From 85501f8219c0ab316a215ed3a1706622c0debe89 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 7 Mar 2023 13:02:49 +1100
Subject: [PATCH] AP_BattMonitor: add defines for all battery backends

---
 libraries/AP_BattMonitor/AP_BattMonitor.cpp   |  46 ++++----
 .../AP_BattMonitor/AP_BattMonitor_Analog.cpp  |   7 ++
 .../AP_BattMonitor/AP_BattMonitor_Analog.h    |   7 +-
 .../AP_BattMonitor/AP_BattMonitor_Bebop.cpp   |  12 +--
 .../AP_BattMonitor/AP_BattMonitor_EFI.cpp     |   9 +-
 libraries/AP_BattMonitor/AP_BattMonitor_EFI.h |  10 +-
 .../AP_BattMonitor/AP_BattMonitor_ESC.cpp     |  11 +-
 libraries/AP_BattMonitor/AP_BattMonitor_ESC.h |   4 +-
 .../AP_BattMonitor_FuelFlow.cpp               |   9 +-
 .../AP_BattMonitor/AP_BattMonitor_FuelFlow.h  |   7 +-
 .../AP_BattMonitor_FuelLevel_Analog.cpp       |   7 ++
 .../AP_BattMonitor_FuelLevel_Analog.h         |   7 +-
 .../AP_BattMonitor_FuelLevel_PWM.cpp          |   8 +-
 .../AP_BattMonitor_FuelLevel_PWM.h            |   7 +-
 .../AP_BattMonitor_Generator.cpp              |   8 +-
 .../AP_BattMonitor/AP_BattMonitor_INA239.cpp  |   9 +-
 .../AP_BattMonitor/AP_BattMonitor_INA239.h    |   8 +-
 .../AP_BattMonitor/AP_BattMonitor_INA2xx.cpp  |  10 +-
 .../AP_BattMonitor/AP_BattMonitor_INA2xx.h    |   8 +-
 .../AP_BattMonitor/AP_BattMonitor_LTC2946.cpp |   9 +-
 .../AP_BattMonitor/AP_BattMonitor_LTC2946.h   |   6 +-
 .../AP_BattMonitor/AP_BattMonitor_SMBus.cpp   |   6 ++
 .../AP_BattMonitor/AP_BattMonitor_SMBus.h     |   7 +-
 .../AP_BattMonitor_SMBus_Generic.cpp          |   7 ++
 .../AP_BattMonitor_SMBus_Generic.h            |   4 +
 .../AP_BattMonitor_SMBus_Maxell.h             |   4 +
 .../AP_BattMonitor_SMBus_NeoDesign.cpp        |   7 ++
 .../AP_BattMonitor_SMBus_NeoDesign.h          |   4 +
 .../AP_BattMonitor_SMBus_Rotoye.cpp           |   6 ++
 .../AP_BattMonitor_SMBus_Rotoye.h             |   6 +-
 .../AP_BattMonitor_SMBus_SUI.cpp              |   7 ++
 .../AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h |   4 +
 .../AP_BattMonitor_SMBus_Solo.cpp             |   9 +-
 .../AP_BattMonitor_SMBus_Solo.h               |   4 +
 .../AP_BattMonitor/AP_BattMonitor_Sum.cpp     |   7 ++
 libraries/AP_BattMonitor/AP_BattMonitor_Sum.h |   7 +-
 .../AP_BattMonitor_Synthetic_Current.cpp      |   8 +-
 .../AP_BattMonitor_Synthetic_Current.h        |   2 +-
 .../AP_BattMonitor_Torqeedo.cpp               |  10 +-
 .../AP_BattMonitor/AP_BattMonitor_Torqeedo.h  |   5 +-
 .../AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp  |   9 +-
 .../AP_BattMonitor/AP_BattMonitor_config.h    | 102 +++++++++++++++---
 libraries/AP_Generator/AP_Generator_config.h  |   7 ++
 43 files changed, 333 insertions(+), 108 deletions(-)
 create mode 100644 libraries/AP_Generator/AP_Generator_config.h

diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index 50e492bb06..d429f0aadb 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -266,64 +266,74 @@ AP_BattMonitor::init()
             case Type::ANALOG_VOLTAGE_AND_CURRENT:
                 drivers[instance] = new AP_BattMonitor_Analog(*this, state[instance], _params[instance]);
                 break;
-#if AP_BATTMON_SMBUS_SOLO_ENABLED
+#if AP_BATTERY_SMBUS_SOLO_ENABLED
             case Type::SOLO:
                 drivers[instance] = new AP_BattMonitor_SMBus_Solo(*this, state[instance], _params[instance]);
                 break;
 #endif
-#if AP_BATTMON_SMBUS_ENABLE
+#if AP_BATTERY_SMBUS_GENERIC_ENABLED
             case Type::SMBus_Generic:
                 drivers[instance] = new AP_BattMonitor_SMBus_Generic(*this, state[instance], _params[instance]);
                 break;
+#endif
+#if AP_BATTERY_SMBUS_SUI_ENABLED
             case Type::SUI3:
                 drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 3);
                 break;
             case Type::SUI6:
                 drivers[instance] = new AP_BattMonitor_SMBus_SUI(*this, state[instance], _params[instance], 6);
                 break;
+#endif
+#if AP_BATTERY_SMBUS_MAXELL_ENABLED
             case Type::MAXELL:
                 drivers[instance] = new AP_BattMonitor_SMBus_Maxell(*this, state[instance], _params[instance]);
                 break;
+#endif
+#if AP_BATTERY_SMBUS_ROTOYE_ENABLED
             case Type::Rotoye:
                 drivers[instance] = new AP_BattMonitor_SMBus_Rotoye(*this, state[instance], _params[instance]);
                 break;
+#endif
+#if AP_BATTERY_SMBUS_NEODESIGN_ENABLED
             case Type::NeoDesign:
                 drivers[instance] = new AP_BattMonitor_SMBus_NeoDesign(*this, state[instance], _params[instance]);
                 break;
-#endif // AP_BATTMON_SMBUS_ENABLE
+#endif
             case Type::BEBOP:
-#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
+#if AP_BATTERY_BEBOP_ENABLED
                 drivers[instance] = new AP_BattMonitor_Bebop(*this, state[instance], _params[instance]);
 #endif
                 break;
             case Type::UAVCAN_BatteryInfo:
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
                 drivers[instance] = new AP_BattMonitor_UAVCAN(*this, state[instance], AP_BattMonitor_UAVCAN::UAVCAN_BATTERY_INFO, _params[instance]);
 #endif
                 break;
             case Type::BLHeliESC:
-#if HAL_WITH_ESC_TELEM && !defined(HAL_BUILD_AP_PERIPH)
+#if AP_BATTERY_ESC_ENABLED
                 drivers[instance] = new AP_BattMonitor_ESC(*this, state[instance], _params[instance]);
 #endif
                 break;
+#if AP_BATTERY_SUM_ENABLED
             case Type::Sum:
                 drivers[instance] = new AP_BattMonitor_Sum(*this, state[instance], _params[instance], instance);
                 break;
-#if AP_BATTMON_FUELFLOW_ENABLE
+#endif
+#if AP_BATTERY_FUELFLOW_ENABLED
             case Type::FuelFlow:
                 drivers[instance] = new AP_BattMonitor_FuelFlow(*this, state[instance], _params[instance]);
                 break;
-#endif // AP_BATTMON_FUELFLOW_ENABLE
-#if AP_BATTMON_FUELLEVEL_PWM_ENABLE
+#endif // AP_BATTERY_FUELFLOW_ENABLED
+#if AP_BATTERY_FUELLEVEL_PWM_ENABLED
             case Type::FuelLevel_PWM:
                 drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
                 break;
-#endif // AP_BATTMON_FUELLEVEL_PWM_ENABLE
-#if AP_BATTMON_FUELLEVEL_ANALOG_ENABLE
+#endif // AP_BATTERY_FUELLEVEL_PWM_ENABLED
+#if AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
             case Type::FuelLevel_Analog:
                 drivers[instance] = new AP_BattMonitor_FuelLevel_Analog(*this, state[instance], _params[instance]);
                 break;
-#endif // AP_BATTMON_FUELLEVEL_ANALOG_ENABLE
+#endif // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
 #if HAL_GENERATOR_ENABLED
             case Type::GENERATOR_ELEC:
                 drivers[instance] = new AP_BattMonitor_Generator_Elec(*this, state[instance], _params[instance]);
@@ -332,12 +342,12 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_Generator_FuelLevel(*this, state[instance], _params[instance]);
                 break;
 #endif // HAL_GENERATOR_ENABLED
-#if HAL_BATTMON_INA2XX_ENABLED
+#if AP_BATTERY_INA2XX_ENABLED
             case Type::INA2XX:
                 drivers[instance] = new AP_BattMonitor_INA2XX(*this, state[instance], _params[instance]);
                 break;
 #endif
-#if HAL_BATTMON_LTC2946_ENABLED
+#if AP_BATTERY_LTC2946_ENABLED
             case Type::LTC2946:
                 drivers[instance] = new AP_BattMonitor_LTC2946(*this, state[instance], _params[instance]);
                 break;
@@ -347,21 +357,21 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_Torqeedo(*this, state[instance], _params[instance]);
                 break;
 #endif
-#if AP_BATTMON_SYNTHETIC_CURRENT_ENABLED
+#if AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
             case Type::Analog_Volt_Synthetic_Current:
                 drivers[instance] = new AP_BattMonitor_Synthetic_Current(*this, state[instance], _params[instance]);
                 break;
 #endif
-#if HAL_BATTMON_INA239_ENABLED
+#if AP_BATTERY_INA239_ENABLED
             case Type::INA239_SPI:
                 drivers[instance] = new AP_BattMonitor_INA239(*this, state[instance], _params[instance]);
                 break;
 #endif
-#if HAL_EFI_ENABLED
+#if AP_BATTERY_EFI_ENABLED
             case Type::EFI:
                 drivers[instance] = new AP_BattMonitor_EFI(*this, state[instance], _params[instance]);
                 break;
-#endif // HAL_EFI_ENABLED
+#endif // AP_BATTERY_EFI_ENABLED
             case Type::NONE:
             default:
                 break;
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
index 9847804175..b730aa05ba 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.cpp
@@ -1,6 +1,11 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ANALOG_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
+
 #include "AP_BattMonitor_Analog.h"
 
 extern const AP_HAL::HAL& hal;
@@ -103,3 +108,5 @@ bool AP_BattMonitor_Analog::has_current() const
 {
     return ((AP_BattMonitor::Type)_params._type.get() == AP_BattMonitor::Type::ANALOG_VOLTAGE_AND_CURRENT);
 }
+
+#endif  // AP_BATTERY_ANALOG_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
index 8805985d89..839ea4fe51 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Analog.h
@@ -1,8 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Backend.h"
 
+#if AP_BATTERY_ANALOG_ENABLED
+
+#include "AP_BattMonitor.h"
+
 // default pins and dividers
 #if defined(HAL_BATT_VOLT_PIN)
  // pins defined in board config (hwdef.dat on ChibiOS)
@@ -126,3 +129,5 @@ protected:
     AP_Int8  _volt_pin;                 /// board pin used to measure battery voltage
     AP_Int8  _curr_pin;                 /// board pin used to measure battery current
 };
+
+#endif  // AP_BATTERY_ANALOG_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp
index eb12e42712..75bbebcae6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp
@@ -13,16 +13,16 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_BEBOP_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && \
-    (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO)
-
-#include "AP_BattMonitor_Bebop.h"
 #include <AP_HAL_Linux/RCOutput_Bebop.h>
 #include <AP_HAL_Linux/RCOutput_Disco.h>
 
+#include "AP_BattMonitor_Bebop.h"
+
 #define BATTERY_VOLTAGE_COMPENSATION_LANDED (0.2f)
 
 
@@ -217,4 +217,4 @@ void AP_BattMonitor_Bebop::read(void)
     _state.consumed_mah = capacity - (remaining * capacity) * 0.01f;
 }
 
-#endif
+#endif  // AP_BATTERY_BEBOP_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_EFI.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_EFI.cpp
index 23d37e8832..5467e178c4 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_EFI.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_EFI.cpp
@@ -13,15 +13,15 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_BattMonitor_EFI.h"
+#include "AP_BattMonitor_config.h"
 
-#if HAL_EFI_ENABLED
+#if AP_BATTERY_EFI_ENABLED
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_EFI/AP_EFI.h>
 
-extern const AP_HAL::HAL& hal;
+#include "AP_BattMonitor_EFI.h"
 
 // update state
 void AP_BattMonitor_EFI::read()
@@ -51,5 +51,4 @@ void AP_BattMonitor_EFI::read()
     _state.last_time_micros = AP_HAL::micros();
 }
 
-#endif // HAL_EFI_ENABLED
-
+#endif // AP_BATTERY_EFI_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_EFI.h b/libraries/AP_BattMonitor/AP_BattMonitor_EFI.h
index 1ff0637bbe..14e12e60a2 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_EFI.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_EFI.h
@@ -1,12 +1,9 @@
 #pragma once
 
-#include <AP_EFI/AP_EFI_config.h>
-
-#if HAL_EFI_ENABLED
-
-#include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Backend.h"
 
+#if AP_BATTERY_EFI_ENABLED
+
 class AP_BattMonitor_EFI : public AP_BattMonitor_Backend
 {
 public:
@@ -25,5 +22,4 @@ public:
         return true;
     }
 };
-#endif // HAL_EFI_ENABLED
-
+#endif // AP_BATTERY_EFI_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
index 713561ecb9..c633217f53 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.cpp
@@ -14,13 +14,12 @@
  */
 
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_ESC_ENABLED
+
 #include "AP_BattMonitor_ESC.h"
 
-#if HAL_WITH_ESC_TELEM
-
-extern const AP_HAL::HAL &hal;
-
 void AP_BattMonitor_ESC::init(void)
 {
 }
@@ -106,4 +105,4 @@ bool AP_BattMonitor_ESC::reset_remaining(float percentage)
     return false;
 }
 
-#endif // HAL_WITH_ESC_TELEM
+#endif // AP_BATTERY_ESC_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.h b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
index 0c7113993b..40aaedffa6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_ESC.h
@@ -19,7 +19,7 @@
 #include <AP_ESC_Telem/AP_ESC_Telem.h>
 #include "AP_BattMonitor_Backend.h"
 
-#if HAL_WITH_ESC_TELEM
+#if AP_BATTERY_ESC_ENABLED
 
 class AP_BattMonitor_ESC :public AP_BattMonitor_Backend
 {
@@ -52,4 +52,4 @@ private:
     float delta_mah;
 };
 
-#endif
+#endif  // AP_BATTERY_ESC_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp
index fa282de175..9765a09da5 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.cpp
@@ -1,5 +1,10 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_FUELFLOW_ENABLED
+
 #include "AP_BattMonitor_FuelFlow.h"
+
+#include <AP_HAL/AP_HAL.h>
 #include <GCS_MAVLink/GCS.h>
 
 /*
@@ -122,3 +127,5 @@ void AP_BattMonitor_FuelFlow::read()
     // map consumed_wh using fixed voltage of 1
     _state.consumed_wh = _state.consumed_mah;
 }
+
+#endif  // AP_BATTERY_FUELFLOW_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h b/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h
index 8c55567689..e893430703 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelFlow.h
@@ -1,8 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Analog.h"
 
+#if AP_BATTERY_FUELFLOW_ENABLED
+
+#include "AP_BattMonitor.h"
+
 class AP_BattMonitor_FuelFlow : public AP_BattMonitor_Analog
 {
 public:
@@ -32,3 +35,5 @@ private:
 
     int8_t last_pin = -1;
 };
+
+#endif  // AP_BATTERY_FUELFLOW_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp
index db0724ed2e..f427693452 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.cpp
@@ -15,8 +15,13 @@
  * Code by Charlie Johnson
  */
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
+
 #include "AP_BattMonitor_FuelLevel_Analog.h"
 
 extern const AP_HAL::HAL& hal;
@@ -116,3 +121,5 @@ void AP_BattMonitor_FuelLevel_Analog::read()
     // record time
     _state.last_time_micros = tnow;
 }
+
+#endif  // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.h b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.h
index fb4fc6290b..78acb0b4c6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_Analog.h
@@ -17,9 +17,12 @@
 
 #pragma once
 
+#include "AP_BattMonitor_Backend.h"
+
+#if AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
+
 #include <Filter/LowPassFilter.h>
 #include "AP_BattMonitor.h"
-#include "AP_BattMonitor_Backend.h"
 
 class AP_BattMonitor_FuelLevel_Analog : public AP_BattMonitor_Backend
 {
@@ -52,3 +55,5 @@ private:
 
     LowPassFilterFloat _voltage_filter;
 };
+
+#endif  // AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp
index 9276693d79..161af7fe2b 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.cpp
@@ -1,6 +1,10 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_FUELLEVEL_PWM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
+
 #include "AP_BattMonitor_FuelLevel_PWM.h"
-#include <GCS_MAVLink/GCS.h>
 
 /*
   "battery" monitor for liquid fuel level systems that give a PWM value indicating quantity of remaining fuel.
@@ -62,3 +66,5 @@ void AP_BattMonitor_FuelLevel_PWM::read()
     // map consumed_wh using fixed voltage of 1
     _state.consumed_wh = _state.consumed_mah;
 }
+
+#endif  // AP_BATTERY_FUELLEVEL_PWM_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h
index 4e1965aeff..f5a84bb7b2 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_FuelLevel_PWM.h
@@ -1,8 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Analog.h"
 
+#if AP_BATTERY_FUELLEVEL_PWM_ENABLED
+
+#include "AP_BattMonitor.h"
+
 class AP_BattMonitor_FuelLevel_PWM : public AP_BattMonitor_Analog
 {
 public:
@@ -25,3 +28,5 @@ private:
 
     AP_HAL::PWMSource pwm_source;
 };
+
+#endif  // AP_BATTERY_FUELLEVEL_PWM_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Generator.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Generator.cpp
index 2602eba402..efff4d4bd6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Generator.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Generator.cpp
@@ -13,14 +13,14 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_BattMonitor_Generator.h"
+#include "AP_BattMonitor_config.h"
 
-#if HAL_GENERATOR_ENABLED
+#if AP_BATTERY_GENERATOR_ENABLED
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 
-extern const AP_HAL::HAL& hal;
+#include "AP_BattMonitor_Generator.h"
 
 /*
     Fuel class
@@ -156,4 +156,4 @@ AP_BattMonitor::Failsafe AP_BattMonitor_Generator_Elec::update_failsafes()
     }
     return MAX(AP_BattMonitor_Backend::update_failsafes(), failsafe);
 }
-#endif
+#endif  // AP_BATTERY_GENERATOR_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
index dff82ab40d..16328e96f9 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.cpp
@@ -1,8 +1,11 @@
-#include "AP_BattMonitor_INA239.h"
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_INA239_ENABLED
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
-#if HAL_BATTMON_INA239_ENABLED
+#include "AP_BattMonitor_INA239.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -157,4 +160,4 @@ void AP_BattMonitor_INA239::timer(void)
     accumulate.count++;
 }
 
-#endif // HAL_BATTMON_INA239_ENABLED
+#endif // AP_BATTERY_INA239_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
index 38b132f818..c03eea23f8 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA239.h
@@ -5,11 +5,7 @@
 #include "AP_BattMonitor_Backend.h"
 #include <utility>
 
-#ifndef HAL_BATTMON_INA239_ENABLED
-#define HAL_BATTMON_INA239_ENABLED defined(HAL_BATTMON_INA239_SPI_DEVICE)
-#endif
-
-#if HAL_BATTMON_INA239_ENABLED
+#if AP_BATTERY_INA239_ENABLED
 
 class AP_BattMonitor_INA239 : public AP_BattMonitor_Backend
 {
@@ -51,4 +47,4 @@ protected:
     float voltage_LSB;
 };
 
-#endif // HAL_BATTMON_INA239_ENABLED
+#endif // AP_BATTERY_INA239_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
index 55654e73eb..39bb82974d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.cpp
@@ -1,8 +1,10 @@
-#include "AP_BattMonitor_INA2xx.h"
-#include <GCS_MAVLink/GCS.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_INA2XX_ENABLED
+
 #include <AP_HAL/utility/sparse-endian.h>
 
-#if HAL_BATTMON_INA2XX_ENABLED
+#include "AP_BattMonitor_INA2xx.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -178,4 +180,4 @@ void AP_BattMonitor_INA2XX::timer(void)
     accumulate.count++;
 }
 
-#endif // HAL_BATTMON_INA2XX_ENABLED
+#endif // AP_BATTERY_INA2XX_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
index 096cc715c6..3ed4b223fa 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_INA2xx.h
@@ -6,11 +6,7 @@
 #include <AP_Param/AP_Param.h>
 #include <utility>
 
-#ifndef HAL_BATTMON_INA2XX_ENABLED
-#define HAL_BATTMON_INA2XX_ENABLED (BOARD_FLASH_SIZE > 1024)
-#endif
-
-#if HAL_BATTMON_INA2XX_ENABLED
+#if AP_BATTERY_INA2XX_ENABLED
 
 class AP_BattMonitor_INA2XX : public AP_BattMonitor_Backend
 {
@@ -56,4 +52,4 @@ private:
     float voltage_LSB;
 };
 
-#endif // HAL_BATTMON_INA2XX_ENABLED
+#endif // AP_BATTERY_INA2XX_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.cpp
index 3274a82da6..f64b39df6d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.cpp
@@ -1,8 +1,11 @@
-#include "AP_BattMonitor_LTC2946.h"
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_LTC2946_ENABLED
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_HAL/utility/sparse-endian.h>
 
-#if HAL_BATTMON_LTC2946_ENABLED
+#include "AP_BattMonitor_LTC2946.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -107,4 +110,4 @@ void AP_BattMonitor_LTC2946::timer(void)
     accumulate.count++;
 }
 
-#endif // HAL_BATTMON_LTC2946_ENABLED
+#endif // AP_BATTERY_LTC2946_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.h b/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.h
index c3497e9df8..93b378d52d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_LTC2946.h
@@ -5,9 +5,7 @@
 #include "AP_BattMonitor_Backend.h"
 #include <utility>
 
-#define HAL_BATTMON_LTC2946_ENABLED defined(HAL_BATTMON_LTC2946_BUS) && defined(HAL_BATTMON_LTC2946_ADDR)
-
-#if HAL_BATTMON_LTC2946_ENABLED
+#if AP_BATTERY_LTC2946_ENABLED
 
 class AP_BattMonitor_LTC2946 : public AP_BattMonitor_Backend
 {
@@ -40,4 +38,4 @@ private:
     float voltage_LSB;
 };
 
-#endif // HAL_BATTMON_LTC2946_ENABLED
+#endif // AP_BATTERY_LTC2946_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp
index 1eb3919cf6..0d778bed74 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.cpp
@@ -1,3 +1,7 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_ENABLED
+
 #include "AP_BattMonitor_SMBus.h"
 
 #define AP_BATTMONITOR_SMBUS_PEC_POLYNOME 0x07 // Polynome for CRC generation
@@ -250,3 +254,5 @@ uint8_t AP_BattMonitor_SMBus::get_PEC(const uint8_t i2c_addr, uint8_t cmd, bool
     // return result
     return crc;
 }
+
+#endif  // AP_BATTERY_SMBUS_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
index 7b5330f91a..3103082b31 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus.h
@@ -1,10 +1,13 @@
 #pragma once
 
+#include "AP_BattMonitor_Backend.h"
+
+#if AP_BATTERY_SMBUS_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_HAL/I2CDevice.h>
-#include "AP_BattMonitor_Backend.h"
 #include <utility>
 
 #define AP_BATTMONITOR_SMBUS_BUS_INTERNAL           0
@@ -111,3 +114,5 @@ protected:
     AP_Int8  _address;      // I2C address
 
 };
+
+#endif  // AP_BATTERY_SMBUS_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp
index 9d02f30888..9fc708a974 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.cpp
@@ -1,7 +1,12 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_GENERIC_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_SMBus_Generic.h"
 
 uint8_t smbus_cell_ids[] = { 0x3f,  // cell 1
@@ -168,3 +173,5 @@ bool AP_BattMonitor_SMBus_Generic::check_pec_support()
 	_pec_confirmed = true;
 	return true;
 }
+
+#endif  // AP_BATTERY_SMBUS_GENERIC_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h
index 7edc4a6264..e02f6a3892 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Generic.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus.h"
 
+#if AP_BATTERY_SMBUS_GENERIC_ENABLED
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #define BATTMONITOR_SMBUS_NUM_CELLS_MAX 14
 #else
@@ -31,3 +33,5 @@ private:
     uint8_t _cell_count;    // number of cells returning voltages
     bool _cell_count_fixed; // true when cell count check is complete
 };
+
+#endif  // AP_BATTERY_SMBUS_GENERIC_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h
index a70fb07f47..2c023df5f5 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Maxell.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus_Generic.h"
 
+#if AP_BATTERY_SMBUS_MAXELL_ENABLED
+
 class AP_BattMonitor_SMBus_Maxell : public AP_BattMonitor_SMBus_Generic
 {
     using AP_BattMonitor_SMBus_Generic::AP_BattMonitor_SMBus_Generic;
@@ -12,3 +14,5 @@ private:
     uint16_t get_capacity_scaler() const override { return 2; }
 
 };
+
+#endif  // AP_BATTERY_SMBUS_MAXELL_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp
index b130d45ac5..71234247aa 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.cpp
@@ -1,6 +1,11 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_NEODESIGN_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_SMBus_NeoDesign.h"
 
 #define BATTMONITOR_ND_CELL_COUNT                0x5C    // cell-count register
@@ -75,3 +80,5 @@ void AP_BattMonitor_SMBus_NeoDesign::timer()
     read_remaining_capacity();
     read_temp();
 }
+
+#endif  // AP_BATTERY_SMBUS_NEODESIGN_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h
index b797cdcd8a..cf98c8c2fc 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_NeoDesign.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus.h"
 
+#if AP_BATTERY_SMBUS_NEODESIGN_ENABLED
+
 class AP_BattMonitor_SMBus_NeoDesign : public AP_BattMonitor_SMBus
 {
 public:
@@ -17,3 +19,5 @@ private:
 
     static const constexpr uint8_t max_cell_count = 10;
 };
+
+#endif  // AP_BATTERY_SMBUS_NEODESIGN_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.cpp
index d05cc7a11d..bb794a8b64 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.cpp
@@ -1,3 +1,7 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_ROTOYE_ENABLED
+
 #include "AP_BattMonitor_SMBus_Rotoye.h"
 
 #include <AP_HAL/AP_HAL.h>
@@ -25,3 +29,5 @@ void AP_BattMonitor_SMBus_Rotoye::read_temp(void) {
     _state.temperature_time = AP_HAL::millis();
     _state.temperature = KELVIN_TO_C(0.1f * float(MAX(t_int, t_ext)));
 }
+
+#endif  // AP_BATTERY_SMBUS_ROTOYE_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.h
index abc5835bfe..afce0881b6 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Rotoye.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus_Generic.h"
 
+#if AP_BATTERY_SMBUS_ROTOYE_ENABLED
+
 class AP_BattMonitor_SMBus_Rotoye : public AP_BattMonitor_SMBus_Generic
 {
     using AP_BattMonitor_SMBus_Generic::AP_BattMonitor_SMBus_Generic;
@@ -11,4 +13,6 @@ private:
     // Rotoye Batmon has two temperature readings
     void read_temp(void) override;
 
-};
\ No newline at end of file
+};
+
+#endif  // AP_BATTERY_SMBUS_ROTOYE_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp
index 0cb85f90a4..396195a20f 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.cpp
@@ -1,7 +1,12 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_SUI_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_SMBus_SUI.h"
 
 extern const AP_HAL::HAL& hal;
@@ -131,3 +136,5 @@ void AP_BattMonitor_SMBus_SUI::update_health()
     _state.healthy = (now - last_volt_read_us < AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS) &&
         (now - _state.last_time_micros < AP_BATTMONITOR_SMBUS_TIMEOUT_MICROS);
 }
+
+#endif  // AP_BATTERY_SMBUS_SUI_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h
index 506f5bc541..5d0d0bad60 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_SUI.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus.h"
 
+#if AP_BATTERY_SMBUS_SUI_ENABLED
+
 // Base SUI class
 class AP_BattMonitor_SMBus_SUI : public AP_BattMonitor_SMBus
 {
@@ -28,3 +30,5 @@ private:
     bool phase_voltages;
     uint32_t last_volt_read_us;
 };
+
+#endif  // AP_BATTERY_SMBUS_SUI_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
index 5d4be88342..6d4589d1fa 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.cpp
@@ -1,10 +1,15 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SMBUS_SOLO_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor.h"
-#include "AP_BattMonitor_SMBus_Solo.h"
 #include <utility>
 
+#include "AP_BattMonitor_SMBus_Solo.h"
+
 #define BATTMONITOR_SMBUS_SOLO_CELL_VOLTAGE         0x28    // cell voltage register
 #define BATTMONITOR_SMBUS_SOLO_CURRENT              0x2a    // current register
 #define BATTMONITOR_SMBUS_SOLO_BUTTON_DEBOUNCE      6       // button held down for 5 intervals will cause a power off event
@@ -95,3 +100,5 @@ void AP_BattMonitor_SMBus_Solo::timer()
 
     read_cycle_count();
 }
+
+#endif  // AP_BATTERY_SMBUS_SOLO_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h
index 2200220b46..f14b0e16c0 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_SMBus_Solo.h
@@ -2,6 +2,8 @@
 
 #include "AP_BattMonitor_SMBus.h"
 
+#if AP_BATTERY_SMBUS_SOLO_ENABLED
+
 class AP_BattMonitor_SMBus_Solo : public AP_BattMonitor_SMBus
 {
 public:
@@ -17,3 +19,5 @@ private:
 
     uint8_t _button_press_count;
 };
+
+#endif  // AP_BATTERY_SMBUS_SOLO_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
index 7ce61484f8..2a7401d326 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Sum.cpp
@@ -1,7 +1,12 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SUM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_BattMonitor.h"
+
 #include "AP_BattMonitor_Sum.h"
 
 /*
@@ -92,3 +97,5 @@ AP_BattMonitor_Sum::read()
         _state.last_time_micros = tnow_us;
     }
 }
+
+#endif  // AP_BATTERY_SUM_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Sum.h b/libraries/AP_BattMonitor/AP_BattMonitor_Sum.h
index 1ce91ed636..1e882bb333 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Sum.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Sum.h
@@ -1,8 +1,11 @@
 #pragma once
 
-#include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Backend.h"
 
+#if AP_BATTERY_SUM_ENABLED
+
+#include "AP_BattMonitor.h"
+
 class AP_BattMonitor_Sum : public AP_BattMonitor_Backend
 {
 public:
@@ -29,3 +32,5 @@ private:
     uint8_t _instance;
     bool _has_current;
 };
+
+#endif  // AP_BATTERY_SUM_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
index bb772e08c7..acf807ff4c 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.cpp
@@ -1,10 +1,12 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_BattMonitor_Synthetic_Current.h"
 #include <GCS_MAVLink/GCS.h>
 #include <SRV_Channel/SRV_Channel.h>
 
-#if AP_BATTMON_SYNTHETIC_CURRENT_ENABLED
-
 /*
   Analog Voltage and Current Monitor for systems with only a voltage sense pin
   Current is calculated from throttle output and modified for voltage droop using
@@ -70,4 +72,4 @@ AP_BattMonitor_Synthetic_Current::read()
  
 }
 
-#endif
+#endif  // AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.h b/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.h
index 7b12ed58bf..212ae607be 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Synthetic_Current.h
@@ -3,7 +3,7 @@
 #include "AP_BattMonitor.h"
 #include "AP_BattMonitor_Analog.h"
 
-#if AP_BATTMON_SYNTHETIC_CURRENT_ENABLED
+#if AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
 class AP_BattMonitor_Synthetic_Current : public AP_BattMonitor_Analog
 {
 public:
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.cpp
index 2c1d8962f4..424264644e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.cpp
@@ -14,10 +14,13 @@
  */
 
 
-#include <AP_HAL/AP_HAL.h>
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_TORQEEDO_ENABLED
+
 #include "AP_BattMonitor_Torqeedo.h"
 
-#if HAL_TORQEEDO_ENABLED
+#include <AP_HAL/AP_HAL.h>
 
 #define AP_BATTMON_TORQEEDO_TIMEOUT_US 5000000
 
@@ -73,4 +76,5 @@ bool AP_BattMonitor_Torqeedo::capacity_remaining_pct(uint8_t &percentage) const
     return have_info;
 }
 
-#endif // HAL_TORQEEDO_ENABLED
+#endif // AP_BATTERY_TORQEEDO_ENABLED
+
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.h b/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.h
index 0a0173dcca..e8c53a44cd 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_Torqeedo.h
@@ -14,9 +14,12 @@
  */
 #pragma once
 
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_TORQEEDO_ENABLED
+
 #include <AP_Torqeedo/AP_Torqeedo.h>
 
-#if HAL_TORQEEDO_ENABLED
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include "AP_BattMonitor_Backend.h"
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
index 75e04bce71..2c1c7fbc8b 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_UAVCAN.cpp
@@ -1,7 +1,8 @@
+#include "AP_BattMonitor_config.h"
+
+#if AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
-
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
-
 #include "AP_BattMonitor.h"
 #include "AP_BattMonitor_UAVCAN.h"
 
@@ -466,4 +467,4 @@ uint32_t AP_BattMonitor_UAVCAN::get_mavlink_fault_bitmask() const
     return mav_fault_bitmask;
 }
 
-#endif
+#endif  // AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_config.h b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
index 45d9617479..7504735231 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_config.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_config.h
@@ -1,25 +1,103 @@
 #pragma once
 
-#ifndef AP_BATTMON_SMBUS_ENABLE
-#define AP_BATTMON_SMBUS_ENABLE 1
+#include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_ESC_Telem/AP_ESC_Telem_config.h>
+#include <AP_EFI/AP_EFI_config.h>
+#include <AP_Generator/AP_Generator_config.h>
+#include <AP_Torqeedo/AP_Torqeedo_config.h>
+
+#ifndef AP_BATTERY_BACKEND_DEFAULT_ENABLED
+#define AP_BATTERY_BACKEND_DEFAULT_ENABLED 1
 #endif
 
-#ifndef AP_BATTMON_FUELFLOW_ENABLE
-#define AP_BATTMON_FUELFLOW_ENABLE (BOARD_FLASH_SIZE > 1024)
+#ifndef AP_BATTERY_ANALOG_ENABLED
+#define AP_BATTERY_ANALOG_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
 #endif
 
-#ifndef AP_BATTMON_FUELLEVEL_PWM_ENABLE
-#define AP_BATTMON_FUELLEVEL_PWM_ENABLE (BOARD_FLASH_SIZE > 1024)
+#ifndef AP_BATTERY_BEBOP_ENABLED
+#define AP_BATTERY_BEBOP_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO)
 #endif
 
-#ifndef AP_BATTMON_FUELLEVEL_ANALOG_ENABLE
-#define AP_BATTMON_FUELLEVEL_ANALOG_ENABLE (BOARD_FLASH_SIZE > 1024)
+#ifndef AP_BATTERY_EFI_ENABLED
+#define AP_BATTERY_EFI_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && HAL_EFI_ENABLED
 #endif
 
-#ifndef AP_BATTMON_SYNTHETIC_CURRENT_ENABLED
-#define AP_BATTMON_SYNTHETIC_CURRENT_ENABLED  1
+#ifndef AP_BATTERY_ESC_ENABLED
+#define AP_BATTERY_ESC_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (HAL_WITH_ESC_TELEM && !defined(HAL_BUILD_AP_PERIPH))
 #endif
 
-#ifndef AP_BATTMON_SMBUS_SOLO_ENABLED
-#define AP_BATTMON_SMBUS_SOLO_ENABLED 0  // turned on in hwdefs
+#ifndef AP_BATTERY_SMBUS_ENABLED
+#define AP_BATTERY_SMBUS_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED
+#define AP_BATTERY_UAVCAN_BATTERYINFO_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS
+#endif
+
+#ifndef AP_BATTERY_FUELFLOW_ENABLED
+#define AP_BATTERY_FUELFLOW_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#ifndef AP_BATTERY_FUELLEVEL_PWM_ENABLED
+#define AP_BATTERY_FUELLEVEL_PWM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#ifndef AP_BATTERY_FUELLEVEL_ANALOG_ENABLED
+#define AP_BATTERY_FUELLEVEL_ANALOG_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#ifndef AP_BATTERY_GENERATOR_ENABLED
+#define AP_BATTERY_GENERATOR_ENABLED HAL_GENERATOR_ENABLED
+#endif
+
+#ifndef AP_BATTERY_INA239_ENABLED
+#define AP_BATTERY_INA239_ENABLED 0  // SPI device must be specified in hwdef
+#endif
+
+#ifndef AP_BATTERY_INA2XX_ENABLED
+#define AP_BATTERY_INA2XX_ENABLED (AP_BATTERY_BACKEND_DEFAULT_ENABLED && (BOARD_FLASH_SIZE > 1024))
+#endif
+
+#ifndef AP_BATTERY_LTC2946_ENABLED
+#define AP_BATTERY_LTC2946_ENABLED (AP_BATTERY_BACKEND_DEFAULT_ENABLED && defined(HAL_BATTMON_LTC2946_BUS) && defined(HAL_BATTMON_LTC2946_ADDR))
+#endif
+
+#ifndef AP_BATTERY_SYNTHETIC_CURRENT_ENABLED
+#define AP_BATTERY_SYNTHETIC_CURRENT_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_BATTERY_SMBUS_SOLO_ENABLED
+#define AP_BATTERY_SMBUS_SOLO_ENABLED 0  // turned on in hwdefs
+#endif
+
+#ifndef AP_BATTERY_SUM_ENABLED
+#define AP_BATTERY_SUM_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_BATTERY_TORQEEDO_ENABLED
+#define AP_BATTERY_TORQEEDO_ENABLED HAL_TORQEEDO_ENABLED
+#endif
+
+
+// SMBus-subclass backends:
+#ifndef AP_BATTERY_SMBUS_GENERIC_ENABLED
+#define AP_BATTERY_SMBUS_GENERIC_ENABLED AP_BATTERY_SMBUS_ENABLED
+#endif
+
+#ifndef AP_BATTERY_SMBUS_NEODESIGN_ENABLED
+#define AP_BATTERY_SMBUS_NEODESIGN_ENABLED AP_BATTERY_SMBUS_ENABLED
+#endif
+
+#ifndef AP_BATTERY_SMBUS_SUI_ENABLED
+#define AP_BATTERY_SMBUS_SUI_ENABLED AP_BATTERY_SMBUS_ENABLED
+#endif
+
+// subclasses of the SUMbus generic backend:
+#ifndef AP_BATTERY_SMBUS_MAXELL_ENABLED
+#define AP_BATTERY_SMBUS_MAXELL_ENABLED AP_BATTERY_SMBUS_GENERIC_ENABLED
+#endif
+
+#ifndef AP_BATTERY_SMBUS_ROTOYE_ENABLED
+#define AP_BATTERY_SMBUS_ROTOYE_ENABLED AP_BATTERY_SMBUS_GENERIC_ENABLED
+#endif
+
diff --git a/libraries/AP_Generator/AP_Generator_config.h b/libraries/AP_Generator/AP_Generator_config.h
new file mode 100644
index 0000000000..52d747f1b0
--- /dev/null
+++ b/libraries/AP_Generator/AP_Generator_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+
+#ifndef HAL_GENERATOR_ENABLED
+#define HAL_GENERATOR_ENABLED !HAL_MINIMIZE_FEATURES && !defined(HAL_BUILD_AP_PERIPH)
+#endif