diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_config.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_config.h
index 1ef47e23395..70e1829390a 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_config.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_config.h
@@ -20,5 +20,5 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_PICCOLOCAN_ENABLED
-#define AP_PICCOLOCAN_ENABLED HAL_NUM_CAN_IFACES
+#define AP_PICCOLOCAN_ENABLED (HAL_NUM_CAN_IFACES && HAL_PROGRAM_SIZE_LIMIT_KB > 2048)
 #endif  // AP_PICCOLOCAN_ENABLED