diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
index ebc60dc2d1..69e43afc48 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.cpp
@@ -13,11 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_BACKEND_CAN_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_Backend_CAN.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-
 const AP_Param::GroupInfo AP_RangeFinder_Backend_CAN::var_info[] = {
 
     // @Param: RECV_ID
@@ -87,4 +89,4 @@ bool AP_RangeFinder_Backend_CAN::is_correct_id(uint32_t id) const
     return true;
 }
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif  // AP_RANGEFINDER_BACKEND_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
index 96d62aa94d..5f91509419 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend_CAN.h
@@ -1,9 +1,10 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_BACKEND_CAN_ENABLED
+
 #include "AP_RangeFinder_Backend.h"
-
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
-
 #include <AP_CANManager/AP_CANSensor.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
@@ -61,4 +62,4 @@ private:
     uint32_t _distance_count;
 };
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif  // AP_RANGEFINDER_BACKEND_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_config.h b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
index 69d1f6e537..1f5407adaf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_config.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
@@ -15,6 +15,10 @@
 #define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED AP_RANGEFINDER_ENABLED
 #endif
 
+#ifndef AP_RANGEFINDER_BACKEND_CAN_ENABLED
+#define AP_RANGEFINDER_BACKEND_CAN_ENABLED AP_RANGEFINDER_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
 #ifndef AP_RANGEFINDER_ANALOG_ENABLED
 #define AP_RANGEFINDER_ANALOG_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
 #endif
@@ -148,7 +152,7 @@
 #endif
 
 #ifndef AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED
-#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#define AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && AP_RANGEFINDER_BACKEND_CAN_ENABLED
 #endif
 
 #ifndef AP_RANGEFINDER_TOFSENSEF_I2C_ENABLED
@@ -160,7 +164,7 @@
 #endif
 
 #ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
-#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#define AP_RANGEFINDER_USD1_CAN_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && AP_RANGEFINDER_BACKEND_CAN_ENABLED
 #endif
 
 #ifndef AP_RANGEFINDER_USD1_SERIAL_ENABLED