diff --git a/libraries/AP_Notify/AP_BoardLED.cpp b/libraries/AP_Notify/AP_BoardLED.cpp
index 8e137c43e0..164e39a4a7 100644
--- a/libraries/AP_Notify/AP_BoardLED.cpp
+++ b/libraries/AP_Notify/AP_BoardLED.cpp
@@ -12,13 +12,14 @@
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
+
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_GPIO_LED_3_ENABLED
+
 #include "AP_BoardLED.h"
-
 #include "AP_Notify.h"
 
-#if (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && \
-     defined(HAL_GPIO_C_LED_PIN))
-
 static_assert((HAL_GPIO_A_LED_PIN != HAL_GPIO_B_LED_PIN) &&
               (HAL_GPIO_A_LED_PIN != HAL_GPIO_C_LED_PIN) &&
               (HAL_GPIO_B_LED_PIN != HAL_GPIO_C_LED_PIN), "Duplicate LED assignments detected");
@@ -168,7 +169,5 @@ void AP_BoardLED::update(void)
             break;        
     }
 }
-#else
-bool AP_BoardLED::init(void) {return true;}
-void AP_BoardLED::update(void) {return;}
-#endif
+
+#endif  // AP_NOTIFY_GPIO_LED_3_ENABLED
diff --git a/libraries/AP_Notify/AP_BoardLED.h b/libraries/AP_Notify/AP_BoardLED.h
index 810cacbde8..adede6cd7b 100644
--- a/libraries/AP_Notify/AP_BoardLED.h
+++ b/libraries/AP_Notify/AP_BoardLED.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_GPIO_LED_3_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
 
@@ -29,9 +33,8 @@ public:
     void update(void) override;
 
 private:
-#if (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && \
-     defined(HAL_GPIO_C_LED_PIN))
     // counter incremented at 50Hz
     uint8_t _counter;
-#endif
 };
+
+#endif  // AP_NOTIFY_GPIO_LED_3_ENABLED
diff --git a/libraries/AP_Notify/AP_BoardLED2.cpp b/libraries/AP_Notify/AP_BoardLED2.cpp
index 24a80e4559..ef2cbd18ed 100644
--- a/libraries/AP_Notify/AP_BoardLED2.cpp
+++ b/libraries/AP_Notify/AP_BoardLED2.cpp
@@ -11,16 +11,19 @@
 
    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+
+   show all status on only 2 leds
  */
+
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_GPIO_LED_2_ENABLED
+
 #include "AP_BoardLED2.h"
 
 #include "AP_Notify.h"
 
-
-// show all status on only 2 leds
-
-#if defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN)
-
 static_assert((HAL_GPIO_A_LED_PIN != HAL_GPIO_B_LED_PIN), "Duplicate LED assignments detected");
 
 extern const AP_HAL::HAL& hal;
@@ -263,7 +266,5 @@ void AP_BoardLED2::update(void)
             break;        
     }
 }
-#else
-bool AP_BoardLED2::init(void) {return true;}
-void AP_BoardLED2::update(void) {return;}
-#endif
+
+#endif  // AP_NOTIFY_GPIO_LED_2_ENABLED
diff --git a/libraries/AP_Notify/AP_BoardLED2.h b/libraries/AP_Notify/AP_BoardLED2.h
index 2d6b5e19a0..94791d41bf 100644
--- a/libraries/AP_Notify/AP_BoardLED2.h
+++ b/libraries/AP_Notify/AP_BoardLED2.h
@@ -14,7 +14,9 @@
  */
 #pragma once
 
+#include "AP_Notify_config.h"
 
+#if AP_NOTIFY_GPIO_LED_2_ENABLED
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL_Boards.h>
@@ -33,9 +35,9 @@ public:
 private:
     // counter incremented at 50Hz
     uint8_t _counter;
-#if defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN)
     uint16_t _sat_cnt;
     uint8_t save_trim_counter;
     uint8_t arm_counter = 0;
-#endif
 };
+
+#endif  // AP_NOTIFY_GPIO_LED_2_ENABLED
diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 4bbebe497f..46f6fec3ec 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -307,15 +307,13 @@ void AP_Notify::add_backends(void)
                 ADD_BACKEND(NEW_NOTHROW ExternalLED()); // despite the name this is a built in set of onboard LED's
 #endif
 
-#if defined(HAL_HAVE_PIXRACER_LED)
+#if AP_NOTIFY_GPIO_LED_RGB_ENABLED
                 ADD_BACKEND(NEW_NOTHROW PixRacerLED());
-#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
-  #if AP_NOTIFY_VRBOARD_LED_ENABLED
+#elif AP_NOTIFY_VRBOARD_LED_ENABLED
                 ADD_BACKEND(NEW_NOTHROW VRBoard_LED());
-  #else
+#elif AP_NOTIFY_GPIO_LED_3_ENABLED
                 ADD_BACKEND(NEW_NOTHROW AP_BoardLED());
-  #endif
-#elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN))
+#elif AP_NOTIFY_GPIO_LED_2_ENABLED
                 ADD_BACKEND(NEW_NOTHROW AP_BoardLED2());
 #endif
                 break;
diff --git a/libraries/AP_Notify/AP_Notify_config.h b/libraries/AP_Notify/AP_Notify_config.h
index fb702a8d1e..62238d28ed 100644
--- a/libraries/AP_Notify/AP_Notify_config.h
+++ b/libraries/AP_Notify/AP_Notify_config.h
@@ -37,6 +37,20 @@
 #define AP_NOTIFY_LP5562_ENABLED 1
 #endif
 
+#ifndef AP_NOTIFY_GPIO_LED_3_ENABLED
+#define AP_NOTIFY_GPIO_LED_3_ENABLED 0
+#endif
+
+// this isn't the second-generation of board LEDs, this is a setup
+// where there are two LEDs used:
+#ifndef AP_NOTIFY_GPIO_LED_2_ENABLED
+#define AP_NOTIFY_GPIO_LED_2_ENABLED 0
+#endif
+
+#ifndef AP_NOTIFY_GPIO_LED_RGB_ENABLED
+#define AP_NOTIFY_GPIO_LED_RGB_ENABLED 0
+#endif
+
 #ifndef AP_NOTIFY_IS31FL3195_ENABLED
 #define AP_NOTIFY_IS31FL3195_ENABLED 1
 #endif
diff --git a/libraries/AP_Notify/PixRacerLED.cpp b/libraries/AP_Notify/PixRacerLED.cpp
index 3e543a0cf3..19da44e3e5 100644
--- a/libraries/AP_Notify/PixRacerLED.cpp
+++ b/libraries/AP_Notify/PixRacerLED.cpp
@@ -13,20 +13,22 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_GPIO_LED_RGB_ENABLED
+
 #include "PixRacerLED.h"
 
 #include <AP_HAL/HAL.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-
-#ifndef HAL_GPIO_A_LED_PIN
-#define HAL_GPIO_A_LED_PIN        -1
+#ifndef AP_NOTIFY_GPIO_LED_RGB_RED_PIN
+#error "define AP_NOTIFY_GPIO_LED_RGB_RED_PIN"
 #endif
-#ifndef HAL_GPIO_B_LED_PIN
-#define HAL_GPIO_B_LED_PIN        -1
+#ifndef AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN
+#error "define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN"
 #endif
-#ifndef HAL_GPIO_C_LED_PIN
-#define HAL_GPIO_C_LED_PIN        -1
+#ifndef AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN
+#error "define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN"
 #endif
 
 extern const AP_HAL::HAL& hal;
@@ -41,25 +43,22 @@ bool PixRacerLED::init(void)
     // when HAL_GPIO_LED_ON is 0 then we must not use pinMode()
     // as it could remove the OPENDRAIN attribute on the pin
 #if HAL_GPIO_LED_ON != 0
-    hal.gpio->pinMode(HAL_GPIO_A_LED_PIN, HAL_GPIO_OUTPUT);
-    hal.gpio->pinMode(HAL_GPIO_B_LED_PIN, HAL_GPIO_OUTPUT);
-    hal.gpio->pinMode(HAL_GPIO_C_LED_PIN, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(AP_NOTIFY_GPIO_LED_RGB_RED_PIN, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN, HAL_GPIO_OUTPUT);
+    hal.gpio->pinMode(AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN, HAL_GPIO_OUTPUT);
 #endif
-    hal.gpio->write(HAL_GPIO_A_LED_PIN, HAL_GPIO_LED_OFF);
-    hal.gpio->write(HAL_GPIO_B_LED_PIN, HAL_GPIO_LED_OFF);
-    hal.gpio->write(HAL_GPIO_C_LED_PIN, HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_RED_PIN, HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN, HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN, HAL_GPIO_LED_OFF);
     return true;
 }
 
 bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b)
 {
-    hal.gpio->write(HAL_GPIO_A_LED_PIN, (r > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
-    hal.gpio->write(HAL_GPIO_B_LED_PIN, (g > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
-    hal.gpio->write(HAL_GPIO_C_LED_PIN, (b > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_RED_PIN, (r > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN, (g > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
+    hal.gpio->write(AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN, (b > 0)?HAL_GPIO_LED_ON:HAL_GPIO_LED_OFF);
     return true;
 }
 
-#else
-bool PixRacerLED::init(void) { return true; }
-bool PixRacerLED::hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) { return true; }
-#endif
+#endif  // AP_NOTIFY_GPIO_LED_RGB_ENABLED
diff --git a/libraries/AP_Notify/PixRacerLED.h b/libraries/AP_Notify/PixRacerLED.h
index 43dc34ac03..ca93161abe 100644
--- a/libraries/AP_Notify/PixRacerLED.h
+++ b/libraries/AP_Notify/PixRacerLED.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Notify_config.h"
+
+#if AP_NOTIFY_GPIO_LED_RGB_ENABLED
+
 #include "RGBLed.h"
 
 class PixRacerLED: public RGBLed
@@ -25,3 +29,5 @@ public:
 protected:
     bool hw_set_rgb(uint8_t r, uint8_t g, uint8_t b) override;
 };
+
+#endif  // AP_NOTIFY_GPIO_LED_RGB_ENABLED