diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index 6bb13e1759..27f4a42980 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -468,7 +468,9 @@ private:
 #if AP_COMPASS_EXTERNALAHRS_ENABLED
         DRIVER_EXTERNALAHRS   =18,
 #endif
+#if AP_COMPASS_MMC5XX3_ENABLED
         DRIVER_MMC5XX3  =19,
+#endif
     };
 
     bool _driver_enabled(enum DriverType driver_type);
diff --git a/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp b/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
index 0c164ca444..afb141a430 100644
--- a/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
+++ b/libraries/AP_Compass/AP_Compass_MMC5xx3.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_Compass_MMC5xx3.h"
 
+#if AP_COMPASS_MMC5XX3_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <stdio.h>
 
@@ -305,3 +307,6 @@ void AP_Compass_MMC5XX3::read()
 {
     drain_accumulated_samples(compass_instance);
 }
+
+#endif  // AP_COMPASS_MMC5XX3_ENABLED
+
diff --git a/libraries/AP_Compass/AP_Compass_MMC5xx3.h b/libraries/AP_Compass/AP_Compass_MMC5xx3.h
index 543e1ae1a7..8acd6e5633 100644
--- a/libraries/AP_Compass/AP_Compass_MMC5xx3.h
+++ b/libraries/AP_Compass/AP_Compass_MMC5xx3.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Compass_config.h"
+
+#if AP_COMPASS_MMC5XX3_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
@@ -72,3 +76,5 @@ private:
     
     enum Rotation rotation;
 };
+
+#endif  // AP_COMPASS_MMC5XX3_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 91e8b6a82e..3c1c91bd76 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -91,6 +91,10 @@
 #define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_COMPASS_MMC5XX3_ENABLED
+#define AP_COMPASS_MMC5XX3_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_COMPASS_QMC5883L_ENABLED
 #define AP_COMPASS_QMC5883L_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
 #endif