diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index 236a94f9d3..8b3756186a 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -66,7 +66,9 @@ void AP_RCProtocol::init()
 #if AP_RCPROTOCOL_FPORT2_ENABLED
     backend[AP_RCProtocol::FPORT2] = new AP_RCProtocol_FPort2(*this, true);
 #endif
+#if AP_RCPROTOCOL_ST24_ENABLED
     backend[AP_RCProtocol::ST24] = new AP_RCProtocol_ST24(*this);
+#endif
 #if AP_RCPROTOCOL_FPORT_ENABLED
     backend[AP_RCProtocol::FPORT] = new AP_RCProtocol_FPort(*this, true);
 #endif
@@ -451,8 +453,10 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
     case CRSF:
         return "CRSF";
 #endif
+#if AP_RCPROTOCOL_ST24_ENABLED
     case ST24:
         return "ST24";
+#endif
 #if AP_RCPROTOCOL_FPORT_ENABLED
     case FPORT:
         return "FPORT";
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index 90c8667627..54fd104b9e 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -49,7 +49,9 @@ public:
 #if AP_RCPROTOCOL_CRSF_ENABLED
         CRSF       =  8,
 #endif
+#if AP_RCPROTOCOL_ST24_ENABLED
         ST24       =  9,
+#endif
 #if AP_RCPROTOCOL_FPORT_ENABLED
         FPORT      = 10,
 #endif
@@ -126,7 +128,9 @@ public:
 #if AP_RCPROTOCOL_SRXL2_ENABLED
         case SRXL2:
 #endif
+#if AP_RCPROTOCOL_ST24_ENABLED
         case ST24:
+#endif
         case NONE:
             return false;
         }
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
index 534b6ac78f..9b37ad1578 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.cpp
@@ -44,7 +44,7 @@
  */
 #include "AP_RCProtocol_config.h"
 
-#if AP_RCPROTOCOL_ENABLED
+#if AP_RCPROTOCOL_ST24_ENABLED
 
 #include "AP_RCProtocol_ST24.h"
 
@@ -238,4 +238,4 @@ void AP_RCProtocol_ST24::process_byte(uint8_t byte, uint32_t baudrate)
     _process_byte(byte);
 }
 
-#endif  // AP_RCPROTOCOL_ENABLED
+#endif  // AP_RCPROTOCOL_ST24_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
index 993d42dc79..45f73225bd 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_ST24.h
@@ -19,7 +19,7 @@
 
 #include "AP_RCProtocol_config.h"
 
-#if AP_RCPROTOCOL_ENABLED
+#if AP_RCPROTOCOL_ST24_ENABLED
 
 #include "AP_RCProtocol_Backend.h"
 #include "SoftSerial.h"
@@ -154,4 +154,4 @@ private:
     SoftSerial ss{115200, SoftSerial::SERIAL_CONFIG_8N1};
 };
 
-#endif  // AP_RCPROTOCOL_ENABLED
+#endif  // AP_RCPROTOCOL_ST24_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index ab9ba7dcda..c1e5f766bf 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -34,6 +34,10 @@
 #define AP_RCPROTOCOL_SRXL2_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_RCPROTOCOL_ST24_ENABLED
+#define AP_RCPROTOCOL_ST24_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
+#endif
+
 
 #ifndef AP_RCPROTOCOL_SBUS_NI_ENABLED
 #define AP_RCPROTOCOL_SBUS_NI_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED && AP_RCPROTOCOL_SBUS_ENABLED