diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index c689d2e247..dce629b7a9 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -19,8 +19,11 @@
     This is an advanced failsafe module originally modelled on the
     failsafe rules of the Outback Challenge
 */
-#include <AP_HAL/AP_HAL.h>
 #include "AP_AdvancedFailsafe.h"
+
+#if AP_ADVANCEDFAILSAFE_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <RC_Channel/RC_Channel.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <GCS_MAVLink/GCS.h>
@@ -472,3 +475,5 @@ AP_AdvancedFailsafe *advancedfailsafe()
 }
 
 };
+
+#endif  // AP_ADVANCEDFAILSAFE_ENABLED
diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
index c4fb7b2d6b..ecf50386c6 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
@@ -20,6 +20,10 @@
   Andrew Tridgell and CanberraUAV, August 2012
 */
 
+#include "AP_AdvancedFailsafe_config.h"
+
+#if AP_ADVANCEDFAILSAFE_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <inttypes.h>
@@ -163,3 +167,5 @@ private:
 namespace AP {
     AP_AdvancedFailsafe *advancedfailsafe();
 };
+
+#endif  // AP_ADVANCEDFAILSAFE_ENABLED
diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe_config.h b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe_config.h
new file mode 100644
index 0000000000..0a804e9dc1
--- /dev/null
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_ADVANCEDFAILSAFE_ENABLED
+#define AP_ADVANCEDFAILSAFE_ENABLED 1
+#endif