diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index 583ada61b5..c38fcfe8e6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -542,13 +542,13 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         break;
 #endif
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
     case Type::MSP:
         if (AP_RangeFinder_MSP::detect()) {
             drivers[instance] = new AP_RangeFinder_MSP(state[instance], params[instance]);
         }
         break;
-#endif //HAL_MSP_ENABLED
+#endif // HAL_MSP_RANGEFINDER_ENABLED
 
     default:
         break;
@@ -596,7 +596,7 @@ void RangeFinder::handle_msg(const mavlink_message_t &msg)
     }
 }
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
 void RangeFinder::handle_msp(const MSP::msp_rangefinder_sensor_t &pkt)
 {
     uint8_t i;
@@ -606,7 +606,7 @@ void RangeFinder::handle_msp(const MSP::msp_rangefinder_sensor_t &pkt)
         }
     }
 }
-#endif //HAL_MSP_ENABLED
+#endif // HAL_MSP_RANGEFINDER_ENABLED
 
 // return true if we have a range finder with the specified orientation
 bool RangeFinder::has_orientation(enum Rotation orientation) const
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index a10388182f..5bc059712d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -34,6 +34,10 @@
 #define RANGEFINDER_PREARM_REQUIRED_CHANGE_CM   50
 #endif
 
+#ifndef HAL_MSP_RANGEFINDER_ENABLED
+#define HAL_MSP_RANGEFINDER_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
+#endif
+
 class AP_RangeFinder_Backend;
 
 class RangeFinder
@@ -136,10 +140,10 @@ public:
     // Handle an incoming DISTANCE_SENSOR message (from a MAVLink enabled range finder)
     void handle_msg(const mavlink_message_t &msg);
 
-#if HAL_MSP_ENABLED
+#if HAL_MSP_RANGEFINDER_ENABLED
     // Handle an incoming DISTANCE_SENSOR message (from a MSP enabled range finder)
     void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt);
-#endif //HAL_MSP_ENABLED
+#endif //HAL_MSP_RANGEFINDER_ENABLED
     // return true if we have a range finder with the specified orientation
     bool has_orientation(enum Rotation orientation) const;