diff --git a/libraries/SITL/SIM_Airspeed_DLVR.cpp b/libraries/SITL/SIM_Airspeed_DLVR.cpp
index 265185fae4..d6bb09b10c 100644
--- a/libraries/SITL/SIM_Airspeed_DLVR.cpp
+++ b/libraries/SITL/SIM_Airspeed_DLVR.cpp
@@ -1,5 +1,7 @@
 #include "SIM_Airspeed_DLVR.h"
 
+#if AP_SIM_AIRSPEED_DLVR_ENABLED
+
 #include "SITL.h"
 
 int SITL::Airspeed_DLVR::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
@@ -68,3 +70,5 @@ void SITL::Airspeed_DLVR::update(const class Aircraft &aircraft)
     // To Do: Add a sensor board temperature offset parameter
     temperature = AP_Baro::get_temperatureC_for_alt_amsl(sim_alt);
 }
+
+#endif  // AP_SIM_AIRSPEED_DLVR_ENABLED
diff --git a/libraries/SITL/SIM_Airspeed_DLVR.h b/libraries/SITL/SIM_Airspeed_DLVR.h
index cb21efdb51..6bb95bc2eb 100644
--- a/libraries/SITL/SIM_Airspeed_DLVR.h
+++ b/libraries/SITL/SIM_Airspeed_DLVR.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "SIM_config.h"
+
+#if AP_SIM_AIRSPEED_DLVR_ENABLED
+
 #include "SIM_I2CDevice.h"
 
 namespace SITL {
@@ -26,3 +30,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_AIRSPEED_DLVR_ENABLED
diff --git a/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.cpp b/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.cpp
index eaf1c1b19f..4a9cc2c32b 100644
--- a/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.cpp
+++ b/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.cpp
@@ -1,5 +1,7 @@
 #include "SIM_BattMonitor_SMBus_Maxell.h"
 
+#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
+
 SITL::Maxell::Maxell() :
     SIM_BattMonitor_SMBus_Generic()
 {
@@ -15,3 +17,5 @@ SITL::Maxell::Maxell() :
     
     set_register(SMBusBattGenericDevReg::SERIAL, (uint16_t)37);
 }
+
+#endif // AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
diff --git a/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.h b/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.h
index 5652b48cbd..e620f0dd2e 100644
--- a/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.h
+++ b/libraries/SITL/SIM_BattMonitor_SMBus_Maxell.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
+
 #include "SIM_BattMonitor_SMBus_Generic.h"
 
 #include <AP_Common/Bitmask.h>
@@ -25,3 +29,5 @@ public:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
diff --git a/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.cpp b/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.cpp
index adadfda70e..ce52f38b20 100644
--- a/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.cpp
+++ b/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.cpp
@@ -1,4 +1,7 @@
 #include "SIM_BattMonitor_SMBus_Rotoye.h"
+
+#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
+
 #include <AP_HAL/utility/sparse-endian.h>
 
 SITL::Rotoye::Rotoye() :
@@ -28,3 +31,5 @@ void SITL::Rotoye::update(const class Aircraft &aircraft)
         set_register(SMBusBattRotoyeDevReg::TEMP_EXT, int16_t(outside_temp + 100));  // it's a little warmer inside.... (10 degrees here)
     }
 }
+
+#endif  // AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
diff --git a/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.h b/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.h
index a7617249b9..9c33e9f6ee 100644
--- a/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.h
+++ b/libraries/SITL/SIM_BattMonitor_SMBus_Rotoye.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
+
 #include "SIM_BattMonitor_SMBus_Generic.h"
 
 #include <AP_Common/Bitmask.h>
@@ -33,3 +37,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
diff --git a/libraries/SITL/SIM_I2C.cpp b/libraries/SITL/SIM_I2C.cpp
index 8d1b1daf0a..2b5c6af057 100644
--- a/libraries/SITL/SIM_I2C.cpp
+++ b/libraries/SITL/SIM_I2C.cpp
@@ -24,6 +24,7 @@
 #include "SIM_I2C.h"
 #include "SIM_ToshibaLED.h"
 #include "SIM_MaxSonarI2CXL.h"
+#include "SIM_BattMonitor_SMBus_Generic.h"
 #include "SIM_BattMonitor_SMBus_Maxell.h"
 #include "SIM_BattMonitor_SMBus_Rotoye.h"
 #include "SIM_Airspeed_DLVR.h"
@@ -59,20 +60,38 @@ static IgnoredI2CDevice ignored;
 #if AP_SIM_TOSHIBALED_ENABLED
 static ToshibaLED toshibaled;
 #endif
+#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
 static MaxSonarI2CXL maxsonari2cxl;
 static MaxSonarI2CXL maxsonari2cxl_2;
+#endif
+#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
 static Maxell maxell;
+#endif
+#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
 static Rotoye rotoye;
+#endif
 static SIM_BattMonitor_SMBus_Generic smbus_generic;
+#if AP_SIM_AIRSPEED_DLVR_ENABLED
 static Airspeed_DLVR airspeed_dlvr;
+#endif
+#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
 static TSYS01 tsys01;
+#endif
 #if AP_SIM_TSYS03_ENABLED
 static TSYS03 tsys03;
 #endif
+#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
 static MCP9600 mcp9600;
+#endif
+#if AP_SIM_ICM40609_ENABLED
 static ICM40609 icm40609;
+#endif
+#if AP_SIM_MS5525_ENABLED
 static MS5525 ms5525;
+#endif
+#if AP_SIM_MS5611_ENABLED
 static MS5611 ms5611;
+#endif
 #if AP_SIM_LP5562_ENABLED
 static LP5562 lp5562;
 #endif
@@ -95,25 +114,43 @@ struct i2c_device_at_address {
     uint8_t addr;
     I2CDevice &device;
 } i2c_devices[] {
+#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
     { 0, 0x70, maxsonari2cxl },   // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 112
+#endif
+#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
     { 0, 0x60, mcp9600 }, // 0x60 is low address
+#endif
+#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
     { 0, 0x71, maxsonari2cxl_2 }, // RNGFNDx_TYPE = 2, RNGFNDx_ADDR = 113
+#endif
+#if AP_SIM_ICM40609_ENABLED
     { 1, 0x01, icm40609 },
+#endif
 #if AP_SIM_TOSHIBALED_ENABLED
     { 1, 0x55, toshibaled },
 #endif
     { 1, 0x38, ignored }, // NCP5623
     { 1, 0x39, ignored }, // NCP5623C
     { 1, 0x40, ignored }, // KellerLD
+#if AP_SIM_MS5525_ENABLED
     { 1, 0x76, ms5525 },  // MS5525: ARSPD_TYPE = 4
+#endif
 #if AP_SIM_INA3221_ENABLED
     { 1, 0x42, ina3221 },
 #endif
+#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
     { 1, 0x77, tsys01 },
+#endif
+#if AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
     { 1, 0x0B, rotoye },        // Rotoye: BATTx_MONITOR 19, BATTx_I2C_ADDR 13
+#endif
+#if AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
     { 2, 0x0B, maxell },        // Maxell: BATTx_MONITOR 16, BATTx_I2C_ADDR 13
+#endif
     { 3, 0x0B, smbus_generic},  // BATTx_MONITOR 7, BATTx_I2C_ADDR 13
+#if AP_SIM_AIRSPEED_DLVR_ENABLED
     { 2, 0x28, airspeed_dlvr }, // ARSPD_TYPE = 7 5inch H2O sensor
+#endif
 #if AP_SIM_LP5562_ENABLED
     { 2, 0x30, lp5562 },        // LP5562 RGB LED driver
 #endif
@@ -126,7 +163,9 @@ struct i2c_device_at_address {
 #if AP_SIM_TSYS03_ENABLED
     { 2, 0x40, tsys03 },
 #endif
+#if AP_SIM_MS5611_ENABLED
     { 2, 0x77, ms5611 },        // MS5611: BARO_PROBE_EXT = 2
+#endif
 #if AP_SIM_COMPASS_QMC5883L_ENABLED
     { 2, 0x0D, qmc5883l },
 #endif
diff --git a/libraries/SITL/SIM_ICM40609.h b/libraries/SITL/SIM_ICM40609.h
index 121b82b957..300634eddd 100644
--- a/libraries/SITL/SIM_ICM40609.h
+++ b/libraries/SITL/SIM_ICM40609.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_ICM40609_ENABLED
+
 #include "SIM_Invensense_v3.h"
 
 namespace SITL {
@@ -21,3 +25,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_ICM40609_ENABLED
diff --git a/libraries/SITL/SIM_MS5525.cpp b/libraries/SITL/SIM_MS5525.cpp
index 760c4202f9..30ae091c39 100644
--- a/libraries/SITL/SIM_MS5525.cpp
+++ b/libraries/SITL/SIM_MS5525.cpp
@@ -1,5 +1,7 @@
 #include "SIM_MS5525.h"
 
+#if AP_SIM_MS5525_ENABLED
+
 #include <SITL/SITL.h>
 
 using namespace SITL;
@@ -72,3 +74,5 @@ void MS5525::get_pressure_temperature_readings(float &P_Pa, float &Temp_C)
     const uint8_t instance = 0;  // TODO: work out which sensor this is
     P_Pa = AP::sitl()->state.airspeed_raw_pressure[instance] + AP::sitl()->airspeed[instance].offset;
 }
+
+#endif  // AP_SIM_MS5525_ENABLED
diff --git a/libraries/SITL/SIM_MS5525.h b/libraries/SITL/SIM_MS5525.h
index f64b82ff0b..bbc11f4967 100644
--- a/libraries/SITL/SIM_MS5525.h
+++ b/libraries/SITL/SIM_MS5525.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_MS5525_ENABLED
+
 #include "SIM_MS5XXX.h"
 
 #include <AP_Common/Bitmask.h>
@@ -43,3 +47,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_MS5525_ENABLED
diff --git a/libraries/SITL/SIM_MS5611.cpp b/libraries/SITL/SIM_MS5611.cpp
index d205665d5e..cce4927711 100644
--- a/libraries/SITL/SIM_MS5611.cpp
+++ b/libraries/SITL/SIM_MS5611.cpp
@@ -1,5 +1,7 @@
 #include "SIM_MS5611.h"
 
+#if AP_SIM_MS5611_ENABLED
+
 #include <SITL/SITL.h>
 
 #include <stdio.h>
@@ -121,3 +123,5 @@ void MS5611::get_pressure_temperature_readings(float &P_Pa, float &Temp_C)
     // TO DO add in wind correction by inheritting from AP_Baro_SITL_Generic?
     // P_Pa += AP_Baro_SITL::wind_pressure_correction(instance);
 }
+
+#endif  // AP_SIM_MS5611_ENABLED
diff --git a/libraries/SITL/SIM_MS5611.h b/libraries/SITL/SIM_MS5611.h
index 7822a470d4..34e8c30f36 100644
--- a/libraries/SITL/SIM_MS5611.h
+++ b/libraries/SITL/SIM_MS5611.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_MS5611_ENABLED
+
 #include "SIM_MS5XXX.h"
 
 #include <AP_Common/Bitmask.h>
@@ -43,3 +47,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_MS5611_ENABLED
diff --git a/libraries/SITL/SIM_MaxSonarI2CXL.h b/libraries/SITL/SIM_MaxSonarI2CXL.h
index a18d981745..df30aa883e 100644
--- a/libraries/SITL/SIM_MaxSonarI2CXL.h
+++ b/libraries/SITL/SIM_MaxSonarI2CXL.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "SIM_config.h"
+
+#if AP_SIM_MAXSONAR_I2C_XL_ENABLED
+
 #include "SIM_I2CDevice.h"
 
 namespace SITL {
@@ -29,3 +33,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_MAXSONAR_I2C_XL_ENABLED
diff --git a/libraries/SITL/SIM_Temperature_MCP9600.cpp b/libraries/SITL/SIM_Temperature_MCP9600.cpp
index c05e722150..be6304f745 100644
--- a/libraries/SITL/SIM_Temperature_MCP9600.cpp
+++ b/libraries/SITL/SIM_Temperature_MCP9600.cpp
@@ -1,5 +1,7 @@
 #include "SIM_Temperature_MCP9600.h"
 
+#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
+
 using namespace SITL;
 
 #include <GCS_MAVLink/GCS.h>
@@ -65,3 +67,5 @@ int MCP9600::rdwr(I2C::i2c_rdwr_ioctl_data *&data)
 {
     return I2CRegisters_ConfigurableLength::rdwr(data);
 }
+
+#endif  // AP_SIM_TEMPERATURE_MCP9600_ENABLED
diff --git a/libraries/SITL/SIM_Temperature_MCP9600.h b/libraries/SITL/SIM_Temperature_MCP9600.h
index c0d2f3ae1a..79d5b40e5e 100644
--- a/libraries/SITL/SIM_Temperature_MCP9600.h
+++ b/libraries/SITL/SIM_Temperature_MCP9600.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_TEMPERATURE_MCP9600_ENABLED
+
 #include "SIM_I2CDevice.h"
 
 /*
@@ -36,3 +40,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_TEMPERATURE_MCP9600_ENABLED
diff --git a/libraries/SITL/SIM_Temperature_TSYS01.cpp b/libraries/SITL/SIM_Temperature_TSYS01.cpp
index 5785a73152..a97ca72c46 100644
--- a/libraries/SITL/SIM_Temperature_TSYS01.cpp
+++ b/libraries/SITL/SIM_Temperature_TSYS01.cpp
@@ -1,5 +1,7 @@
 #include "SIM_Temperature_TSYS01.h"
 
+#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
+
 #include <stdio.h>
 
 constexpr const int32_t SITL::TSYS01::_k[5];
@@ -196,3 +198,5 @@ float SITL::TSYS01::get_sim_temperature() const
     // To Do: Add a sensor board temperature offset parameter
     return AP_Baro::get_temperatureC_for_alt_amsl(sim_alt) + 25;
 }
+
+#endif  // AP_SIM_TEMPERATURE_TSYS01_ENABLED
diff --git a/libraries/SITL/SIM_Temperature_TSYS01.h b/libraries/SITL/SIM_Temperature_TSYS01.h
index 5ad9bff832..8b7127d0a1 100644
--- a/libraries/SITL/SIM_Temperature_TSYS01.h
+++ b/libraries/SITL/SIM_Temperature_TSYS01.h
@@ -1,3 +1,7 @@
+#include "SIM_config.h"
+
+#if AP_SIM_TEMPERATURE_TSYS01_ENABLED
+
 #include "SIM_I2CDevice.h"
 
 /*
@@ -63,3 +67,5 @@ private:
 };
 
 } // namespace SITL
+
+#endif  // AP_SIM_TEMPERATURE_TSYS01_ENABLED
diff --git a/libraries/SITL/SIM_config.h b/libraries/SITL/SIM_config.h
index 12fca3b307..5d6850bd39 100644
--- a/libraries/SITL/SIM_config.h
+++ b/libraries/SITL/SIM_config.h
@@ -148,6 +148,42 @@
 #define AP_SIM_GIMBAL_ENABLED (AP_SIM_SOLOGIMBAL_ENABLED)
 #endif
 
+#ifndef AP_SIM_AIRSPEED_DLVR_ENABLED
+#define AP_SIM_AIRSPEED_DLVR_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED
+#define AP_SIM_BATT_MONITOR_SMBUS_MAXELL_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED
+#define AP_SIM_BATT_MONITOR_SMBUS_ROTOYE_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
 #ifndef AP_SIM_INA3221_ENABLED
 #define AP_SIM_INA3221_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
 #endif
+
+#ifndef AP_SIM_ICM40609_ENABLED
+#define AP_SIM_ICM40609_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_MS5525_ENABLED
+#define AP_SIM_MS5525_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_MS5611_ENABLED
+#define AP_SIM_MS5611_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_MAXSONAR_I2C_XL_ENABLED
+#define AP_SIM_MAXSONAR_I2C_XL_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_TEMPERATURE_MCP9600_ENABLED
+#define AP_SIM_TEMPERATURE_MCP9600_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_SIM_TEMPERATURE_TSYS01_ENABLED
+#define AP_SIM_TEMPERATURE_TSYS01_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif