diff --git a/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile b/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
index 17c50f6ba2..e51c679055 100644
--- a/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
+++ b/conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile
@@ -59,9 +59,11 @@ else ifeq ($(ARCH), stm32)
 DROTEK_2_I2C_DEV ?= i2c2
 endif
 
+ifeq ($(TARGET), ap)
 ifndef DROTEK_2_I2C_DEV
 $(error Error: DROTEK_2_I2C_DEV not configured!)
 endif
+endif
 
 # convert i2cx to upper/lower case
 DROTEK_2_I2C_DEV_UPPER=$(shell echo $(DROTEK_2_I2C_DEV) | tr a-z A-Z)
diff --git a/conf/firmwares/subsystems/shared/imu_gl1.makefile b/conf/firmwares/subsystems/shared/imu_gl1.makefile
index 18107c5c9f..c43a1d8d8a 100644
--- a/conf/firmwares/subsystems/shared/imu_gl1.makefile
+++ b/conf/firmwares/subsystems/shared/imu_gl1.makefile
@@ -28,9 +28,11 @@ else ifeq ($(ARCH), stm32)
 GL1_I2C_DEV ?= i2c2
 endif
 
+ifeq ($(TARGET), ap)
 ifndef GL1_I2C_DEV
 $(error Error: GL1_I2C_DEV not configured!)
 endif
+endif
 
 # convert i2cx to upper/lower case
 GL1_I2C_DEV_UPPER=$(shell echo $(GL1_I2C_DEV) | tr a-z A-Z)