diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.cpp b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
index b3de54474c..df5cb88dcc 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.cpp
@@ -51,7 +51,9 @@ void AP_RCProtocol::init()
 #if AP_RCPROTOCOL_SRXL2_ENABLED
     backend[AP_RCProtocol::SRXL2] = new AP_RCProtocol_SRXL2(*this);
 #endif
+#if AP_RCPROTOCOL_CRSF_ENABLED
     backend[AP_RCProtocol::CRSF] = new AP_RCProtocol_CRSF(*this);
+#endif
 #if AP_RCPROTOCOL_FPORT2_ENABLED
     backend[AP_RCProtocol::FPORT2] = new AP_RCProtocol_FPort2(*this, true);
 #endif
@@ -430,8 +432,10 @@ const char *AP_RCProtocol::protocol_name_from_protocol(rcprotocol_t protocol)
     case SRXL2:
         return "SRXL2";
 #endif
+#if AP_RCPROTOCOL_CRSF_ENABLED
     case CRSF:
         return "CRSF";
+#endif
     case ST24:
         return "ST24";
 #if AP_RCPROTOCOL_FPORT_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol.h b/libraries/AP_RCProtocol/AP_RCProtocol.h
index b1598c2303..ad4e1f7807 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol.h
@@ -45,7 +45,9 @@ public:
 #if AP_RCPROTOCOL_SRXL2_ENABLED
         SRXL2      =  7,
 #endif
+#if AP_RCPROTOCOL_CRSF_ENABLED
         CRSF       =  8,
+#endif
         ST24       =  9,
 #if AP_RCPROTOCOL_FPORT_ENABLED
         FPORT      = 10,
@@ -97,7 +99,9 @@ public:
 #if AP_RCPROTOCOL_FPORT2_ENABLED
         case FPORT2:
 #endif
+#if AP_RCPROTOCOL_CRSF_ENABLED
         case CRSF:
+#endif
             return true;
         case IBUS:
         case SUMD:
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
index cd8611cdc1..cd366a8cf7 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -17,8 +17,11 @@
   Code by Andy Piper
  */
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_CRSF_ENABLED
+
 #include "AP_RCProtocol.h"
-#include "AP_RCProtocol_SRXL.h"
 #include "AP_RCProtocol_CRSF.h"
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
@@ -629,3 +632,5 @@ namespace AP {
         return AP_RCProtocol_CRSF::get_singleton();
     }
 };
+
+#endif  // AP_RCPROTOCOL_CRSF_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
index 12ac2ed5db..f8a4314663 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -18,6 +18,10 @@
  */
 #pragma once
 
+#include "AP_RCProtocol_config.h"
+
+#if AP_RCPROTOCOL_CRSF_ENABLED
+
 #include "AP_RCProtocol.h"
 #include <AP_Math/AP_Math.h>
 #include <RC_Channel/RC_Channel.h>
@@ -332,3 +336,5 @@ private:
 namespace AP {
     AP_RCProtocol_CRSF* crsf();
 };
+
+#endif  // AP_RCPROTOCOL_CRSF_ENABLED
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_config.h b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
index 82beada7f4..d1e3bcdf39 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_config.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_config.h
@@ -7,6 +7,10 @@
 #define AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED 1
 #endif
 
+#ifndef AP_RCPROTOCOL_CRSF_ENABLED
+#define AP_RCPROTOCOL_CRSF_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RCPROTOCOL_FASTSBUS_ENABLED
 #define AP_RCPROTOCOL_FASTSBUS_ENABLED AP_RCPROTOCOL_BACKEND_DEFAULT_ENABLED
 #endif