diff --git a/libraries/AP_Beacon/AP_Beacon.cpp b/libraries/AP_Beacon/AP_Beacon.cpp
index 1b9de318d4..c2044ad758 100644
--- a/libraries/AP_Beacon/AP_Beacon.cpp
+++ b/libraries/AP_Beacon/AP_Beacon.cpp
@@ -28,6 +28,10 @@
 
 extern const AP_HAL::HAL &hal;
 
+#ifndef AP_BEACON_MINIMUM_FENCE_BEACONS
+#define AP_BEACON_MINIMUM_FENCE_BEACONS 3
+#endif
+
 // table of user settable parameters
 const AP_Param::GroupInfo AP_Beacon::var_info[] = {
 
diff --git a/libraries/AP_Beacon/AP_Beacon.h b/libraries/AP_Beacon/AP_Beacon.h
index 98f7c37775..aaebfa86ad 100644
--- a/libraries/AP_Beacon/AP_Beacon.h
+++ b/libraries/AP_Beacon/AP_Beacon.h
@@ -25,10 +25,6 @@
 
 class AP_Beacon_Backend;
 
-#define AP_BEACON_MAX_BEACONS 4
-#define AP_BEACON_TIMEOUT_MS 300
-#define AP_BEACON_MINIMUM_FENCE_BEACONS 3
-
 class AP_Beacon
 {
 public:
diff --git a/libraries/AP_Beacon/AP_Beacon_config.h b/libraries/AP_Beacon/AP_Beacon_config.h
index 38d3533142..d3d866015f 100644
--- a/libraries/AP_Beacon/AP_Beacon_config.h
+++ b/libraries/AP_Beacon/AP_Beacon_config.h
@@ -6,6 +6,14 @@
 #define AP_BEACON_ENABLED 1
 #endif
 
+#ifndef AP_BEACON_MAX_BEACONS
+#define AP_BEACON_MAX_BEACONS 4
+#endif
+
+#ifndef AP_BEACON_TIMEOUT_MS
+#define AP_BEACON_TIMEOUT_MS 300
+#endif
+
 #ifndef AP_BEACON_BACKEND_DEFAULT_ENABLED
 #define AP_BEACON_BACKEND_DEFAULT_ENABLED AP_BEACON_ENABLED
 #endif