diff --git a/libraries/AP_Beacon/AP_Beacon.cpp b/libraries/AP_Beacon/AP_Beacon.cpp
index 4491ff3556..23c8e21724 100644
--- a/libraries/AP_Beacon/AP_Beacon.cpp
+++ b/libraries/AP_Beacon/AP_Beacon.cpp
@@ -14,6 +14,9 @@
  */
 
 #include "AP_Beacon.h"
+
+#if AP_BEACON_ENABLED
+
 #include "AP_Beacon_Backend.h"
 #include "AP_Beacon_Pozyx.h"
 #include "AP_Beacon_Marvelmind.h"
@@ -426,3 +429,5 @@ AP_Beacon *beacon()
 }
 
 }
+
+#endif
diff --git a/libraries/AP_Beacon/AP_Beacon.h b/libraries/AP_Beacon/AP_Beacon.h
index 6cb02b91c8..be7766d422 100644
--- a/libraries/AP_Beacon/AP_Beacon.h
+++ b/libraries/AP_Beacon/AP_Beacon.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Beacon_config.h"
+
+#if AP_BEACON_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
@@ -148,3 +152,5 @@ private:
 namespace AP {
     AP_Beacon *beacon();
 };
+
+#endif  // AP_BEACON_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Backend.cpp b/libraries/AP_Beacon/AP_Beacon_Backend.cpp
index 66ec41c230..ee2bb0c0b2 100644
--- a/libraries/AP_Beacon/AP_Beacon_Backend.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_Backend.cpp
@@ -14,6 +14,9 @@
  */
 
 #include "AP_Beacon_Backend.h"
+
+#if AP_BEACON_ENABLED
+
 // debug
 #include <stdio.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -105,3 +108,5 @@ Vector3f AP_Beacon_Backend::correct_for_orient_yaw(const Vector3f &vector)
     vec_rotated.z = vector.z;
     return vec_rotated;
 }
+
+#endif  // AP_BEACON_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Backend.h b/libraries/AP_Beacon/AP_Beacon_Backend.h
index b1355615b8..118faa6f8d 100644
--- a/libraries/AP_Beacon/AP_Beacon_Backend.h
+++ b/libraries/AP_Beacon/AP_Beacon_Backend.h
@@ -14,10 +14,13 @@
  */
 #pragma once
 
+#include "AP_Beacon.h"
+
+#if AP_BEACON_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/AP_HAL.h>
-#include "AP_Beacon.h"
 
 class AP_Beacon_Backend
 {
@@ -62,3 +65,5 @@ protected:
 
     AP_HAL::UARTDriver *uart;
 };
+
+#endif  // AP_BEACON_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp b/libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
index 97a81212ea..423f383135 100644
--- a/libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
@@ -18,9 +18,12 @@
  April 2017
  */
 
+#include "AP_Beacon_Marvelmind.h"
+
+#if AP_BEACON_MARVELMIND_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
-#include "AP_Beacon_Marvelmind.h"
 
 #define AP_BEACON_MARVELMIND_POSITION_DATAGRAM_ID 0x0001
 #define AP_BEACON_MARVELMIND_POSITIONS_DATAGRAM_ID 0x0002
@@ -386,3 +389,5 @@ void AP_Beacon_Marvelmind::order_stationary_beacons()
         } while(swapped);
     }
 }
+
+#endif  // AP_BEACON_MARVELMIND_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Marvelmind.h b/libraries/AP_Beacon/AP_Beacon_Marvelmind.h
index ca4db7ebc7..eaa79e23d3 100644
--- a/libraries/AP_Beacon/AP_Beacon_Marvelmind.h
+++ b/libraries/AP_Beacon/AP_Beacon_Marvelmind.h
@@ -22,6 +22,8 @@
 
 #include "AP_Beacon_Backend.h"
 
+#if AP_BEACON_MARVELMIND_ENABLED
+
 #define AP_BEACON_MARVELMIND_BUF_SIZE 255
 
 class AP_Beacon_Marvelmind : public AP_Beacon_Backend
@@ -101,3 +103,4 @@ private:
     bool beacon_position_initialized;
 };
 
+#endif  // AP_BEACON_MARVELMIND_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Nooploop.cpp b/libraries/AP_Beacon/AP_Beacon_Nooploop.cpp
index 2bd1d819b9..6ddbe8aac3 100644
--- a/libraries/AP_Beacon/AP_Beacon_Nooploop.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_Nooploop.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Beacon_Nooploop.h"
+
+#if AP_BEACON_NOOPLOOP_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
-#include "AP_Beacon_Nooploop.h"
 #include <ctype.h>
 #include <stdio.h>
 
@@ -248,3 +251,5 @@ void AP_Beacon_Nooploop::parse_setting_frame0()
     }
     _anchor_pos_avail = true;
 }
+
+#endif  // AP_BEACON_NOOPLOOP_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Nooploop.h b/libraries/AP_Beacon/AP_Beacon_Nooploop.h
index ab42713e0c..e903eb47fb 100644
--- a/libraries/AP_Beacon/AP_Beacon_Nooploop.h
+++ b/libraries/AP_Beacon/AP_Beacon_Nooploop.h
@@ -2,6 +2,8 @@
 
 #include "AP_Beacon_Backend.h"
 
+#if AP_BEACON_NOOPLOOP_ENABLED
+
 #define NOOPLOOP_MSG_BUF_MAX      256
 
 class AP_Beacon_Nooploop : public AP_Beacon_Backend
@@ -56,3 +58,5 @@ private:
     bool _anchor_pos_avail;                     // flag indicates if we got anchor position or not
     uint32_t _last_request_setting_ms;          // last time we sent request_setting0 packet to tag
 };
+
+#endif  // AP_BEACON_NOOPLOOP_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Pozyx.cpp b/libraries/AP_Beacon/AP_Beacon_Pozyx.cpp
index 9880d78355..467c69ae5f 100644
--- a/libraries/AP_Beacon/AP_Beacon_Pozyx.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_Pozyx.cpp
@@ -13,8 +13,11 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_Beacon_Pozyx.h"
+
+#if AP_BEACON_POZYX_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
 
@@ -157,3 +160,5 @@ void AP_Beacon_Pozyx::parse_buffer()
         last_update_ms = AP_HAL::millis();
     }
 }
+
+#endif  // AP_BEACON_POZYX_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_Pozyx.h b/libraries/AP_Beacon/AP_Beacon_Pozyx.h
index 56d6ed46fb..8a324fba6c 100644
--- a/libraries/AP_Beacon/AP_Beacon_Pozyx.h
+++ b/libraries/AP_Beacon/AP_Beacon_Pozyx.h
@@ -2,6 +2,8 @@
 
 #include "AP_Beacon_Backend.h"
 
+#if AP_BEACON_POZYX_ENABLED
+
 #define AP_BEACON_POZYX_MSG_LEN_MAX         20      // messages from uno/pozyx are no more than 20bytes
 #define AP_BEACON_POZYX_HEADER              0x01    // messages start with this character
 #define AP_BEACON_POZYX_MSGID_BEACON_CONFIG 0x02    // message contains anchor config information
@@ -41,3 +43,5 @@ private:
     uint8_t linebuf_len = 0;
     uint32_t last_update_ms = 0;
 };
+
+#endif  // AP_BEACON_POZYX_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_SITL.cpp b/libraries/AP_Beacon/AP_Beacon_SITL.cpp
index 8a353b2734..2e2971363c 100644
--- a/libraries/AP_Beacon/AP_Beacon_SITL.cpp
+++ b/libraries/AP_Beacon/AP_Beacon_SITL.cpp
@@ -13,11 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Beacon_SITL.h"
+
+#if AP_BEACON_SITL_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-
-#include "AP_Beacon_SITL.h"
 #include <stdio.h>
 
 extern const AP_HAL::HAL& hal;
@@ -110,4 +111,4 @@ void AP_Beacon_SITL::update(void)
     last_update_ms = now;
 }
 
-#endif // CONFIG_HAL_BOARD
+#endif // AP_BEACON_SITL_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_SITL.h b/libraries/AP_Beacon/AP_Beacon_SITL.h
index 28a0f98760..b761dd97ab 100644
--- a/libraries/AP_Beacon/AP_Beacon_SITL.h
+++ b/libraries/AP_Beacon/AP_Beacon_SITL.h
@@ -2,7 +2,7 @@
 
 #include "AP_Beacon_Backend.h"
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#if AP_BEACON_SITL_ENABLED
 
 #include <SITL/SITL.h>
 
@@ -25,4 +25,4 @@ private:
     uint32_t last_update_ms;
 };
 
-#endif // CONFIG_HAL_BOARD
+#endif // AP_BEACON_SITL_ENABLED
diff --git a/libraries/AP_Beacon/AP_Beacon_config.h b/libraries/AP_Beacon/AP_Beacon_config.h
new file mode 100644
index 0000000000..38d3533142
--- /dev/null
+++ b/libraries/AP_Beacon/AP_Beacon_config.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_BEACON_ENABLED
+#define AP_BEACON_ENABLED 1
+#endif
+
+#ifndef AP_BEACON_BACKEND_DEFAULT_ENABLED
+#define AP_BEACON_BACKEND_DEFAULT_ENABLED AP_BEACON_ENABLED
+#endif
+
+#ifndef AP_BEACON_MARVELMIND_ENABLED
+#define AP_BEACON_MARVELMIND_ENABLED AP_BEACON_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_BEACON_NOOPLOOP_ENABLED
+#define AP_BEACON_NOOPLOOP_ENABLED AP_BEACON_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_BEACON_POZYX_ENABLED
+#define AP_BEACON_POZYX_ENABLED AP_BEACON_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_BEACON_SITL_ENABLED
+#define AP_BEACON_SITL_ENABLED (AP_BEACON_BACKEND_DEFAULT_ENABLED && CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif