diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 5f6f1e184d..deba79a140 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -98,7 +98,7 @@ BUILD_OPTIONS = [
     Feature('ICE', 'EFI_NMPWU', 'AP_EFI_NWPWU_ENABLED', 'Enable EFI NMPMU', 0, 'EFI'),
     Feature('ICE', 'EFI_CURRAWONGECU', 'AP_EFI_CURRAWONG_ECU_ENABLED', 'Enable EFI Currawong ECU', 0, 'EFI'),
     Feature('ICE', 'EFI_HIRTH', 'AP_EFI_SERIAL_HIRTH_ENABLED', 'Enable EFI Hirth ECU', 0, 'EFI'),
-    Feature('ICE', 'EFI_DRONECAN', 'AP_EFI_DRONECAN_ENABLED', 'Enable EFI DroneCAN', 0, 'EFI'),
+    Feature('ICE', 'EFI_DRONECAN', 'AP_EFI_DRONECAN_ENABLED', 'Enable EFI DroneCAN', 0, 'EFI,DroneCAN'),
     Feature('ICE', 'EFI_MAV', 'AP_EFI_MAV_ENABLED', 'Enable EFI MAV', 0, 'EFI'),
 
     Feature('Generator', 'GENERATOR', 'HAL_GENERATOR_ENABLED', 'Enable Generator', 0, None),
@@ -159,7 +159,7 @@ BUILD_OPTIONS = [
     Feature('Compass', 'MMC5XX3', 'AP_COMPASS_MMC5XX3_ENABLED', 'Enable MMC5XX3 compasses', 1, None),
     Feature('Compass', 'QMC5883L', 'AP_COMPASS_QMC5883L_ENABLED', 'Enable QMC5883L compasses', 1, None),
     Feature('Compass', 'RM3100', 'AP_COMPASS_RM3100_ENABLED', 'Enable RM3100 compasses', 1, None),
-    Feature('Compass', 'DRONECAN_COMPASS', 'AP_COMPASS_DRONECAN_ENABLED', 'Enable DroneCAN compasses', 0, None),
+    Feature('Compass', 'DRONECAN_COMPASS', 'AP_COMPASS_DRONECAN_ENABLED', 'Enable DroneCAN compasses', 0, "DroneCAN"),
 
     Feature('Gimbal', 'MOUNT', 'HAL_MOUNT_ENABLED', 'Enable Mount', 0, None),
     Feature('Gimbal', 'ALEXMOS', 'HAL_MOUNT_ALEXMOS_ENABLED', 'Enable Alexmos Gimbal', 0, "MOUNT"),
@@ -169,7 +169,7 @@ BUILD_OPTIONS = [
     Feature('Gimbal', 'SOLOGIMBAL', 'HAL_SOLO_GIMBAL_ENABLED', 'Enable Solo Gimbal', 0, "MOUNT"),
     Feature('Gimbal', 'STORM32_MAVLINK', 'HAL_MOUNT_STORM32MAVLINK_ENABLED', 'Enable SToRM32 MAVLink Gimbal', 0, "MOUNT"),
     Feature('Gimbal', 'STORM32_SERIAL', 'HAL_MOUNT_STORM32SERIAL_ENABLED', 'Enable SToRM32 Serial Gimbal', 0, "MOUNT"),
-    Feature('Gimbal', 'XACTI', 'HAL_MOUNT_XACTI_ENABLED', 'Enable Xacti Gimbal', 0, "MOUNT"),
+    Feature('Gimbal', 'XACTI', 'HAL_MOUNT_XACTI_ENABLED', 'Enable Xacti Gimbal', 0, "MOUNT,DroneCAN"),
     Feature('Gimbal', 'VIEWPRO', 'HAL_MOUNT_VIEWPRO_ENABLED', 'Enable Viewpro Gimbal', 0, "MOUNT"),
 
     Feature('VTOL Frame', 'QUAD', 'AP_MOTORS_FRAME_QUAD_ENABLED', 'QUADS(BI,TRI also)', 1, None),
@@ -238,7 +238,7 @@ BUILD_OPTIONS = [
     Feature('Rangefinder', 'RANGEFINDER_TOFSP_CAN', 'AP_RANGEFINDER_TOFSENSEP_CAN_ENABLED', "Enable Rangefinder - ToFSense-P CAN", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_TRI2C', 'AP_RANGEFINDER_TRI2C_ENABLED', "Enable Rangefinder - TeraRangerI2C", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_TR_SERIAL', 'AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED', "Enable Rangefinder - TeraRanger Serial", 0, "RANGEFINDER"),   # NOQA: E501
-    Feature('Rangefinder', 'RANGEFINDER_DRONECAN', 'AP_RANGEFINDER_DRONECAN_ENABLED', "Enable Rangefinder - DroneCAN", 0, "RANGEFINDER"),   # NOQA: E501
+    Feature('Rangefinder', 'RANGEFINDER_DRONECAN', 'AP_RANGEFINDER_DRONECAN_ENABLED', "Enable Rangefinder - DroneCAN", 0, "RANGEFINDER,DroneCAN"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_USD1_CAN', 'AP_RANGEFINDER_USD1_CAN_ENABLED', "Enable Rangefinder - USD1 (CAN)", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_USD1_SERIAL', 'AP_RANGEFINDER_USD1_SERIAL_ENABLED', "Enable Rangefinder - USD1 (SERIAL)", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_VL53L0X', 'AP_RANGEFINDER_VL53L0X_ENABLED', "Enable Rangefinder - VL53L0X", 0, "RANGEFINDER"),   # NOQA: E501
@@ -256,7 +256,7 @@ BUILD_OPTIONS = [
 
     Feature('Proximity', 'PROXIMITY', 'HAL_PROXIMITY_ENABLED', 'Enable Proximity', 0, None),
     Feature('Proximity', 'PROXIMITY_CYGBOT', 'AP_PROXIMITY_CYGBOT_ENABLED', 'Enable Cygbot D1 Proximity Sensors', 0, "PROXIMITY"),  # noqa
-    Feature('Proximity', 'PROXIMITY_DRONECAN', 'AP_PROXIMITY_DRONECAN_ENABLED', 'Enable DroneCAN Proximity Sensors', 0, "PROXIMITY"),  # noqa
+    Feature('Proximity', 'PROXIMITY_DRONECAN', 'AP_PROXIMITY_DRONECAN_ENABLED', 'Enable DroneCAN Proximity Sensors', 0, "PROXIMITY,DroneCAN"),  # noqa
     Feature('Proximity', 'PROXIMITY_LIGHTWARE_SF40C', 'AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED', 'Enable LightWare SF40C Proximity Sensors', 0, "PROXIMITY"),  # noqa
     Feature('Proximity', 'PROXIMITY_LIGHTWARE_SF45B', 'AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED', 'Enable LightWare SF45B Proximity Sensors', 0, "PROXIMITY"),  # noqa
     Feature('Proximity', 'PROXIMITY_MAV', 'AP_PROXIMITY_MAV_ENABLED', 'Enable MAVLink Proximity Sensors', 0, "PROXIMITY"),  # noqa
@@ -278,7 +278,7 @@ BUILD_OPTIONS = [
     Feature('Baro', 'MS56XX', 'AP_BARO_MS56XX_ENABLED', 'Enable MS56XX Barometric Sensor', 1, None),
     Feature('Baro', 'MSP_BARO', 'AP_BARO_MSP_ENABLED', 'Enable MSP Barometric Sensor', 0, 'MSP'),
     Feature('Baro', 'SPL06', 'AP_BARO_SPL06_ENABLED', 'Enable SPL06 Barometric Sensor', 1, None),
-    Feature('Baro', 'DRONECAN_BARO', 'AP_BARO_DRONECAN_ENABLED', 'Enable DroneCAN Barometric Sensor', 0, None),
+    Feature('Baro', 'DRONECAN_BARO', 'AP_BARO_DRONECAN_ENABLED', 'Enable DroneCAN Barometric Sensor', 0, "DroneCAN"),
     Feature('Baro', 'ICP101XX', 'AP_BARO_ICP101XX_ENABLED', 'Enable ICP101XX Barometric Sensor', 0, None),
     Feature('Baro', 'ICP201XX', 'AP_BARO_ICP201XX_ENABLED', 'Enable ICP201XX Barometric Sensor', 0, None),
     Feature('Baro', 'BARO_WIND_COMP', 'HAL_BARO_WIND_COMP_ENABLED', 'Enable Baro Wind Compensation', 0, None),
@@ -310,7 +310,7 @@ BUILD_OPTIONS = [
     Feature('Other', 'SLCAN', 'AP_CAN_SLCAN_ENABLED', 'Enable SLCAN serial protocol', 0, None),
     Feature('Other', 'SDCARD_MISSION', 'AP_SDCARD_STORAGE_ENABLED', 'Enable storing mission on microSD cards', 0, None),
     Feature('Other', 'COMPASS_CAL', 'COMPASS_CAL_ENABLED', 'Enable "tumble" compass calibration', 0, None),
-    Feature('Other', 'DRONECAN_SERIAL', 'AP_DRONECAN_SERIAL_ENABLED', 'Enable DroneCAN virtual serial ports', 0, None),
+    Feature('Other', 'DRONECAN_SERIAL', 'AP_DRONECAN_SERIAL_ENABLED', 'Enable DroneCAN virtual serial ports', 0, "DroneCAN"),
     Feature('Other', 'Buttons', 'HAL_BUTTON_ENABLED', 'Enable Buttons', 0, None),
     Feature('Other', 'Logging', 'HAL_LOGGING_ENABLED', 'Enable Logging', 0, None),
 
@@ -344,7 +344,7 @@ BUILD_OPTIONS = [
     Feature('GPS Drivers', 'NOVA', 'AP_GPS_NOVA_ENABLED', 'Enable NOVA GPS', 0, None),
     Feature('GPS Drivers', 'SBF', 'AP_GPS_SBF_ENABLED', 'Enable SBF GPS', 0, None),
     Feature('GPS Drivers', 'SIRF', 'AP_GPS_SIRF_ENABLED', 'Enable SiRF GPS', 0, None),
-    Feature('GPS Drivers', 'DroneCAN_Out', 'AP_DRONECAN_SEND_GPS', 'Enable Sending GPS from Autopilot', 0, None),
+    Feature('GPS Drivers', 'DroneCAN_Out', 'AP_DRONECAN_SEND_GPS', 'Enable Sending GPS from Autopilot', 0, "DroneCAN"),
 
 
     Feature('Airspeed Drivers', 'Analog', 'AP_AIRSPEED_ANALOG_ENABLED', 'Enable Analog Airspeed', 0, 'AIRSPEED'),
@@ -355,16 +355,16 @@ BUILD_OPTIONS = [
     Feature('Airspeed Drivers', 'MSP_AIRSPEED', 'AP_AIRSPEED_MSP_ENABLED', 'ENABLE MSP AIRSPEED', 0, 'AIRSPEED,MSP,OSD'),
     Feature('Airspeed Drivers', 'NMEA_AIRSPEED', 'AP_AIRSPEED_NMEA_ENABLED', 'ENABLE NMEA AIRSPEED', 0, 'AIRSPEED'),
     Feature('Airspeed Drivers', 'SDP3X', 'AP_AIRSPEED_SDP3X_ENABLED', 'ENABLE SDP3X AIRSPEED', 0, 'AIRSPEED'),
-    Feature('Airspeed Drivers', 'DRONECAN_ASPD', 'AP_AIRSPEED_DRONECAN_ENABLED', 'ENABLE DroneCAN AIRSPEED', 0, 'AIRSPEED'),   # NOQA: E501
+    Feature('Airspeed Drivers', 'DRONECAN_ASPD', 'AP_AIRSPEED_DRONECAN_ENABLED', 'ENABLE DroneCAN AIRSPEED', 0, 'AIRSPEED,DroneCAN'),   # NOQA: E501
 
     Feature('Actuators', 'Volz', 'AP_VOLZ_ENABLED', 'Enable Volz Protocol', 0, None),
-    Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, None),
+    Feature('Actuators', 'Volz_DroneCAN', 'AP_DRONECAN_VOLZ_FEEDBACK_ENABLED', 'Enable Volz DroneCAN Feedback', 0, "DroneCAN"),
     Feature('Actuators', 'RobotisServo', 'AP_ROBOTISSERVO_ENABLED', 'Enable RobotisServo Protocol', 0, None),
     Feature('Actuators', 'SBUS Output', 'AP_SBUSOUTPUT_ENABLED', 'Enable SBUS Output on serial ports', 0, None),
     Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
     Feature('Actuators', 'KDECAN', 'AP_KDECAN_ENABLED', 'KDE Direct KDECAN ESC', 0, None),
-    Feature('Actuators', 'HimarkServo', 'AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'Enable Himark DroneCAN servos', 0, None),
-    Feature('Actuators', 'HobbywingESC', 'AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'Enable Hobbywing DroneCAN ESCs', 0, None),
+    Feature('Actuators', 'HimarkServo', 'AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'Enable Himark DroneCAN servos', 0, "DroneCAN"),
+    Feature('Actuators', 'HobbywingESC', 'AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'Enable Hobbywing DroneCAN ESCs', 0, "DroneCAN"),
 
     Feature('Precision Landing', 'PrecLand', 'AC_PRECLAND_ENABLED', 'Enable Precision Landing support', 0, None),
     Feature('Precision Landing', 'PrecLand - Companion', 'AC_PRECLAND_COMPANION_ENABLED', 'Enable Companion-Supported Precision Landing support', 0, "PrecLand"),  # noqa
@@ -380,6 +380,8 @@ BUILD_OPTIONS = [
     Feature('Filesystem', 'APJ_TOOL_PARAMETERS', 'FORCE_APJ_DEFAULT_PARAMETERS', 'Enable apj_tool parameter area', 0, None),
 
     Feature('Networking', 'PPP Support', 'AP_NETWORKING_BACKEND_PPP', 'Enable PPP networking', 0, None),
+
+    Feature('DroneCAN', 'DroneCAN', 'HAL_ENABLE_DRONECAN_DRIVERS', 'Enable DroneCAN support', 0, None),
 ]
 
 BUILD_OPTIONS.sort(key=lambda x: (x.category + x.label))
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index c50d87db27..9742db0a61 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -241,7 +241,8 @@ class ExtractFeatures(object):
             ('AP_NETWORKING_BACKEND_PPP', 'AP_Networking_PPP::init'),
             ('FORCE_APJ_DEFAULT_PARAMETERS', 'AP_Param::param_defaults_data'),
             ('HAL_BUTTON_ENABLED', 'AP_Button::update'),
-            ('HAL_LOGGING_ENABLED', 'AP_Logger::Init'),
+            ('HAL_LOGGING_ENABLED', 'AP_Logger::init'),
+            ('HAL_ENABLE_DRONECAN_DRIVERS', r'AP_DroneCAN::init'),
         ]
 
     def progress(self, msg):