, NavEKF2, "EK2_", NavEKF2),
+#endif
 
+#if HAL_NAVEKF3_AVAILABLE
     // @Group: EK3_
     // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
     GOBJECTN(ahrs.EKF3, NavEKF3, "EK3_", NavEKF3),
+#endif
 #endif
 
     // @Group: RPM