global: create and use HAL_PROGRAM_SIZE_LIMIT_KB

We will reserve BOARD_FLASH_SIZE for the internal flash on stm32 flash processors, use HAL_PROGRAM_SIZE_LIMIT_KB in the general code base. Notable change here is that boards with external flash will start to get features only available with more than 2MB of program storage
ArduPilot · Feb 25, 2025 · 6338d10 · 6338d10
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diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
@@ -80,7 +80,7 @@ extern AP_Periph_FW periph;
     // especially helpful with HAL_GCS_ENABLED where libraries use the mavlink
     // send_text() method where we support strings up to 256 chars by splitting them
     // up into multiple 50 char mavlink packets.
-    #define HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF (BOARD_FLASH_SIZE >= 1024)
+    #define HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF (HAL_PROGRAM_SIZE_LIMIT_KB >= 1024)
 #endif
 
 static struct instance_t {

diff --git a/libraries/AP_ADSB/AP_ADSB_config.h b/libraries/AP_ADSB/AP_ADSB_config.h
@@ -5,7 +5,7 @@
 #include <GCS_MAVLink/GCS_config.h>
 
 #ifndef HAL_ADSB_ENABLED
-#define HAL_ADSB_ENABLED BOARD_FLASH_SIZE > 1024
+#define HAL_ADSB_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef HAL_ADSB_BACKEND_DEFAULT_ENABLED

diff --git a/libraries/AP_AHRS/AP_AHRS_config.h b/libraries/AP_AHRS/AP_AHRS_config.h
@@ -38,9 +38,9 @@
 #endif
 
 #ifndef AP_AHRS_POSITION_RESET_ENABLED
-#define AP_AHRS_POSITION_RESET_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_ENABLED)
+#define AP_AHRS_POSITION_RESET_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB>1024 && AP_AHRS_ENABLED)
 #endif
 
 #ifndef AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED
-#define AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED (BOARD_FLASH_SIZE>1024 && AP_AHRS_DCM_ENABLED)
+#define AP_AHRS_EXTERNAL_WIND_ESTIMATE_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB>1024 && AP_AHRS_DCM_ENABLED)
 #endif
diff --git a/libraries/AP_AIS/AP_AIS_config.h b/libraries/AP_AIS/AP_AIS_config.h
@@ -3,7 +3,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_AIS_ENABLED
-#if BOARD_FLASH_SIZE <= 1024
+#if HAL_PROGRAM_SIZE_LIMIT_KB <= 1024
     #define AP_AIS_ENABLED 0
 #else
     #define AP_AIS_ENABLED 2

diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp
@@ -28,7 +28,7 @@
 // This could be removed once the build system allows for APM_BUILD_TYPE in header files
 // Note that this is also defined in AP_Airspeed_Params.cpp
 #ifndef AP_AIRSPEED_DUMMY_METHODS_ENABLED
-#define AP_AIRSPEED_DUMMY_METHODS_ENABLED ((APM_BUILD_COPTER_OR_HELI && BOARD_FLASH_SIZE <= 1024) || \
+#define AP_AIRSPEED_DUMMY_METHODS_ENABLED ((APM_BUILD_COPTER_OR_HELI && HAL_PROGRAM_SIZE_LIMIT_KB <= 1024) || \
                                             APM_BUILD_TYPE(APM_BUILD_AntennaTracker) || APM_BUILD_TYPE(APM_BUILD_Blimp))
 #endif
 

diff --git a/libraries/AP_Airspeed/AP_Airspeed_Params.cpp b/libraries/AP_Airspeed/AP_Airspeed_Params.cpp
@@ -26,7 +26,7 @@
 // This could be removed once the build system allows for APM_BUILD_TYPE in header files
 // note that this is re-definition of the one in AP_Airspeed.cpp, can't be shared as vehicle dependences cant go in header files
 #ifndef AP_AIRSPEED_DUMMY_METHODS_ENABLED
-#define AP_AIRSPEED_DUMMY_METHODS_ENABLED ((APM_BUILD_COPTER_OR_HELI && BOARD_FLASH_SIZE <= 1024) || \
+#define AP_AIRSPEED_DUMMY_METHODS_ENABLED ((APM_BUILD_COPTER_OR_HELI && HAL_PROGRAM_SIZE_LIMIT_KB <= 1024) || \
                                             APM_BUILD_TYPE(APM_BUILD_AntennaTracker) || APM_BUILD_TYPE(APM_BUILD_Blimp))
 #endif
 

diff --git a/libraries/AP_Airspeed/AP_Airspeed_config.h b/libraries/AP_Airspeed/AP_Airspeed_config.h
@@ -69,7 +69,7 @@
 #endif
 
 #ifndef AP_AIRSPEED_HYGROMETER_ENABLE
-#define AP_AIRSPEED_HYGROMETER_ENABLE (AP_AIRSPEED_ENABLED && BOARD_FLASH_SIZE > 1024)
+#define AP_AIRSPEED_HYGROMETER_ENABLE (AP_AIRSPEED_ENABLED && HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_AIRSPEED_EXTERNAL_ENABLED

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.h b/libraries/AP_BattMonitor/AP_BattMonitor.h
@@ -26,7 +26,7 @@
 #define AP_BATT_MONITOR_RES_EST_TC_1        0.5f
 #define AP_BATT_MONITOR_RES_EST_TC_2        0.1f
 
-#if BOARD_FLASH_SIZE > 1024
+#if HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #define AP_BATT_MONITOR_CELLS_MAX           14
 #else
 #define AP_BATT_MONITOR_CELLS_MAX           12

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.h b/libraries/AP_BattMonitor/AP_BattMonitor_AD7091R5.h
@@ -3,7 +3,7 @@
 #include "AP_BattMonitor_Backend.h"
 
 #ifndef AP_BATTERY_AD7091R5_ENABLED
-#define AP_BATTERY_AD7091R5_ENABLED (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_AD7091R5_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #if AP_BATTERY_AD7091R5_ENABLED

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_config.h b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
@@ -47,15 +47,15 @@
 #endif
 
 #ifndef AP_BATTERY_FUELFLOW_ENABLED
-#define AP_BATTERY_FUELFLOW_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_FUELFLOW_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_BATTERY_FUELLEVEL_PWM_ENABLED
-#define AP_BATTERY_FUELLEVEL_PWM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_FUELLEVEL_PWM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
-#define AP_BATTERY_FUELLEVEL_ANALOG_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_FUELLEVEL_ANALOG_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_BATTERY_GENERATOR_ENABLED
@@ -67,7 +67,7 @@
 #endif
 
 #ifndef AP_BATTERY_INA2XX_ENABLED
-#define AP_BATTERY_INA2XX_ENABLED (AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024))
+#define AP_BATTERY_INA2XX_ENABLED (AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024))
 #endif
 
 #ifndef AP_BATTERY_INA3221_ENABLED
@@ -88,15 +88,15 @@
 #endif
 
 #ifndef AP_BATTERY_SUM_ENABLED
-#define AP_BATTERY_SUM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_SUM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_BATTERY_TORQEEDO_ENABLED
 #define AP_BATTERY_TORQEEDO_ENABLED HAL_TORQEEDO_ENABLED
 #endif
 
 #ifndef AP_BATTERY_AD7091R5_ENABLED 
-#define AP_BATTERY_AD7091R5_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_BATTERY_AD7091R5_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 // SMBus-subclass backends:

diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_config.h b/libraries/AP_BoardConfig/AP_BoardConfig_config.h
@@ -33,5 +33,5 @@
 #endif
 
 #ifndef AP_SDCARD_STORAGE_ENABLED
-#define AP_SDCARD_STORAGE_ENABLED (HAL_MEM_CLASS >= HAL_MEM_CLASS_1000) && (AP_FILESYSTEM_POSIX_ENABLED || AP_FILESYSTEM_FATFS_ENABLED) && BOARD_FLASH_SIZE > 1024
+#define AP_SDCARD_STORAGE_ENABLED (HAL_MEM_CLASS >= HAL_MEM_CLASS_1000) && (AP_FILESYSTEM_POSIX_ENABLED || AP_FILESYSTEM_FATFS_ENABLED) && HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
diff --git a/libraries/AP_Camera/AP_Camera_config.h b/libraries/AP_Camera/AP_Camera_config.h
@@ -18,7 +18,7 @@
 #endif
 
 #ifndef AP_CAMERA_MAVLINKCAMV2_ENABLED
-#define AP_CAMERA_MAVLINKCAMV2_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED && BOARD_FLASH_SIZE > 1024
+#define AP_CAMERA_MAVLINKCAMV2_ENABLED AP_CAMERA_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED && HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef AP_CAMERA_MOUNT_ENABLED

diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
@@ -125,7 +125,7 @@
 #endif
 
 #ifndef AP_COMPASS_QMC5883P_ENABLED
-#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#define AP_COMPASS_QMC5883P_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #ifndef AP_COMPASS_QMC5883L_ENABLED

diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -44,7 +44,7 @@
 #endif
 
 #ifndef AP_DRONECAN_SEND_GPS
-#define AP_DRONECAN_SEND_GPS (BOARD_FLASH_SIZE > 1024)
+#define AP_DRONECAN_SEND_GPS (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 #define AP_DRONECAN_SW_VERS_MAJOR 1
@@ -55,15 +55,15 @@
 
 
 #ifndef AP_DRONECAN_HOBBYWING_ESC_SUPPORT
-#define AP_DRONECAN_HOBBYWING_ESC_SUPPORT (BOARD_FLASH_SIZE>1024)
+#define AP_DRONECAN_HOBBYWING_ESC_SUPPORT (HAL_PROGRAM_SIZE_LIMIT_KB>1024)
 #endif
 
 #ifndef AP_DRONECAN_HIMARK_SERVO_SUPPORT
-#define AP_DRONECAN_HIMARK_SERVO_SUPPORT (BOARD_FLASH_SIZE>1024)
+#define AP_DRONECAN_HIMARK_SERVO_SUPPORT (HAL_PROGRAM_SIZE_LIMIT_KB>1024)
 #endif
 
 #ifndef AP_DRONECAN_SERIAL_ENABLED
-#define AP_DRONECAN_SERIAL_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (BOARD_FLASH_SIZE>1024)
+#define AP_DRONECAN_SERIAL_ENABLED AP_SERIALMANAGER_REGISTER_ENABLED && (HAL_PROGRAM_SIZE_LIMIT_KB>1024)
 #endif
 
 #ifndef AP_DRONECAN_VOLZ_FEEDBACK_ENABLED

diff --git a/libraries/AP_EFI/AP_EFI_config.h b/libraries/AP_EFI/AP_EFI_config.h
@@ -5,7 +5,7 @@
 #include <AP_Scripting/AP_Scripting_config.h>
 
 #ifndef HAL_EFI_ENABLED
-#define HAL_EFI_ENABLED BOARD_FLASH_SIZE > 1024
+#define HAL_EFI_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef AP_EFI_BACKEND_DEFAULT_ENABLED

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -3,7 +3,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef HAL_EXTERNAL_AHRS_ENABLED
-#define HAL_EXTERNAL_AHRS_ENABLED BOARD_FLASH_SIZE > 1024
+#define HAL_EXTERNAL_AHRS_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED

diff --git a/libraries/AP_FETtecOneWire/AP_FETtecOneWire.h b/libraries/AP_FETtecOneWire/AP_FETtecOneWire.h
@@ -21,7 +21,7 @@
 #include <AP_HAL/AP_HAL.h>
 
 #ifndef AP_FETTEC_ONEWIRE_ENABLED
-#define AP_FETTEC_ONEWIRE_ENABLED BOARD_FLASH_SIZE > 1024
+#define AP_FETTEC_ONEWIRE_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 // Support both full-duplex at 500Kbit/s as well as half-duplex at 2Mbit/s (optional feature)

diff --git a/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp b/libraries/AP_Filesystem/AP_Filesystem_Sys.cpp
@@ -158,7 +158,7 @@ int AP_Filesystem_Sys::open(const char *fname, int flags, bool allow_absolute_pa
 #if AP_FILESYSTEM_SYS_FLASH_ENABLED
     if (strcmp(fname, "flash.bin") == 0) {
         void *ptr = (void*)0x08000000;
-        const size_t size = BOARD_FLASH_SIZE*1024;
+        const size_t size = HAL_PROGRAM_SIZE_LIMIT_KB*1024;
         r.str->set_buffer((char*)ptr, size, size);
     }
 #endif

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -61,7 +61,7 @@
 #define UBLOX_MAX_EXTENSIONS 8
 #define UBLOX_GNSS_SETTINGS 1
 #ifndef UBLOX_TIM_TM2_LOGGING
-    #define UBLOX_TIM_TM2_LOGGING (BOARD_FLASH_SIZE>1024)
+    #define UBLOX_TIM_TM2_LOGGING (HAL_PROGRAM_SIZE_LIMIT_KB>1024)
 #endif
 
 #define UBLOX_MAX_GNSS_CONFIG_BLOCKS 7

diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
@@ -98,7 +98,7 @@
 #endif
 
 #ifndef AP_GPS_RTCM_DECODE_ENABLED
-  #define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024
+  #define AP_GPS_RTCM_DECODE_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef HAL_GPS_COM_PORT_DEFAULT

diff --git a/libraries/AP_Generator/AP_Generator_config.h b/libraries/AP_Generator/AP_Generator_config.h
@@ -23,5 +23,5 @@
 #endif
 
 #ifndef AP_GENERATOR_RICHENPOWER_ENABLED
-#define AP_GENERATOR_RICHENPOWER_ENABLED AP_GENERATOR_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
+#define AP_GENERATOR_RICHENPOWER_ENABLED AP_GENERATOR_BACKEND_DEFAULT_ENABLED && HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -152,6 +152,14 @@
 #error "No CONFIG_HAL_BOARD_SUBTYPE set"
 #endif
 
+// HAL_PROGRAM_SIZE_LIMIT_KB is the amount of space we have for
+// instructions.  on ChibiOS this is the sum of onboard and external
+// flash.  BOARD_FLASH_SIZE is reserved for use in the HAL backends
+// (usually only ChibiOS) and should not be used in general code.
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#error HAL_PROGRAM_SIZE_LIMIT_KB must be defined
+#endif
+
 #ifndef HAL_OS_SOCKETS
 #define HAL_OS_SOCKETS 0
 #endif
@@ -201,12 +209,8 @@
 #define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
 #endif
 
-#ifndef BOARD_FLASH_SIZE
-#define BOARD_FLASH_SIZE 2048
-#endif
-
 #ifndef HAL_GYROFFT_ENABLED
-#define HAL_GYROFFT_ENABLED (BOARD_FLASH_SIZE > 1024)
+#define HAL_GYROFFT_ENABLED (HAL_PROGRAM_SIZE_LIMIT_KB > 1024)
 #endif
 
 // enable AP_GyroFFT library only if required:
@@ -391,7 +395,7 @@
 
 
 #ifndef HAL_ENABLE_SENDING_STATS
-#define HAL_ENABLE_SENDING_STATS BOARD_FLASH_SIZE >= 256
+#define HAL_ENABLE_SENDING_STATS HAL_PROGRAM_SIZE_LIMIT_KB >= 256
 #endif
 
 #ifndef HAL_GPIO_LED_ON
@@ -405,7 +409,7 @@
 #endif
 
 #ifndef HAL_WITH_POSTYPE_DOUBLE
-#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
+#define HAL_WITH_POSTYPE_DOUBLE HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef HAL_INS_RATE_LOOP

diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
@@ -22,6 +22,14 @@
 #define HAL_MEM_CLASS HAL_MEM_CLASS_20
 #endif
 
+// FIXME: BOARD_FLASH_SIZE is not adjusted for flash pages used for
+// storage, for the bootloader sector or for wasted pages (eg. defunct
+// OSD storage page).  These all impact the amount of space we have
+// for storing program!
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB (BOARD_FLASH_SIZE+EXT_FLASH_SIZE_MB*1024)
+#endif
+
 #ifndef HAL_NUM_CAN_IFACES
 #define HAL_NUM_CAN_IFACES 0
 #endif

diff --git a/libraries/AP_HAL/board/empty.h b/libraries/AP_HAL/board/empty.h
@@ -11,6 +11,10 @@
 #define HAL_BARO_DEFAULT HAL_BARO_NONE
 #define CONFIG_HAL_BOARD_SUBTYPE HAL_BOARD_SUBTYPE_NONE
 
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB 2048
+#endif
+
 #define HAL_HAVE_BOARD_VOLTAGE 1
 #define HAL_HAVE_SERVO_VOLTAGE 0
 #define HAL_HAVE_SAFETY_SWITCH 1

diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
@@ -35,6 +35,10 @@
 #define O_CLOEXEC 0
 #define HAL_STORAGE_SIZE (16384)
 
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB 2048
+#endif
+
 #ifdef __cplusplus
 // allow for static semaphores
 #include <AP_HAL_ESP32/Semaphores.h>

diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
@@ -9,9 +9,9 @@
 #define HAL_STORAGE_SIZE            16384
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
 
-#ifndef BOARD_FLASH_SIZE
-#define BOARD_FLASH_SIZE 4096
-#endif
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB 4096
+#endif  // HAL_PROGRAM_SIZE_LIMIT_KB
 
 #ifndef HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS
     #define HAL_OPTFLOW_PX4FLOW_I2C_ADDRESS 0x42

diff --git a/libraries/AP_HAL/board/qurt.h b/libraries/AP_HAL/board/qurt.h
@@ -8,6 +8,10 @@
 #define HAL_STORAGE_SIZE            32768
 #define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE
 
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB 2048
+#endif
+
 // only include if compiling C++ code
 #ifdef __cplusplus
 #include <AP_HAL_QURT/Semaphores.h>

diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
@@ -29,8 +29,8 @@
 #define HAL_FLASH_ALLOW_UPDATE 0
 #endif
 
-#ifndef BOARD_FLASH_SIZE
-#define BOARD_FLASH_SIZE 4096
+#ifndef HAL_PROGRAM_SIZE_LIMIT_KB
+#define HAL_PROGRAM_SIZE_LIMIT_KB 4096
 #endif
 
 #ifndef HAL_STORAGE_SIZE

diff --git a/libraries/AP_Hott_Telem/AP_Hott_Telem.h b/libraries/AP_Hott_Telem/AP_Hott_Telem.h
@@ -17,7 +17,7 @@
 #include <AP_HAL/AP_HAL.h>
 
 #ifndef HAL_HOTT_TELEM_ENABLED
-#define HAL_HOTT_TELEM_ENABLED BOARD_FLASH_SIZE > 2048
+#define HAL_HOTT_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
 #endif
 
 #if HAL_HOTT_TELEM_ENABLED

diff --git a/libraries/AP_IBus_Telem/AP_IBus_Telem.h b/libraries/AP_IBus_Telem/AP_IBus_Telem.h
@@ -36,7 +36,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_IBUS_TELEM_ENABLED
-#define AP_IBUS_TELEM_ENABLED BOARD_FLASH_SIZE > 2048
+#define AP_IBUS_TELEM_ENABLED HAL_PROGRAM_SIZE_LIMIT_KB > 2048
 #endif
 
 #if AP_IBUS_TELEM_ENABLED

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@@ -463,7 +463,7 @@ bool AP_InertialSensor_Invensense::update() /* front end */
     if (fast_reset_count) {
         // check if we have reported in the last 1 seconds or
         // fast_reset_count changed
-#if HAL_GCS_ENABLED && BOARD_FLASH_SIZE > 1024
+#if HAL_GCS_ENABLED && HAL_PROGRAM_SIZE_LIMIT_KB > 1024
         const uint32_t now = AP_HAL::millis();
         if (now - last_fast_reset_count_report_ms > 5000U) {
             last_fast_reset_count_report_ms = now;

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_config.h b/libraries/AP_InertialSensor/AP_InertialSensor_config.h
@@ -44,7 +44,7 @@
 #define DEFAULT_IMU_LOG_BAT_MASK 0
 
 #ifndef HAL_INS_TEMPERATURE_CAL_ENABLE
-#define HAL_INS_TEMPERATURE_CAL_ENABLE BOARD_FLASH_SIZE > 1024
+#define HAL_INS_TEMPERATURE_CAL_ENABLE HAL_PROGRAM_SIZE_LIMIT_KB > 1024
 #endif
 
 #ifndef AP_INERTIALSENSOR_HARMONICNOTCH_ENABLED