diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index 7e6ad3824d..634253fc5f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -41,6 +41,7 @@
 #include "AP_RangeFinder_PWM.h"
 #include "AP_RangeFinder_GYUS42v2.h"
 #include "AP_RangeFinder_HC_SR04.h"
+#include "AP_RangeFinder_Bebop.h"
 #include "AP_RangeFinder_BLPing.h"
 #include "AP_RangeFinder_UAVCAN.h"
 #include "AP_RangeFinder_Lanbao.h"
@@ -347,14 +348,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
     case Type::PLI2C:
     case Type::PLI2CV3:
     case Type::PLI2CV3HP:
+#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
         FOREACH_I2C(i) {
             if (_add_backend(AP_RangeFinder_PulsedLightLRF::detect(i, state[instance], params[instance], _type),
                              instance)) {
                 break;
             }
         }
+#endif
         break;
     case Type::MBI2C: {
+#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
         uint8_t addr = AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR;
         if (params[instance].address != 0) {
             addr = params[instance].address;
@@ -367,8 +371,10 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
             }
         }
         break;
+#endif
     }
     case Type::LWI2C:
+#if AP_RANGEFINDER_LWI2C_ENABLED
         if (params[instance].address) {
             // the LW20 needs a long time to boot up, so we delay 1.5s here
             if (!hal.util->was_watchdog_armed()) {
@@ -388,8 +394,10 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
             }
 #endif
         }
+#endif  // AP_RANGEFINDER_LWI2C_ENABLED
         break;
     case Type::TRI2C:
+#if AP_RANGEFINDER_TRI2C_ENABLED
         if (params[instance].address) {
             FOREACH_I2C(i) {
                 if (_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance], params[instance],
@@ -399,15 +407,19 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
                 }
             }
         }
+#endif
         break;
     case Type::VL53L0X:
     case Type::VL53L1X_Short:
             FOREACH_I2C(i) {
+#if AP_RANGEFINDER_VL53L0X_ENABLED
                 if (_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance], params[instance],
                                                                 hal.i2c_mgr->get_device(i, params[instance].address)),
                         instance)) {
                     break;
                 }
+#endif
+#if AP_RANGEFINDER_VL53L1X_ENABLED
                 if (_add_backend(AP_RangeFinder_VL53L1X::detect(state[instance], params[instance],
                                                                 hal.i2c_mgr->get_device(i, params[instance].address),
                                                                 _type == Type::VL53L1X_Short ?  AP_RangeFinder_VL53L1X::DistanceMode::Short :
@@ -415,9 +427,11 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
                                  instance)) {
                     break;
                 }
+#endif
             }
         break;
     case Type::BenewakeTFminiPlus: {
+#if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
         uint8_t addr = TFMINI_ADDR_DEFAULT;
         if (params[instance].address != 0) {
             addr = params[instance].address;
@@ -430,62 +444,68 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
             }
         }
         break;
+#endif
     }
     case Type::PX4_PWM:
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RANGEFINDER_PWM_ENABLED
         // to ease moving from PX4 to ChibiOS we'll lie a little about
         // the backend driver...
         if (AP_RangeFinder_PWM::detect()) {
             _add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance);
         }
-#endif
 #endif
         break;
     case Type::BBB_PRU:
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#if AP_RANGEFINDER_BBB_PRU_ENABLED
         if (AP_RangeFinder_BBB_PRU::detect()) {
             _add_backend(new AP_RangeFinder_BBB_PRU(state[instance], params[instance]), instance);
         }
 #endif
         break;
     case Type::LWSER:
+#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
         if (AP_RangeFinder_LightWareSerial::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_LightWareSerial(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::LEDDARONE:
+#if AP_RANGEFINDER_LEDDARONE_ENABLED
         if (AP_RangeFinder_LeddarOne::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_LeddarOne(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::USD1_Serial:
+#if AP_RANGEFINDER_USD1_SERIAL_ENABLED
         if (AP_RangeFinder_USD1_Serial::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_USD1_Serial(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::BEBOP:
-#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
-     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
+#if AP_RANGEFINDER_BEBOP_ENABLED
         if (AP_RangeFinder_Bebop::detect()) {
             _add_backend(new AP_RangeFinder_Bebop(state[instance], params[instance]), instance);
         }
 #endif
         break;
     case Type::MAVLink:
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RANGEFINDER_MAVLINK_ENABLED
         if (AP_RangeFinder_MAVLink::detect()) {
             _add_backend(new AP_RangeFinder_MAVLink(state[instance], params[instance]), instance);
         }
 #endif
         break;
     case Type::MBSER:
+#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
         if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_MaxsonarSerialLV(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::ANALOG:
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RANGEFINDER_ANALOG_ENABLED
         // note that analog will always come back as present if the pin is valid
         if (AP_RangeFinder_analog::detect(params[instance])) {
             _add_backend(new AP_RangeFinder_analog(state[instance], params[instance]), instance);
@@ -493,7 +513,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 #endif
         break;
     case Type::HC_SR04:
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RANGEFINDER_HC_SR04_ENABLED
         // note that this will always come back as present if the pin is valid
         if (AP_RangeFinder_HC_SR04::detect(params[instance])) {
             _add_backend(new AP_RangeFinder_HC_SR04(state[instance], params[instance]), instance);
@@ -501,55 +521,71 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 #endif
         break;
     case Type::NMEA:
+#if AP_RANGEFINDER_NMEA_ENABLED
         if (AP_RangeFinder_NMEA::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_NMEA(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::WASP:
+#if AP_RANGEFINDER_WASP_ENABLED
         if (AP_RangeFinder_Wasp::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_Wasp(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::BenewakeTF02:
+#if AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
         if (AP_RangeFinder_Benewake_TF02::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_Benewake_TF02(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::BenewakeTFmini:
+#if AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
         if (AP_RangeFinder_Benewake_TFMini::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_Benewake_TFMini(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::BenewakeTF03:
+#if AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
         if (AP_RangeFinder_Benewake_TF03::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_Benewake_TF03(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::PWM:
-#ifndef HAL_BUILD_AP_PERIPH
+#if AP_RANGEFINDER_PWM_ENABLED
         if (AP_RangeFinder_PWM::detect()) {
             _add_backend(new AP_RangeFinder_PWM(state[instance], params[instance], estimated_terrain_height), instance);
         }
 #endif
         break;
     case Type::BLPing:
+#if AP_RANGEFINDER_BLPING_ENABLED
         if (AP_RangeFinder_BLPing::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_BLPing(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::Lanbao:
+#if AP_RANGEFINDER_LANBAO_ENABLED
         if (AP_RangeFinder_Lanbao::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_Lanbao(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
     case Type::LeddarVu8_Serial:
+#if AP_RANGEFINDER_LEDDARVU8_ENABLED
         if (AP_RangeFinder_LeddarVu8::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_LeddarVu8(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
 
     case Type::UAVCAN:
-#if HAL_CANMANAGER_ENABLED
+#if AP_RANGEFINDER_UAVCAN_ENABLED
         /*
           the UAVCAN driver gets created when we first receive a
           measurement. We take the instance slot now, even if we don't
@@ -560,13 +596,15 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
 
     case Type::GYUS42v2:
+#if AP_RANGEFINDER_GYUS42V2_ENABLED
         if (AP_RangeFinder_GYUS42v2::detect(serial_instance)) {
             _add_backend(new AP_RangeFinder_GYUS42v2(state[instance], params[instance]), instance, serial_instance++);
         }
+#endif
         break;
 
     case Type::SIM:
-#if AP_SIM_RANGEFINDER_ENABLED
+#if AP_RANGEFINDER_SIM_ENABLED
         _add_backend(new AP_RangeFinder_SITL(state[instance], params[instance], instance), instance);
 #endif
         break;
@@ -579,16 +617,17 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
 #endif // HAL_MSP_RANGEFINDER_ENABLED
         break;
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     case Type::USD1_CAN:
+#if AP_RANGEFINDER_USD1_CAN_ENABLED
         _add_backend(new AP_RangeFinder_USD1_CAN(state[instance], params[instance]), instance);
+#endif
         break;
     case Type::Benewake_CAN:
+#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
         _add_backend(new AP_RangeFinder_Benewake_CAN(state[instance], params[instance]), instance);
         break;
-#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
     case Type::NONE:
-    default:
         break;
     }
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index 7d06daad07..9a85327fe6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -26,6 +26,10 @@
 #define AP_RANGEFINDER_ENABLED 1
 #endif
 
+#ifndef AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED AP_RANGEFINDER_ENABLED
+#endif
+
 // Maximum number of range finder instances available on this platform
 #ifndef RANGEFINDER_MAX_INSTANCES 
   #if AP_RANGEFINDER_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
index dca89c814d..d06b99b209 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
@@ -16,11 +16,10 @@
    by Mirko Denecke <mirkix@gmail.com>
  */
 
-#include <AP_HAL/AP_HAL.h>
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
-
 #include "AP_RangeFinder_BBB_PRU.h"
 
+#if AP_RANGEFINDER_BBB_PRU_ENABLED
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <stdint.h>
@@ -105,4 +104,4 @@ void AP_RangeFinder_BBB_PRU::update(void)
     state.distance_m = rangerpru->distance * 0.01f;
     state.last_reading_ms = AP_HAL::millis();
 }
-#endif // CONFIG_HAL_BOARD_SUBTYPE
+#endif // AP_RANGEFINDER_BBB_PRU_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
index 0335928d02..ddff67dda2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
@@ -3,6 +3,16 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
+#include <AP_BoardConfig/AP_BoardConfig.h>
+
+#ifndef AP_RANGEFINDER_BBB_PRU_ENABLED
+#define AP_RANGEFINDER_BBB_PRU_ENABLED (                            \
+        AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                   \
+        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \
+        )
+#endif
+
+#if AP_RANGEFINDER_BBB_PRU_ENABLED
 
 #define PRU0_CTRL_BASE 0x4a322000
 
@@ -43,3 +53,5 @@ protected:
 private:
 
 };
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
index bfc87f00d6..54036e2bba 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.cpp
@@ -13,10 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
-#include <GCS_MAVLink/GCS.h>
 #include "AP_RangeFinder_BLPing.h"
 
+#if AP_RANGEFINDER_BLPING_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
+
 void AP_RangeFinder_BLPing::update(void)
 {
     if (uart == nullptr) {
@@ -226,3 +228,5 @@ PingProtocol::MessageId PingProtocol::parse_byte(uint8_t b)
 
     return msg.done ? get_message_id() : MessageId::INVALID;
 }
+
+#endif  // AP_RANGEFINDER_BLPING_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
index 92d9fed435..9bd73113ef 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_RangeFinder.h"
+
+#ifndef AP_RANGEFINDER_BLPING_ENABLED
+#define AP_RANGEFINDER_BLPING_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_BLPING_ENABLED
+
 #include "AP_RangeFinder_Backend_Serial.h"
 
 /**
@@ -170,3 +177,5 @@ private:
      */
     uint32_t last_init_ms;
 };
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
index 448e0b8e65..5d1dd73ff4 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.cpp
@@ -12,13 +12,14 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "AP_RangeFinder_Bebop.h"
+
+#if AP_RANGEFINDER_BEBOP_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <utility>
 
-#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
-     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) &&      \
-    defined(HAVE_LIBIIO)
-
 #include <stdlib.h>
 #include <unistd.h>
 #include <stdio.h>
@@ -32,7 +33,6 @@
 #include <math.h>
 #include <time.h>
 #include <iio.h>
-#include "AP_RangeFinder_Bebop.h"
 #include <AP_HAL_Linux/Thread.h>
 #include <AP_HAL_Linux/GPIO.h>
 
@@ -474,4 +474,5 @@ int AP_RangeFinder_Bebop::_update_mode(float altitude)
     }
     return _mode;
 }
-#endif
+
+#endif  // AP_RANGEFINDER_BEBOP_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
index cc7302183b..fa1c062203 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
@@ -16,6 +16,20 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#include <AP_HAL/AP_HAL.h>
+#include <utility>
+
+#ifndef AP_RANGEFINDER_BEBOP_ENABLED
+#define AP_RANGEFINDER_BEBOP_ENABLED \
+    AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                           \
+    (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||       \
+     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) &&      \
+    defined(HAVE_LIBIIO)
+#endif
+
+#if AP_RANGEFINDER_BEBOP_ENABLED
+
 #include <AP_HAL_Linux/Thread.h>
 
 /*
@@ -143,3 +157,5 @@ private:
     int16_t _last_min_distance_cm = 32;
 };
 
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
index fed7778c48..6ffb9ef2cf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_Benewake.h"
 
+#if AP_RANGEFINDER_BENEWAKE_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
@@ -132,3 +134,5 @@ bool AP_RangeFinder_Benewake::get_reading(float &reading_m)
     // no readings so return false
     return false;
 }
+
+#endif  // AP_RANGEFINDER_BENEWAKE_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
index 4dbe430d07..a52f042f77 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_RangeFinder.h"
+
+#ifndef AP_RANGEFINDER_BENEWAKE_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_ENABLED AP_RANGEFINDER_ENABLED
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_ENABLED
+
 #include "AP_RangeFinder_Backend_Serial.h"
 
 class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend_Serial
@@ -28,3 +35,5 @@ private:
     uint8_t linebuf[10];
     uint8_t linebuf_len;
 };
+
+#endif  // AP_RANGEFINDER_BENEWAKE_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
index fa0c1032b5..b42b7a5320 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
@@ -2,7 +2,7 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include "AP_RangeFinder_Benewake_CAN.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
 const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
 
@@ -104,4 +104,4 @@ void Benewake_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
     }
 }
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
index b72aa30d55..2b1100608f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
@@ -1,9 +1,14 @@
 #pragma once
 
 #include "AP_RangeFinder_Backend.h"
+
 #include <AP_CANManager/AP_CANSensor.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#ifndef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
 class Benewake_MultiCAN;
 
@@ -52,6 +57,6 @@ public:
     AP_RangeFinder_Benewake_CAN *drivers;
 };
 
-#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif  // AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
index 89af15632c..b188ec1a43 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
@@ -2,6 +2,12 @@
 
 #include "AP_RangeFinder_Benewake.h"
 
+#ifndef AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TF02_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
+
 class AP_RangeFinder_Benewake_TF02 : public AP_RangeFinder_Benewake
 {
 public:
@@ -11,3 +17,5 @@ protected:
     float model_dist_max_cm() const override { return 2200; }
     bool has_signal_byte() const override { return true; }
 };
+
+#endif  // AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
index 38f5746fac..3ba936cab9 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
@@ -2,6 +2,12 @@
 
 #include "AP_RangeFinder_Benewake.h"
 
+#ifndef AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TF03_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
+
 class AP_RangeFinder_Benewake_TF03 : public AP_RangeFinder_Benewake
 {
 public:
@@ -10,3 +16,5 @@ public:
 protected:
     float model_dist_max_cm() const override { return 18000; }
 };
+
+#endif  // AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
index b2b39704cb..901d5f976a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
@@ -2,6 +2,12 @@
 
 #include "AP_RangeFinder_Benewake.h"
 
+#ifndef AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
+
 #define TFMINI_ADDR_DEFAULT              0x10        // TFMini default device id
 
 class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake
@@ -12,3 +18,5 @@ public:
 protected:
     float model_dist_max_cm() const override { return 1200; }
 };
+
+#endif  // AP_RANGEFINDER_BENEWAKE_TFMINI
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
index 75ca56277e..fc4e227c74 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
@@ -16,6 +16,8 @@
  */
 #include "AP_RangeFinder_Benewake_TFMiniPlus.h"
 
+#if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
+
 #include <utility>
 
 #include <GCS_MAVLink/GCS.h>
@@ -219,3 +221,5 @@ void AP_RangeFinder_Benewake_TFMiniPlus::timer()
         accum.count++;
     }
 }
+
+#endif  // AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
index b19a44c087..3074504c92 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
@@ -19,6 +19,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
+#ifndef AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
+
 #include <AP_HAL/utility/sparse-endian.h>
 #include <AP_HAL/I2CDevice.h>
 
@@ -60,3 +66,5 @@ private:
         uint32_t count;
     } accum;
 };
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.cpp
index 8132235bb9..36bac11572 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.cpp
@@ -13,11 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_GYUS42v2.h"
-#include <ctype.h>
 
-extern const AP_HAL::HAL& hal;
+#if AP_RANGEFINDER_GYUS42V2_ENABLED
 
 bool AP_RangeFinder_GYUS42v2::find_signature_in_buffer(uint8_t start)
 {
@@ -70,3 +68,5 @@ bool AP_RangeFinder_GYUS42v2::get_reading(float &reading_m)
 
     return true;
 }
+
+#endif  // AP_RANGEFINDER_GYUS42V2_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
index 3403b86d59..dc23122bc2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_RangeFinder.h"
+
+#ifndef AP_RANGEFINDER_GYUS42V2_ENABLED
+#define AP_RANGEFINDER_GYUS42V2_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_GYUS42V2_ENABLED
+
 #include "AP_RangeFinder_Backend_Serial.h"
 
 class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial
@@ -32,3 +39,5 @@ private:
     uint8_t buffer[7];
     uint8_t buffer_used;
 };
+
+#endif  // AP_RANGEFINDER_GYUS42V2_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp
index 877fba0d92..6e7cc156ec 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.cpp
@@ -25,10 +25,13 @@
  *   The second pin we use for triggering the ultransonic pulse
  */
 
+#include "AP_RangeFinder_HC_SR04.h"
+
+#if AP_RANGEFINDER_HC_SR04_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Params.h"
-#include "AP_RangeFinder_HC_SR04.h"
 
 #include <GCS_MAVLink/GCS.h>
 
@@ -140,3 +143,4 @@ void AP_RangeFinder_HC_SR04::update(void)
     }
 }
 
+#endif  // AP_RANGEFINDER_HC_SR04_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
index 5c8abe4589..5ef460f6bb 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_HC_SR04_ENABLED
+#define AP_RANGEFINDER_HC_SR04_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_HC_SR04_ENABLED
+
 #include "AP_RangeFinder_Params.h"
 
 class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend
@@ -37,3 +44,5 @@ private:
 
     uint32_t last_ping_ms;
 };
+
+#endif  // AP_RANGEFINDER_HC_SR04_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
index 6fcfc85116..d59b030e50 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.cpp
@@ -15,8 +15,11 @@
 /*
   driver for Lanbao PSK-CM8JL65-CC5 Lidar
  */
-#include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_Lanbao.h"
+
+#if AP_RANGEFINDER_LANBAO_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <stdio.h>
 
@@ -80,3 +83,5 @@ bool AP_RangeFinder_Lanbao::get_reading(float &reading_m)
     }
     return false;
 }
+
+#endif  // AP_RANGEFINDER_LANBAO_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
index 86c85ff867..1f9a2fb8ee 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_LANBAO_ENABLED
+#define AP_RANGEFINDER_LANBAO_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_LANBAO_ENABLED
+
 class AP_RangeFinder_Lanbao : public AP_RangeFinder_Backend_Serial
 {
 
@@ -28,3 +34,5 @@ private:
     uint8_t buf[6];
     uint8_t buf_len = 0;
 };
+
+#endif  // AP_RANGEFINDER_LANBAO_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index ce9ca93989..759c35e205 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_LeddarOne.h"
 
+#if AP_RANGEFINDER_LEDDARONE_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 
@@ -183,3 +185,5 @@ LeddarOne_Status AP_RangeFinder_LeddarOne::parse_response(uint8_t &number_detect
 
     return LEDDARONE_STATE_OK;
 }
+
+#endif  // AP_RANGEFINDER_LEDDARONE_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
index 082a46f3f2..4dd68e930e 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_LEDDARONE_ENABLED
+#define AP_RANGEFINDER_LEDDARONE_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_LEDDARONE_ENABLED
+
 // defines
 #define LEDDARONE_DEFAULT_ADDRESS 0x01
 #define LEDDARONE_MODOBUS_FUNCTION_CODE 0x04
@@ -83,3 +89,5 @@ private:
         0x09    // CRC Hi
     };
 };
+
+#endif  // AP_RANGEFINDER_LEDDARONE_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp
index b903a904f5..04e38624e0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.cpp
@@ -205,4 +205,4 @@ bool AP_RangeFinder_LeddarVu8::parse_byte(uint8_t b, bool &valid_reading, uint16
     return false;
 }
 
-#endif
+#endif  // AP_RANGEFINDER_LEDDARVU8_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
index 78f99f5d4a..a0aaa55e90 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
@@ -4,7 +4,7 @@
 #include "AP_RangeFinder_Backend_Serial.h"
 
 #ifndef AP_RANGEFINDER_LEDDARVU8_ENABLED
-#define AP_RANGEFINDER_LEDDARVU8_ENABLED 1
+#define AP_RANGEFINDER_LEDDARVU8_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
 #endif
 
 #if AP_RANGEFINDER_LEDDARVU8_ENABLED
@@ -97,4 +97,4 @@ private:
     uint32_t last_distance_request_ms;              // system time of last request to sensor to send distances
 };
 
-#endif
+#endif  // AP_RANGEFINDER_LEDDARVU8_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
index d8d5ac2acf..725b76f4f6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.cpp
@@ -13,6 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 #include "AP_RangeFinder_LightWareI2C.h"
+
+#if AP_RANGEFINDER_LWI2C_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
@@ -500,3 +503,5 @@ bool AP_RangeFinder_LightWareI2C::sf20_wait_on_reply(uint8_t *rx_two_byte)
     }
     return false;
 }
+
+#endif  // AP_RANGEFINDER_LWI2C_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
index fd75e483c2..ebc5e760ce 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_LWI2C_ENABLED
+#define AP_RANGEFINDER_LWI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_LWI2C_ENABLED
+
 #include <AP_HAL/I2CDevice.h>
 
 #define NUM_SF20_DATA_STREAMS 1
@@ -58,3 +65,5 @@ private:
     void data_log(uint16_t *val);
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
 };
+
+#endif  // AP_RANGEFINDER_LWI2C_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
index 79a1e2055c..9636b47bf2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_LightWareSerial.h"
 
+#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
@@ -149,3 +151,5 @@ bool AP_RangeFinder_LightWareSerial::is_lost_signal_distance(int16_t distance_cm
     }
     return false;
 }
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
index 590f1c55e7..7d9a164163 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+#define AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+
 class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
 {
 
@@ -43,3 +49,5 @@ private:
 
     bool no_signal = false;
 };
+
+#endif  // AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
index a441e017b9..5e52a9a222 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.cpp
@@ -14,6 +14,9 @@
  */
 
 #include "AP_RangeFinder_MAVLink.h"
+
+#if AP_RANGEFINDER_MAVLINK_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 /*
@@ -73,3 +76,5 @@ void AP_RangeFinder_MAVLink::update(void)
         update_status();
     }
 }
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
index ba39e1f5af..9b66fb6b3f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
+#ifndef AP_RANGEFINDER_MAVLINK_ENABLED
+#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_MAVLINK_ENABLED
+
 // Data timeout
 #define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
 
@@ -45,3 +51,5 @@ private:
 
     MAV_DISTANCE_SENSOR sensor_type = MAV_DISTANCE_SENSOR_UNKNOWN;
 };
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index 020c0e6e71..ed6e1d722f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -23,6 +23,8 @@
  */
 #include "AP_RangeFinder_MaxsonarI2CXL.h"
 
+#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+
 #include <utility>
 
 #include <AP_HAL/AP_HAL.h>
@@ -151,3 +153,5 @@ void AP_RangeFinder_MaxsonarI2CXL::update(void)
         set_status(RangeFinder::Status::NoData);
     }
 }
+
+#endif  // AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
index 48bbf07424..7cae78c326 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+#define AP_RANGEFINDER_MAXSONARI2CXL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+
 #include <AP_HAL/I2CDevice.h>
 
 #define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR   0x70
@@ -41,3 +48,5 @@ private:
     bool get_reading(uint16_t &reading_cm);
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
 };
+
+#endif  // AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
index e67ca9e7ce..7f0173947c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.cpp
@@ -17,6 +17,8 @@
 
 #include "AP_RangeFinder_MaxsonarSerialLV.h"
 
+#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
@@ -68,3 +70,5 @@ bool AP_RangeFinder_MaxsonarSerialLV::get_reading(float &reading_m)
 
     return true;
 }
+
+#endif  // AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
index ddb6c50251..7608aa76f6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+#define AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+
 class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
 {
 
@@ -25,3 +31,5 @@ private:
     char linebuf[10];
     uint8_t linebuf_len = 0;
 };
+
+#endif  // AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
index 02f5f18c54..61945ca7c3 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_NMEA.h"
 
+#if AP_RANGEFINDER_NMEA_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
@@ -187,3 +189,5 @@ bool AP_RangeFinder_NMEA::decode_latest_term()
 
     return false;
 }
+
+#endif  // AP_RANGEFINDER_NMEA_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
index ccb1220320..45efb1f628 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
@@ -18,6 +18,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_NMEA_ENABLED
+#define AP_RANGEFINDER_NMEA_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_NMEA_ENABLED
+
 class AP_RangeFinder_NMEA : public AP_RangeFinder_Backend_Serial
 {
 
@@ -72,3 +78,5 @@ private:
     sentence_types _sentence_type;          // the sentence type currently being processed
     bool _sentence_done;                    // true if this sentence has already been decoded
 };
+
+#endif  // AP_RANGEFINDER_NMEA_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
index f8aedca854..97352b2d4a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_PWM.h"
 
+#if AP_RANGEFINDER_PWM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 
@@ -130,3 +132,5 @@ void AP_RangeFinder_PWM::update(void)
 bool AP_RangeFinder_PWM::out_of_range(void) const {
     return params.powersave_range > 0 && estimated_terrain_height > params.powersave_range;
 }
+
+#endif  // AP_RANGEFINDER_PWM_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
index 7e64a54ae3..597861d1d0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
@@ -17,6 +17,14 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
+#ifndef AP_RANGEFINDER_PWM_ENABLED
+#define AP_RANGEFINDER_PWM_ENABLED        \
+    (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS &&   \
+     AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_PWM_ENABLED
+
 class AP_RangeFinder_PWM : public AP_RangeFinder_Backend
 {
 public:
@@ -58,3 +66,5 @@ private:
     bool was_out_of_range = -1; // this odd initialisation ensures we transition to new state
 
 };
+
+#endif  // AP_RANGEFINDER_PWM_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
index 89009f6775..608f2492ef 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_RangeFinder_PulsedLightLRF.h"
 
+#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+
 #include <utility>
 #include <stdio.h>
 
@@ -218,3 +220,4 @@ failed:
     return false;
 }
 
+#endif  // AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
index 4a02a8a783..8f6d40e200 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+#define AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+
 #include <AP_HAL/I2CDevice.h>
 
 /* Connection diagram
@@ -57,3 +64,5 @@ private:
     
     enum { PHASE_MEASURE, PHASE_COLLECT } phase;
 };
+
+#endif  // AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp
index 561b7b2f45..2e6e3613d8 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.cpp
@@ -12,15 +12,12 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
-
 #include "AP_RangeFinder_SITL.h"
 
-#if AP_SIM_RANGEFINDER_ENABLED
+#if AP_RANGEFINDER_SIM_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 
-extern const AP_HAL::HAL& hal;
-
 /*
   constructor - registers instance at top RangeFinder driver
  */
@@ -50,5 +47,4 @@ void AP_RangeFinder_SITL::update(void)
     update_status();
 }
 
-#endif  // AP_SIM_RANGEFINDER_ENABLED
-
+#endif  // AP_RANGEFINDER_SIM_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
index 83c59706d0..e11763a26f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
@@ -16,13 +16,13 @@
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
 
-#ifndef AP_SIM_RANGEFINDER_ENABLED
-#define AP_SIM_RANGEFINDER_ENABLED (AP_SIM_ENABLED && !defined(HAL_BUILD_AP_PERIPH))
+#include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_SIM_ENABLED
+#define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
 #endif
 
-#if AP_SIM_RANGEFINDER_ENABLED
-
-#include "AP_RangeFinder_Backend.h"
+#if AP_RANGEFINDER_SIM_ENABLED
 
 #include <SITL/SITL.h>
 
@@ -47,4 +47,4 @@ private:
 
 };
 
-#endif  // AP_SIM_RANGEFINDER_ENABLED
+#endif  // AP_RANGEFINDER_SIM_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index 312e9fd97d..c1772bfbad 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -17,6 +17,8 @@
  */
 #include "AP_RangeFinder_TeraRangerI2C.h"
 
+#if AP_RANGEFINDER_TRI2C_ENABLED
+
 #include <utility>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
@@ -189,3 +191,5 @@ void AP_RangeFinder_TeraRangerI2C::update(void)
         set_status(RangeFinder::Status::NoData);
     }
 }
+
+#endif  // AP_RANGEFINDER_TRI2C_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
index 2af3630ac4..09bdb5f0a7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_TRI2C_ENABLED
+#define AP_RANGEFINDER_TRI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_TRI2C_ENABLED
+
 #include <AP_HAL/I2CDevice.h>
 
 class AP_RangeFinder_TeraRangerI2C : public AP_RangeFinder_Backend
@@ -40,3 +47,5 @@ private:
         uint32_t count;
     } accum;
 };
+
+#endif  // AP_RANGEFINDER_TRI2C_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
index 252e672058..bf6f4e857d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
@@ -1,9 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
-
-#if HAL_CANMANAGER_ENABLED
-
 #include "AP_RangeFinder_UAVCAN.h"
 
+#if AP_RANGEFINDER_UAVCAN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -173,5 +172,4 @@ void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t nod
     }
 }
 
-#endif // HAL_CANMANAGER_ENABLED
-
+#endif  // AP_RANGEFINDER_UAVCAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
index 2f48c260c8..5a92822744 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
@@ -2,7 +2,12 @@
 
 #include "AP_RangeFinder_Backend.h"
 
-#if HAL_CANMANAGER_ENABLED
+#ifndef AP_RANGEFINDER_UAVCAN_ENABLED
+#define AP_RANGEFINDER_UAVCAN_ENABLED (HAL_CANMANAGER_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_UAVCAN_ENABLED
+
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 class MeasurementCb;
@@ -34,4 +39,4 @@ private:
     bool new_data;
     MAV_DISTANCE_SENSOR _sensor_type;
 };
-#endif //HAL_CANMANAGER_ENABLED
+#endif  // AP_RANGEFINDER_UAVCAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
index dd74fda2ba..4928a93e99 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.cpp
@@ -1,7 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_USD1_CAN.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_RANGEFINDER_USD1_CAN_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 
 /*
   constructor
@@ -39,4 +40,4 @@ void AP_RangeFinder_USD1_CAN::handle_frame(AP_HAL::CANFrame &frame)
     _distance_count++;
 }
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif  // AP_RANGEFINDER_USD1_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
index 761f72b8fd..874e44ebea 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
@@ -3,7 +3,11 @@
 #include "AP_RangeFinder_Backend.h"
 #include <AP_CANManager/AP_CANSensor.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
+#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#if AP_RANGEFINDER_USD1_CAN_ENABLED
 
 class AP_RangeFinder_USD1_CAN : public CANSensor, public AP_RangeFinder_Backend {
 public:
@@ -22,5 +26,5 @@ private:
     float _distance_sum;
     uint32_t _distance_count;
 };
-#endif //HAL_MAX_CAN_PROTOCOL_DRIVERS
 
+#endif  // AP_RANGEFINDER_USD1_CAN_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp
index 16dec00a9a..04d8c06329 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.cpp
@@ -13,15 +13,15 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_RangeFinder_USD1_Serial.h"
+
+#if AP_RANGEFINDER_USD1_SERIAL_ENABLED
+
 #include <ctype.h>
 
 #define USD1_HDR 254   // Header Byte from USD1_Serial (0xFE)
 #define USD1_HDR_V0 72 // Header Byte for beta V0 of USD1_Serial (0x48)
 
-extern const AP_HAL::HAL& hal;
-
 /*
    detect USD1_Serial Firmware Version
 */
@@ -173,3 +173,5 @@ bool AP_RangeFinder_USD1_Serial::get_reading(float &reading_m)
 
     return true;
 }
+
+#endif  // AP_RANGEFINDER_USD1_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h
index 042ffba3a0..faa8a5c9d6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_Serial.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_USD1_SERIAL_ENABLED
+#define AP_RANGEFINDER_USD1_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_USD1_SERIAL_ENABLED
+
 class AP_RangeFinder_USD1_Serial : public AP_RangeFinder_Backend_Serial
 {
 
@@ -37,3 +43,5 @@ private:
     uint8_t  _header;
     uint8_t  _version;
 };
+
+#endif  // AP_RANGEFINDER_USD1_SERIAL_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
index 05b748f2fd..51c10dec8c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.cpp
@@ -20,6 +20,8 @@
  */
 #include "AP_RangeFinder_VL53L0X.h"
 
+#if AP_RANGEFINDER_VL53L0X_ENABLED
+
 #include <utility>
 
 #include <AP_HAL/AP_HAL.h>
@@ -780,3 +782,5 @@ void AP_RangeFinder_VL53L0X::timer(void)
         counter++;
     }
 }
+
+#endif  // AP_RANGEFINDER_VL53L0X_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
index 1f0933dae4..9ffa4f96e5 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
@@ -4,6 +4,12 @@
 #include "AP_RangeFinder_Backend.h"
 #include <AP_HAL/I2CDevice.h>
 
+#ifndef AP_RANGEFINDER_VL53L0X_ENABLED
+#define AP_RANGEFINDER_VL53L0X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_VL53L0X_ENABLED
+
 class AP_RangeFinder_VL53L0X : public AP_RangeFinder_Backend
 {
 
@@ -80,3 +86,5 @@ private:
     uint32_t sum_mm;
     uint32_t counter;
 };
+
+#endif  // AP_RANGEFINDER_VL53L0X_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
index c3aa6d4842..e0eba359ee 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.cpp
@@ -20,6 +20,8 @@
  */
 #include "AP_RangeFinder_VL53L1X.h"
 
+#if AP_RANGEFINDER_VL53L1X_ENABLED
+
 #include <utility>
 
 #include <AP_HAL/AP_HAL.h>
@@ -578,3 +580,5 @@ void AP_RangeFinder_VL53L1X::update(void)
         set_status(RangeFinder::Status::NoData);
     }
 }
+
+#endif  // AP_RANGEFINDER_VL53L1X_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
index 5cd6efe58e..f073781d4c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
@@ -2,6 +2,13 @@
 
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
+
+#ifndef AP_RANGEFINDER_VL53L1X_ENABLED
+#define AP_RANGEFINDER_VL53L1X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_VL53L1X_ENABLED
+
 #include <AP_HAL/I2CDevice.h>
 
 class AP_RangeFinder_VL53L1X : public AP_RangeFinder_Backend
@@ -1293,3 +1300,5 @@ private:
     uint32_t calcMacroPeriod(uint8_t vcsel_period) const;
     bool setupManualCalibration(void);
 };
+
+#endif  // AP_RANGEFINDER_VL53L1X_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
index 36fed34a8a..cda423c79b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_RangeFinder_Wasp.h"
 
+#if AP_RANGEFINDER_WASP_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 
@@ -247,3 +249,4 @@ void AP_RangeFinder_Wasp::parse_response(void) {
     }
 }
 
+#endif  // AP_RANGEFINDER_WASP_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
index a58f779ff6..06154f255a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
@@ -3,6 +3,12 @@
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
+#ifndef AP_RANGEFINDER_WASP_ENABLED
+#define AP_RANGEFINDER_WASP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_WASP_ENABLED
+
 // WASP 200 LRF
 // http://www.attolloengineering.com/wasp-200-lrf.html
 
@@ -59,3 +65,5 @@ private:
     AP_Int16 thr;
     AP_Int8  baud;
 };
+
+#endif
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
index 33cd9156a0..b9ffb1f06c 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_analog.cpp
@@ -18,12 +18,15 @@
  *
  */
 
+#include "AP_RangeFinder_analog.h"
+
+#if AP_RANGEFINDER_ANALOG_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Params.h"
-#include "AP_RangeFinder_analog.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -118,3 +121,4 @@ void AP_RangeFinder_analog::update(void)
     update_status();
 }
 
+#endif  // AP_RANGEFINDER_ANALOG_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_analog.h b/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
index b102a2d3fa..052782a0dd 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
@@ -4,6 +4,12 @@
 #include "AP_RangeFinder_Backend.h"
 #include "AP_RangeFinder_Params.h"
 
+#ifndef AP_RANGEFINDER_ANALOG_ENABLED
+#define AP_RANGEFINDER_ANALOG_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#if AP_RANGEFINDER_ANALOG_ENABLED
+
 class AP_RangeFinder_analog : public AP_RangeFinder_Backend
 {
 public:
@@ -28,3 +34,5 @@ private:
 
     AP_HAL::AnalogSource *source;
 };
+
+#endif