diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 4f96db0f46..c330a55b7d 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -114,6 +114,23 @@ class Board:
         else:
             cfg.msg("Enabled firmware ID checking", 'no', color='YELLOW')
 
+        # allow enable of custom controller for any board
+        # enabled on sitl by default
+        if (cfg.options.enable_custom_controller or self.get_name() == "sitl") and not cfg.options.no_gcs:
+            env.ENABLE_CUSTOM_CONTROLLER = True
+            env.DEFINES.update(
+                AP_CUSTOMCONTROL_ENABLED=1,
+            )
+            env.AP_LIBRARIES += [
+                'AC_CustomControl'
+            ]
+            cfg.msg("Enabled custom controller", 'yes')
+        else:
+            env.DEFINES.update(
+                AP_CUSTOMCONTROL_ENABLED=0,
+            )
+            cfg.msg("Enabled custom controller", 'no', color='YELLOW')
+
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
         # the priority.
diff --git a/wscript b/wscript
index 7308fe88c1..1df57ab1e7 100644
--- a/wscript
+++ b/wscript
@@ -238,6 +238,10 @@ submodules at specific revisions.
                  default=False,
                  help="Enables firmware ID checking on boot")
 
+    g.add_option('--enable-custom-controller', action='store_true',
+                 default=False,
+                 help="Enables custom controller")
+
     g = opt.ap_groups['linux']
 
     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')