diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp
index 83e7f6a0db..0cabe2c3f6 100644
--- a/libraries/AP_Gripper/AP_Gripper.cpp
+++ b/libraries/AP_Gripper/AP_Gripper.cpp
@@ -1,5 +1,7 @@
 #include "AP_Gripper.h"
 
+#if AP_GRIPPER_ENABLED
+
 #include "AP_Gripper_Servo.h"
 #include "AP_Gripper_EPM.h"
 
@@ -109,12 +111,16 @@ void AP_Gripper::init()
     switch(config.type.get()) {
     case 0:
         break;
+#if AP_GRIPPER_SERVO_ENABLED
     case 1:
         backend = new AP_Gripper_Servo(config);
         break;
+#endif
+#if AP_GRIPPER_EPM_ENABLED
     case 2:
         backend = new AP_Gripper_EPM(config);
         break;
+#endif
     default:
         break;
     }
@@ -168,3 +174,5 @@ AP_Gripper *gripper()
 }
 
 };
+
+#endif  // AP_GRIPPER_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper.h b/libraries/AP_Gripper/AP_Gripper.h
index 3f6036557d..95f887875d 100644
--- a/libraries/AP_Gripper/AP_Gripper.h
+++ b/libraries/AP_Gripper/AP_Gripper.h
@@ -15,6 +15,10 @@
 
 #pragma once
 
+#include "AP_Gripper_config.h"
+
+#if AP_GRIPPER_ENABLED
+
 #include <AP_Param/AP_Param.h>
 
 class AP_Gripper_Backend;
@@ -85,3 +89,5 @@ private:
 namespace AP {
     AP_Gripper *gripper();
 };
+
+#endif  // AP_GRIPPER_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_Backend.cpp b/libraries/AP_Gripper/AP_Gripper_Backend.cpp
index 3c4680651a..fc5aabe4fe 100644
--- a/libraries/AP_Gripper/AP_Gripper_Backend.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Backend.cpp
@@ -1,7 +1,8 @@
 #include "AP_Gripper_Backend.h"
-#include <AP_Math/AP_Math.h>
 
-extern const AP_HAL::HAL& hal;
+#if AP_GRIPPER_ENABLED
+
+#include <AP_Math/AP_Math.h>
 
 void AP_Gripper_Backend::init()
 {
@@ -20,3 +21,5 @@ void AP_Gripper_Backend::update()
         grab();
     }
 }
+
+#endif  // AP_GRIPPER_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_Backend.h b/libraries/AP_Gripper/AP_Gripper_Backend.h
index 4557ee8988..1607289130 100644
--- a/libraries/AP_Gripper/AP_Gripper_Backend.h
+++ b/libraries/AP_Gripper/AP_Gripper_Backend.h
@@ -17,6 +17,8 @@
 
 #include <AP_Gripper/AP_Gripper.h>
 
+#if AP_GRIPPER_ENABLED
+
 class AP_Gripper_Backend {
 public:
     AP_Gripper_Backend(struct AP_Gripper::Backend_Config &_config) :
@@ -55,3 +57,5 @@ protected:
 
     struct AP_Gripper::Backend_Config &config;
 };
+
+#endif  // AP_GRIPPER_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.cpp b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
index 66b715eb04..7ee41b537c 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
@@ -8,6 +8,9 @@
  */
 
 #include "AP_Gripper_EPM.h"
+
+#if AP_GRIPPER_EPM_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS.h>
@@ -142,3 +145,5 @@ bool AP_Gripper_EPM::grabbed() const
     return (config.state == AP_Gripper::STATE_GRABBED ||
             config.state == AP_Gripper::STATE_GRABBING);
 }
+
+#endif  // AP_GRIPPER_EPM_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.h b/libraries/AP_Gripper/AP_Gripper_EPM.h
index 587c011620..65ae6a4732 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.h
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.h
@@ -14,6 +14,9 @@
 #pragma once
 
 #include "AP_Gripper.h"
+
+#if AP_GRIPPER_EPM_ENABLED
+
 #include "AP_Gripper_Backend.h"
 
 #include <SRV_Channel/SRV_Channel.h>
@@ -57,3 +60,5 @@ private:
     // UAVCAN driver fd
     int _uavcan_fd = -1;
 };
+
+#endif  // AP_GRIPPER_EPM_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
index 6c6f43eb1c..45bb387fa3 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -1,4 +1,7 @@
 #include <AP_Gripper/AP_Gripper_Servo.h>
+
+#if AP_GRIPPER_SERVO_ENABLED
+
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -115,3 +118,5 @@ bool AP_Gripper_Servo::valid() const
     }
     return true;
 }
+
+#endif  // AP_GRIPPER_SERVO_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.h b/libraries/AP_Gripper/AP_Gripper_Servo.h
index a98b0ca03c..33042c0e93 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.h
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.h
@@ -16,6 +16,9 @@
 #pragma once
 
 #include <AP_Gripper/AP_Gripper_Backend.h>
+
+#if AP_GRIPPER_SERVO_ENABLED
+
 #include <SRV_Channel/SRV_Channel.h>
 
 #define SERVO_ACTUATION_TIME    500         // Time for servo to move to target position during grab or release in milliseconds
@@ -53,3 +56,5 @@ private:
 
     bool has_state_pwm(const uint16_t pwm) const;
 };
+
+#endif  // AP_GRIPPER_SERVO_ENABLED
diff --git a/libraries/AP_Gripper/AP_Gripper_config.h b/libraries/AP_Gripper/AP_Gripper_config.h
new file mode 100644
index 0000000000..b632afb01a
--- /dev/null
+++ b/libraries/AP_Gripper/AP_Gripper_config.h
@@ -0,0 +1,19 @@
+#pragma once
+
+#include <AP_BoardConfig/AP_BoardConfig.h>
+
+#ifndef AP_GRIPPER_ENABLED
+#define AP_GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
+#endif
+
+#ifndef AP_GRIPPER_BACKEND_DEFAULT_ENABLED
+#define AP_GRIPPER_BACKEND_DEFAULT_ENABLED AP_GRIPPER_ENABLED
+#endif
+
+#ifndef AP_GRIPPER_SERVO_ENABLED
+#define AP_GRIPPER_SERVO_ENABLED AP_GRIPPER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_GRIPPER_EPM_ENABLED
+#define AP_GRIPPER_EPM_ENABLED AP_GRIPPER_BACKEND_DEFAULT_ENABLED
+#endif