diff --git a/libraries/AP_HAL/board/esp32.h b/libraries/AP_HAL/board/esp32.h
index 34846d8b4cd9bc..e4a7555e872251 100644
--- a/libraries/AP_HAL/board/esp32.h
+++ b/libraries/AP_HAL/board/esp32.h
@@ -42,6 +42,14 @@
 #define HAL_BinarySemaphore ESP32::BinarySemaphore
 #endif
 
+#ifndef HAL_HAVE_HARDWARE_DOUBLE
+#define HAL_HAVE_HARDWARE_DOUBLE 0
+#endif
+
+#ifndef HAL_WITH_EKF_DOUBLE
+#define HAL_WITH_EKF_DOUBLE HAL_HAVE_HARDWARE_DOUBLE
+#endif
+
 #define HAL_NUM_CAN_IFACES 0
 #define HAL_MEM_CLASS HAL_MEM_CLASS_192