diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
index d03f76365d..82c9bbb43c 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Device.h
@@ -21,6 +21,12 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_CANManager/AP_CANManager.h>
 
+#ifndef HAL_PICCOLO_CAN_ENABLE
+#define HAL_PICCOLO_CAN_ENABLE (HAL_NUM_CAN_IFACES && !HAL_MINIMIZE_FEATURES)
+#endif
+
+#if HAL_PICCOLO_CAN_ENABLE
+
 // Piccolo message groups form part of the CAN ID of each frame
 enum class PiccoloCAN_MessageGroup : uint8_t {
     SIMULATOR = 0x00,       // Simulator messages
@@ -65,4 +71,6 @@ public:
 
     //! Timestamp of most recently received CAN message
     uint64_t last_msg_timestamp = 0;
-};
\ No newline at end of file
+};
+
+#endif // HAL_PICCOLO_CAN_ENABLE
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.cpp
index 8863224df4..c4343a3685 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.cpp
@@ -17,6 +17,8 @@
 
 #include "AP_PiccoloCAN_ECU.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
+
 // Protocol files for the ECU
 #include <AP_PiccoloCAN/piccolo_protocol/ECUProtocol.h>
 #include <AP_PiccoloCAN/piccolo_protocol/ECUPackets.h>
@@ -88,3 +90,5 @@ uint32_t getECUPacketID(const void* pkt)
     // Extract the message ID field from the 29-bit ID
     return (uint32_t) ((frame->id >> 16) & 0xFF);
 }
+
+#endif // HAL_PICCOLO_CAN_ENABLE
\ No newline at end of file
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.h
index d8d962e1b0..59da746362 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ECU.h
@@ -25,6 +25,8 @@
 
 #define PICCOLO_CAN_ECU_ID_DEFAULT 0
 
+#if HAL_PICCOLO_CAN_ENABLE
+
 /*
  * Class representing an individual PiccoloCAN ECU
  */
@@ -32,4 +34,6 @@ class AP_PiccoloCAN_ECU : public AP_PiccoloCAN_Device
 {
 public:
     // TODO
-};
\ No newline at end of file
+};
+
+#endif // HAL_PICCOLO_CAN_ENABLE
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
index 6ca1bc1caf..8f45dda700 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.cpp
@@ -17,6 +17,7 @@
 
 #include "AP_PiccoloCAN_ESC.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
 
 /*
  * Decode a recevied CAN frame.
@@ -145,4 +146,6 @@ uint32_t getESCVelocityPacketID(const void* pkt)
 
     // Extract the message ID field from the 29-bit ID
     return (uint32_t) ((frame->id >> 16) & 0xFF);
-}
\ No newline at end of file
+}
+
+#endif // HAL_PICCOLO_CAN_ENABLE
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.h
index 6a616ffd11..82b44d82ad 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_ESC.h
@@ -25,6 +25,8 @@
 #include "AP_PiccoloCAN_Device.h"
 #include "piccolo_protocol/ESCPackets.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
+
 #define PICCOLO_CAN_MAX_NUM_ESC 16
 #define PICCOLO_CAN_MAX_GROUP_ESC (PICCOLO_CAN_MAX_NUM_ESC / 4)
 
@@ -69,4 +71,6 @@ public:
         ESC_Address_t address;
         ESC_EEPROMSettings_t eeprom;
     } settings;
-};
\ No newline at end of file
+};
+
+#endif // HAL_PICCOLO_CAN_ENABLE
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.cpp
index adb9b78755..c0afa6c6f6 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.cpp
@@ -17,6 +17,7 @@
 
 #include "AP_PiccoloCAN_Servo.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
 
 /*
  * Decode a recevied CAN frame.
@@ -112,4 +113,6 @@ uint32_t getServoPacketID(const void* pkt)
 
     // Extract the message ID field from the 29-bit ID
     return (uint32_t) ((frame->id >> 16) & 0xFF);
-}
\ No newline at end of file
+}
+
+#endif // HAL_PICCOLO_CAN_ENABLE
\ No newline at end of file
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.h
index 6e61a721c2..13f430d71b 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN_Servo.h
@@ -22,6 +22,8 @@
 #include "AP_PiccoloCAN_Device.h"
 #include "piccolo_protocol/ServoPackets.h"
 
+#if HAL_PICCOLO_CAN_ENABLE
+
 #define PICCOLO_CAN_MAX_NUM_SERVO 16
 #define PICCOLO_CAN_MAX_GROUP_SERVO (PICCOLO_CAN_MAX_NUM_SERVO / 4)
 
@@ -62,4 +64,6 @@ public:
         Servo_Address_t address;
         Servo_SettingsInfo_t settings;
     } settings;
-};
\ No newline at end of file
+};
+
+#endif // HAL_PICCOLO_CAN_ENABLE