diff --git a/libraries/AC_Fence/AC_Fence.cpp b/libraries/AC_Fence/AC_Fence.cpp
index 1504c8ec4e..ba050f62d5 100644
--- a/libraries/AC_Fence/AC_Fence.cpp
+++ b/libraries/AC_Fence/AC_Fence.cpp
@@ -1,11 +1,11 @@
 #include "AC_Fence.h"
 
-#if AC_FENCE
+#if AP_FENCE_ENABLED
 
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #ifndef AC_FENCE_DUMMY_METHODS_ENABLED
-#define AC_FENCE_DUMMY_METHODS_ENABLED  !(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub))
+#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub)))
 #endif
 
 #if !AC_FENCE_DUMMY_METHODS_ENABLED
@@ -756,4 +756,4 @@ AC_Fence *fence()
 
 }
 
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
diff --git a/libraries/AC_Fence/AC_Fence.h b/libraries/AC_Fence/AC_Fence.h
index 03da189b1f..9fed988eb5 100644
--- a/libraries/AC_Fence/AC_Fence.h
+++ b/libraries/AC_Fence/AC_Fence.h
@@ -1,17 +1,15 @@
 #pragma once
 
+#include "AC_Fence_config.h"
+
+#if AP_FENCE_ENABLED
+
 #include <inttypes.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include <AC_Fence/AC_PolyFence_loader.h>
 
-#ifndef AC_FENCE
-#define AC_FENCE 1
-#endif
-
-#if AC_FENCE
-
 // bit masks for enabled fence types.  Used for TYPE parameter
 #define AC_FENCE_TYPE_ALT_MAX                       1       // high alt fence which usually initiates an RTL
 #define AC_FENCE_TYPE_CIRCLE                        2       // circular horizontal fence (usually initiates an RTL)
@@ -231,4 +229,4 @@ namespace AP {
     AC_Fence *fence();
 };
 
-#endif // AC_FENCE
+#endif // AP_FENCE_ENABLED
diff --git a/libraries/AC_Fence/AC_PolyFence_loader.cpp b/libraries/AC_Fence/AC_PolyFence_loader.cpp
index d8d2b0bb09..ccdb456b94 100644
--- a/libraries/AC_Fence/AC_PolyFence_loader.cpp
+++ b/libraries/AC_Fence/AC_PolyFence_loader.cpp
@@ -1,8 +1,11 @@
 #include "AC_PolyFence_loader.h"
+
+#if AP_FENCE_ENABLED
+
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #ifndef AC_FENCE_DUMMY_METHODS_ENABLED
-#define AC_FENCE_DUMMY_METHODS_ENABLED  !(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub))
+#define AC_FENCE_DUMMY_METHODS_ENABLED  (!(APM_BUILD_TYPE(APM_BUILD_Rover) | APM_BUILD_COPTER_OR_HELI | APM_BUILD_TYPE(APM_BUILD_ArduPlane) | APM_BUILD_TYPE(APM_BUILD_ArduSub)))
 #endif
 
 #if !AC_FENCE_DUMMY_METHODS_ENABLED
@@ -1698,3 +1701,4 @@ bool AC_PolyFence_loader::get_return_point(Vector2l &ret) { return false; }
 #endif
 
 #endif // #if AC_FENCE_DUMMY_METHODS_ENABLED
+#endif // AP_FENCE_ENABLED
diff --git a/libraries/AC_Fence/AC_PolyFence_loader.h b/libraries/AC_Fence/AC_PolyFence_loader.h
index 4427cc646a..f38ee6b11a 100644
--- a/libraries/AC_Fence/AC_PolyFence_loader.h
+++ b/libraries/AC_Fence/AC_PolyFence_loader.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include "AC_Fence_config.h"
+
+#if AP_FENCE_ENABLED
+
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
@@ -434,3 +438,5 @@ private:
 
     uint16_t fence_storage_space_required(const AC_PolyFenceItem *new_items, uint16_t count);
 };
+
+#endif // AP_FENCE_ENABLED