diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 1121978b1f..492130e8d1 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -607,7 +607,7 @@ void processRx(timeUs_t currentTimeUs)
         DISABLE_FLIGHT_MODE(HEADFREE_MODE);
     }
 
-#if defined(AUTOTUNE_FIXED_WING) || defined(AUTOTUNE_MULTIROTOR)
+#if defined(USE_AUTOTUNE_FIXED_WING) || defined(USE_AUTOTUNE_MULTIROTOR)
     autotuneUpdateState();
 #endif
 
diff --git a/src/main/fc/fc_msp_box.c b/src/main/fc/fc_msp_box.c
index 7394a2d872..f02ee43cd7 100644
--- a/src/main/fc/fc_msp_box.c
+++ b/src/main/fc/fc_msp_box.c
@@ -210,7 +210,7 @@ void initActiveBoxIds(void)
            activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
         }
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
-#if defined(AUTOTUNE_FIXED_WING)
+#if defined(USE_AUTOTUNE_FIXED_WING)
         activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE;
 #endif
     }
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index c808a1421b..a655f643ef 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -1092,7 +1092,7 @@ groups:
 
   - name: PG_PID_AUTOTUNE_CONFIG
     type: pidAutotuneConfig_t
-    condition: USE_NAV
+    condition: USE_NAV && USE_AUTOTUNE_FIXED_WING
     members:
       - name: fw_autotune_overshoot_time
         field: fw_overshoot_time
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 4803e53b7f..02a31b4f26 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -483,7 +483,7 @@ static void pidApplyFixedWingRateController(pidState_t *pidState, flight_dynamic
         pidState->errorGyroIf = constrainf(pidState->errorGyroIf, -pidProfile()->fixedWingItermThrowLimit, pidProfile()->fixedWingItermThrowLimit);
     }
 
-#ifdef AUTOTUNE_FIXED_WING
+#ifdef USE_AUTOTUNE_FIXED_WING
     if (FLIGHT_MODE(AUTO_TUNE) && !FLIGHT_MODE(MANUAL_MODE)) {
         autotuneFixedWingUpdate(axis, pidState->rateTarget, pidState->gyroRate, newPTerm + newFFTerm);
     }
diff --git a/src/main/flight/pid_autotune.c b/src/main/flight/pid_autotune.c
index 8417b12efe..508a8d1c3f 100755
--- a/src/main/flight/pid_autotune.c
+++ b/src/main/flight/pid_autotune.c
@@ -79,7 +79,7 @@ typedef struct {
 
 #define AUTOTUNE_SAVE_PERIOD        5000        // Save interval is 5 seconds - when we turn off autotune we'll restore values from previous update at most 5 sec ago
 
-#if defined(AUTOTUNE_FIXED_WING) || defined(AUTOTUNE_MULTIROTOR)
+#if defined(USE_AUTOTUNE_FIXED_WING) || defined(USE_AUTOTUNE_MULTIROTOR)
 
 static pidAutotuneData_t    tuneCurrent[XYZ_AXIS_COUNT];
 static pidAutotuneData_t    tuneSaved[XYZ_AXIS_COUNT];
@@ -159,7 +159,7 @@ static void blackboxLogAutotuneEvent(adjustmentFunction_e adjustmentFunction, in
 #endif
 }
 
-#if defined(AUTOTUNE_FIXED_WING)
+#if defined(USE_AUTOTUNE_FIXED_WING)
 
 void autotuneFixedWingUpdate(const flight_dynamics_index_t axis, float desiredRateDps, float reachedRateDps, float pidOutput)
 {
diff --git a/src/main/target/common.h b/src/main/target/common.h
index 298fa00dd6..7d7fd39938 100755
--- a/src/main/target/common.h
+++ b/src/main/target/common.h
@@ -65,7 +65,7 @@
 
 #if (FLASH_SIZE > 128)
 #define NAV_FIXED_WING_LANDING
-#define AUTOTUNE_FIXED_WING
+#define USE_AUTOTUNE_FIXED_WING
 #define USE_ASYNC_GYRO_PROCESSING
 #define USE_DEBUG_TRACE
 #define USE_BOOTLOG