diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 930eaa7af9f82..f07483c72761b 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -34,7 +34,7 @@ def __init__(self,
     Feature('AHRS', 'MicroStrain5', 'AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED', 'Enable MICROSTRAIN 5-series External AHRS', 0, "AHRS_EXT"),  # noqa: E501
     Feature('AHRS', 'MicroStrain7', 'AP_EXTERNAL_AHRS_MICROSTRAIN7_ENABLED', 'Enable MICROSTRAIN 7-series External AHRS', 0, "AHRS_EXT"),  # noqa: E501
     Feature('AHRS', 'AHRS_EXT_VECTORNAV', 'AP_EXTERNAL_AHRS_VECTORNAV_ENABLED', 'Enable VectorNav External AHRS', 0, "AHRS_EXT"),  # noqa
-    # Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED', 'Enable InertialLabs External AHRS', 0, "AHRS_EXT"),  # noqa disabled because INERTIAL_LABS is the enable flag
+    Feature('AHRS', 'InertialLabs', 'AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED', 'Enable InertialLabs External AHRS', 0, "AHRS_EXT"),  # noqa
     Feature('AHRS', 'TEMPCAL', 'HAL_INS_TEMPERATURE_CAL_ENABLE', 'Enable IMU Temperature Calibration', 0, None),
     Feature('AHRS', 'VISUALODOM', 'HAL_VISUALODOM_ENABLED', 'Enable Visual Odometry', 0, 'EKF3_EXTNAV'),
     Feature('AHRS', 'EKF3_EXTNAV', 'EK3_FEATURE_EXTERNAL_NAV', 'Enable External Navigation for EKF3', 0, 'EKF3'),
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
index e113eba81d086..229ca00dea23f 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -124,7 +124,7 @@ void AP_ExternalAHRS::init(void)
         return;
 #endif
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
     case DevType::InertialLabs:
         backend = NEW_NOTHROW AP_ExternalAHRS_InertialLabs(this, state);
         return;
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
index 2d01f28c289d8..a08c2822914b1 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.h
@@ -49,7 +49,7 @@ class AP_ExternalAHRS {
 #if AP_EXTERNAL_AHRS_MICROSTRAIN5_ENABLED
         MicroStrain5 = 2,
 #endif
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
         InertialLabs = 5,
 #endif
         // 3 reserved for AdNav
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
index 43e858a74007c..129c11616a151 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.cpp
@@ -18,7 +18,7 @@
 
 #include "AP_ExternalAHRS_config.h"
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
 #include "AP_ExternalAHRS_InertialLabs.h"
 #include <AP_Math/AP_Math.h>
@@ -692,5 +692,5 @@ void AP_ExternalAHRS_InertialLabs::send_status_report(GCS_MAVLINK &link) const
                                        mag_var, 0, 0);
 }
 
-#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#endif  // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
index 9de2c9526e931..639d39e2d5323 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_InertialLabs.h
@@ -20,7 +20,7 @@
 
 #include "AP_ExternalAHRS_config.h"
 
-#if AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#if AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
 #include "AP_ExternalAHRS_backend.h"
 
@@ -228,5 +228,5 @@ class AP_ExternalAHRS_InertialLabs : public AP_ExternalAHRS_backend {
     uint32_t last_gps_ms;
 };
 
-#endif  // AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
+#endif  // AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
 
diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
index 75e8e5228021b..650f605b0a9f2 100644
--- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
+++ b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_config.h
@@ -26,6 +26,6 @@
 #define AP_EXTERNAL_AHRS_VECTORNAV_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
 #endif
 
-#ifndef AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED
-#define AP_EXTERNAL_AHRS_INERTIAL_LABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
+#ifndef AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED
+#define AP_EXTERNAL_AHRS_INERTIALLABS_ENABLED AP_EXTERNAL_AHRS_BACKEND_DEFAULT_ENABLED
 #endif