diff --git a/libraries/AC_PrecLand/AC_PrecLand_IRLock.h b/libraries/AC_PrecLand/AC_PrecLand_IRLock.h
index b54d3d53d5..a1c321d27c 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_IRLock.h
+++ b/libraries/AC_PrecLand/AC_PrecLand_IRLock.h
@@ -6,12 +6,13 @@
 
 #include <AC_PrecLand/AC_PrecLand_Backend.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_IRLock/AP_IRLock_config.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
- #include <AP_IRLock/AP_IRLock_SITL.h>
-#else
- #include <AP_IRLock/AP_IRLock.h>
-#endif
+#if AP_IRLOCK_SITL_ENABLED
+#include <AP_IRLock/AP_IRLock_SITL.h>
+#elif AP_IRLOCK_I2C_ENABLED
+#include <AP_IRLock/AP_IRLock_I2C.h>
+#endif  // AP_IRLOCK_I2C_ENABLED
 
 /*
  * AC_PrecLand_IRLock - implements precision landing using target vectors provided
@@ -32,9 +33,9 @@ public:
     void update() override;
 
 private:
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if AP_IRLOCK_SITL_ENABLED
     AP_IRLock_SITL irlock;
-#else
+#elif AP_IRLOCK_I2C_ENABLED
     AP_IRLock_I2C irlock;
 #endif
 };
diff --git a/libraries/AP_IRLock/AP_IRLock.cpp b/libraries/AP_IRLock/AP_IRLock.cpp
index cd75491ed4..83962cab0c 100644
--- a/libraries/AP_IRLock/AP_IRLock.cpp
+++ b/libraries/AP_IRLock/AP_IRLock.cpp
@@ -5,6 +5,10 @@
  *      Author: MLandes
  */
 
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_ENABLED
+
 #include "AP_IRLock.h"
 
 // retrieve body frame unit vector in direction of target
@@ -23,3 +27,5 @@ bool AP_IRLock::get_unit_vector_body(Vector3f& ret) const
     ret /= ret.length();
     return true;
 }
+
+#endif  // AP_IRLOCK_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock.h b/libraries/AP_IRLock/AP_IRLock.h
index 5dbea076fb..187d19e63d 100644
--- a/libraries/AP_IRLock/AP_IRLock.h
+++ b/libraries/AP_IRLock/AP_IRLock.h
@@ -21,6 +21,10 @@
  */
 #pragma once
 
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_ENABLED
+
 #include <AP_Math/AP_Math.h>
 
 class AP_IRLock
@@ -65,3 +69,5 @@ protected:
 
     irlock_target_info _target_info;
 };
+
+#endif  // AP_IRLOCK_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_I2C.cpp b/libraries/AP_IRLock/AP_IRLock_I2C.cpp
index 977c1e37d9..d170771bea 100644
--- a/libraries/AP_IRLock/AP_IRLock_I2C.cpp
+++ b/libraries/AP_IRLock/AP_IRLock_I2C.cpp
@@ -20,6 +20,10 @@
  *
  * See: http://irlock.com/pages/serial-communication-protocol
  */
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_I2C_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_IRLock_I2C.h"
 #include <stdio.h>
@@ -171,3 +175,5 @@ bool AP_IRLock_I2C::update()
     // return true if new data found
     return new_data;
 }
+
+#endif  // AP_IRLOCK_I2C_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_I2C.h b/libraries/AP_IRLock/AP_IRLock_I2C.h
index 9bb318fca8..b03598bee0 100644
--- a/libraries/AP_IRLock/AP_IRLock_I2C.h
+++ b/libraries/AP_IRLock/AP_IRLock_I2C.h
@@ -4,6 +4,10 @@
  */
 #pragma once
 
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_I2C_ENABLED
+
 #include "AP_IRLock.h"
 #include <AP_HAL/AP_HAL.h>
 
@@ -39,3 +43,5 @@ private:
     HAL_Semaphore sem;
     uint32_t _last_read_ms;
 };
+
+#endif  // AP_IRLOCK_I2C_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_SITL.cpp b/libraries/AP_IRLock/AP_IRLock_SITL.cpp
index 954bc62e6f..9eeaead277 100644
--- a/libraries/AP_IRLock/AP_IRLock_SITL.cpp
+++ b/libraries/AP_IRLock/AP_IRLock_SITL.cpp
@@ -19,9 +19,10 @@
  *  Created on: June 09, 2016
  *      Author: Ian Chen
  */
-#include <AP_HAL/AP_HAL.h>
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_SITL_ENABLED
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "AP_IRLock_SITL.h"
 #include "AP_AHRS/AP_AHRS.h"
 
@@ -55,4 +56,4 @@ bool AP_IRLock_SITL::update()
     return false;
 }
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif  // AP_IRLOCK_SITL_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_SITL.h b/libraries/AP_IRLock/AP_IRLock_SITL.h
index 135417d9b0..0940319866 100644
--- a/libraries/AP_IRLock/AP_IRLock_SITL.h
+++ b/libraries/AP_IRLock/AP_IRLock_SITL.h
@@ -6,7 +6,10 @@
  */
 #pragma once
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_SITL_ENABLED
+
 #include "AP_IRLock.h"
 #include <SITL/SITL.h>
 
@@ -23,4 +26,5 @@ private:
     SITL::SIM          *_sitl;                 // sitl instance pointer
     uint32_t _last_timestamp = 0;
 };
-#endif // CONFIG_HAL_BOARD
+
+#endif  // AP_IRLOCK_SITL_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.cpp b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.cpp
index 15e728612d..842cd7d633 100644
--- a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.cpp
+++ b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.cpp
@@ -19,9 +19,10 @@
  *  Created on: June 09, 2016
  *      Author: Ian Chen
  */
-#include <AP_HAL/AP_HAL.h>
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_SITL_GAZEBO_ENABLED
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "AP_IRLock_SITL_Gazebo.h"
 #include <SITL/SITL.h>
 #include <fcntl.h>
@@ -92,4 +93,4 @@ bool AP_IRLock_SITL_Gazebo::update()
     return new_data;
 }
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif  // AP_IRLOCK_SITL_GAZEBO_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
index ceaa78fdba..fe1ea8ecba 100644
--- a/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
+++ b/libraries/AP_IRLock/AP_IRLock_SITL_Gazebo.h
@@ -6,8 +6,11 @@
  */
 #pragma once
 
+#include "AP_IRLock_config.h"
+
+#if AP_IRLOCK_SITL_GAZEBO_ENABLED
+
 #include <AP_HAL/utility/Socket_native.h>
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include "AP_IRLock.h"
 
 class AP_IRLock_SITL_Gazebo : public AP_IRLock
@@ -26,4 +29,5 @@ private:
     uint32_t _last_timestamp;
     SocketAPM_native sock;
 };
-#endif // CONFIG_HAL_BOARD
+
+#endif  // AP_IRLOCK_SITL_GAZEBO_ENABLED
diff --git a/libraries/AP_IRLock/AP_IRLock_config.h b/libraries/AP_IRLock/AP_IRLock_config.h
new file mode 100644
index 0000000000..d8d96ab4bc
--- /dev/null
+++ b/libraries/AP_IRLock/AP_IRLock_config.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_IRLOCK_ENABLED
+#define AP_IRLOCK_ENABLED 1
+#endif  // AP_IRLOCK_ENABLED
+
+#ifndef AP_IRLOCK_BACKEND_DEFAULT_ENABLED
+#define AP_IRLOCK_BACKEND_DEFAULT_ENABLED AP_IRLOCK_ENABLED
+#endif  // AP_IRLOCK_BACKEND_DEFAULT_ENABLED
+
+#ifndef AP_IRLOCK_I2C_ENABLED
+#define AP_IRLOCK_I2C_ENABLED AP_IRLOCK_BACKEND_DEFAULT_ENABLED
+#endif  // AP_IRLOCK_I2C_ENABLED
+
+#ifndef AP_IRLOCK_SITL_ENABLED
+#define AP_IRLOCK_SITL_ENABLED AP_IRLOCK_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif  // AP_IRLOCK_SITL_ENABLED
+
+#ifndef AP_IRLOCK_SITL_GAZEBO_ENABLED
+#define AP_IRLOCK_SITL_GAZEBO_ENABLED AP_IRLOCK_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif  // AP_IRLOCK_SITL_GAZEBO_ENABLED