diff --git a/libraries/AP_Notify/AP_BoardLED.cpp b/libraries/AP_Notify/AP_BoardLED.cpp
index 51f970cbdc..8e137c43e0 100644
--- a/libraries/AP_Notify/AP_BoardLED.cpp
+++ b/libraries/AP_Notify/AP_BoardLED.cpp
@@ -16,18 +16,12 @@
 
 #include "AP_Notify.h"
 
-#if (defined(HAL_GPIO_A_LED_PIN) || defined(HAL_GPIO_B_LED_PIN) || \
+#if (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && \
      defined(HAL_GPIO_C_LED_PIN))
 
-#ifndef HAL_GPIO_A_LED_PIN
-#define HAL_GPIO_A_LED_PIN        -1
-#endif
-#ifndef HAL_GPIO_B_LED_PIN
-#define HAL_GPIO_B_LED_PIN        -1
-#endif
-#ifndef HAL_GPIO_C_LED_PIN
-#define HAL_GPIO_C_LED_PIN        -1
-#endif
+static_assert((HAL_GPIO_A_LED_PIN != HAL_GPIO_B_LED_PIN) &&
+              (HAL_GPIO_A_LED_PIN != HAL_GPIO_C_LED_PIN) &&
+              (HAL_GPIO_B_LED_PIN != HAL_GPIO_C_LED_PIN), "Duplicate LED assignments detected");
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Notify/AP_BoardLED2.cpp b/libraries/AP_Notify/AP_BoardLED2.cpp
index 333f36469b..c375c6d1ec 100644
--- a/libraries/AP_Notify/AP_BoardLED2.cpp
+++ b/libraries/AP_Notify/AP_BoardLED2.cpp
@@ -19,14 +19,9 @@
 
 // show all status on only 2 leds
 
-#if defined(HAL_GPIO_A_LED_PIN) || defined(HAL_GPIO_B_LED_PIN)
+#if defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN)
 
-#ifndef HAL_GPIO_A_LED_PIN
-#define HAL_GPIO_A_LED_PIN        -1
-#endif
-#ifndef HAL_GPIO_B_LED_PIN
-#define HAL_GPIO_B_LED_PIN        -1
-#endif
+static_assert((HAL_GPIO_A_LED_PIN != HAL_GPIO_B_LED_PIN), "Duplicate LED assignments detected");
 
 extern const AP_HAL::HAL& hal;