diff --git a/libraries/SITL/SIM_PS_RPLidar.h b/libraries/SITL/SIM_PS_RPLidar.h
index 4758567605..bf2444f5cd 100644
--- a/libraries/SITL/SIM_PS_RPLidar.h
+++ b/libraries/SITL/SIM_PS_RPLidar.h
@@ -45,14 +45,12 @@ rc 2 1450
 
 #pragma once
 
-#include "SIM_SerialProximitySensor.h"
-
-#ifndef HAL_SIM_PS_RPLIDARA2_ENABLED
-#define HAL_SIM_PS_RPLIDARA2_ENABLED HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
-#endif
+#include "SIM_config.h"
 
 #if HAL_SIM_PS_RPLIDARA2_ENABLED || HAL_SIM_PS_RPLIDARA1_ENABLED
 
+#include "SIM_SerialProximitySensor.h"
+
 #include <stdio.h>
 
 namespace SITL {
diff --git a/libraries/SITL/SIM_PS_RPLidarA1.h b/libraries/SITL/SIM_PS_RPLidarA1.h
index 9a88ca4451..d374354e6b 100644
--- a/libraries/SITL/SIM_PS_RPLidarA1.h
+++ b/libraries/SITL/SIM_PS_RPLidarA1.h
@@ -43,13 +43,12 @@ rc 2 1450
 
 #pragma once
 
-#include "SIM_PS_RPLidar.h"
-
-#ifndef HAL_SIM_PS_RPLIDARA1_ENABLED
-#define HAL_SIM_PS_RPLIDARA1_ENABLED HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
-#endif
+#include "SIM_config.h"
 
 #if HAL_SIM_PS_RPLIDARA1_ENABLED
+
+#include "SIM_PS_RPLidar.h"
+
 namespace SITL {
 
 class PS_RPLidarA1 : public PS_RPLidar {
diff --git a/libraries/SITL/SIM_PS_RPLidarA2.h b/libraries/SITL/SIM_PS_RPLidarA2.h
index dfef555664..b5beb50f3c 100644
--- a/libraries/SITL/SIM_PS_RPLidarA2.h
+++ b/libraries/SITL/SIM_PS_RPLidarA2.h
@@ -43,6 +43,10 @@ rc 2 1450
 
 #pragma once
 
+#include "SIM_config.h"
+
+#if HAL_SIM_PS_RPLIDARA2_ENABLED
+
 #include "SIM_PS_RPLidar.h"
 
 namespace SITL {
@@ -54,3 +58,5 @@ public:
 };
 
 }
+
+#endif  // HAL_SIM_PS_RPLIDARA2_ENABLED
diff --git a/libraries/SITL/SIM_SerialProximitySensor.h b/libraries/SITL/SIM_SerialProximitySensor.h
index db94bef9a9..b35d629132 100644
--- a/libraries/SITL/SIM_SerialProximitySensor.h
+++ b/libraries/SITL/SIM_SerialProximitySensor.h
@@ -18,11 +18,7 @@
 
 #pragma once
 
-#include <AP_HAL/AP_HAL_Boards.h>
-
-#ifndef HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
-#define HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
-#endif
+#include "SIM_config.h"
 
 #if HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
 
diff --git a/libraries/SITL/SIM_config.h b/libraries/SITL/SIM_config.h
new file mode 100644
index 0000000000..e9c55f17aa
--- /dev/null
+++ b/libraries/SITL/SIM_config.h
@@ -0,0 +1,15 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
+#define HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef HAL_SIM_PS_RPLIDARA1_ENABLED
+#define HAL_SIM_PS_RPLIDARA1_ENABLED HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
+#endif
+
+#ifndef HAL_SIM_PS_RPLIDARA2_ENABLED
+#define HAL_SIM_PS_RPLIDARA2_ENABLED HAL_SIM_SERIALPROXIMITYSENSOR_ENABLED
+#endif