diff --git a/libraries/AP_CustomRotations/AP_CustomRotations.cpp b/libraries/AP_CustomRotations/AP_CustomRotations.cpp
index 0af266ea1f..ad938c1b10 100644
--- a/libraries/AP_CustomRotations/AP_CustomRotations.cpp
+++ b/libraries/AP_CustomRotations/AP_CustomRotations.cpp
@@ -1,3 +1,7 @@
+#include "AP_CustomRotations_config.h"
+
+#if AP_CUSTOMROTATIONS_ENABLED
+
 #include "AP_CustomRotations.h"
 
 #include <AP_InternalError/AP_InternalError.h>
@@ -5,8 +9,6 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
-
 const AP_Param::GroupInfo AP_CustomRotations::var_info[] = {
 
     // @Param: _ENABLE
@@ -156,4 +158,4 @@ AP_CustomRotations &custom_rotations()
 
 }
 
-#endif // !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#endif  // AP_CUSTOMROTATIONS_ENABLED
diff --git a/libraries/AP_CustomRotations/AP_CustomRotations.h b/libraries/AP_CustomRotations/AP_CustomRotations.h
index f26c43b710..7b802334d8 100644
--- a/libraries/AP_CustomRotations/AP_CustomRotations.h
+++ b/libraries/AP_CustomRotations/AP_CustomRotations.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_CustomRotations_config.h"
+
+#if AP_CUSTOMROTATIONS_ENABLED
+
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 
@@ -80,3 +84,5 @@ namespace AP {
     AP_CustomRotations &custom_rotations();
 };
 
+
+#endif  // AP_CUSTOMROTATIONS_ENABLED
diff --git a/libraries/AP_CustomRotations/AP_CustomRotations_config.h b/libraries/AP_CustomRotations/AP_CustomRotations_config.h
new file mode 100644
index 0000000000..67aa8f5b95
--- /dev/null
+++ b/libraries/AP_CustomRotations/AP_CustomRotations_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_CUSTOMROTATIONS_ENABLED
+#define AP_CUSTOMROTATIONS_ENABLED 1
+#endif
diff --git a/libraries/AP_CustomRotations/AP_CustomRotations_params.cpp b/libraries/AP_CustomRotations/AP_CustomRotations_params.cpp
index 07d260d2cb..b8904c1bd1 100644
--- a/libraries/AP_CustomRotations/AP_CustomRotations_params.cpp
+++ b/libraries/AP_CustomRotations/AP_CustomRotations_params.cpp
@@ -1,7 +1,8 @@
-#include "AP_CustomRotations.h"
-#include <AP_Vehicle/AP_Vehicle_Type.h>
+#include "AP_CustomRotations_config.h"
 
-#if !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#if AP_CUSTOMROTATIONS_ENABLED
+
+#include "AP_CustomRotations.h"
 
 const AP_Param::GroupInfo AP_CustomRotation_params::var_info[] = {
 
@@ -33,4 +34,4 @@ AP_CustomRotation_params::AP_CustomRotation_params() {
     AP_Param::setup_object_defaults(this, var_info);
 }
 
-#endif // !APM_BUILD_TYPE(APM_BUILD_AP_Periph)
+#endif  // AP_CUSTOMROTATIONS_ENABLED