diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
index dac83df13f..a70d9fa166 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
@@ -13,15 +13,15 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_VisualOdom.h"
+#include "AP_VisualOdom_config.h"
 
 #if HAL_VISUALODOM_ENABLED
 
+#include "AP_VisualOdom.h"
 #include "AP_VisualOdom_Backend.h"
 #include "AP_VisualOdom_MAV.h"
 #include "AP_VisualOdom_IntelT265.h"
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -128,13 +128,17 @@ void AP_VisualOdom::init()
     case VisualOdom_Type::None:
         // do nothing
         break;
+#if AP_VISUALODOM_MAV_ENABLED
     case VisualOdom_Type::MAV:
         _driver = new AP_VisualOdom_MAV(*this);
         break;
+#endif
+#if AP_VISUALODOM_INTELT265_ENABLED
     case VisualOdom_Type::IntelT265:
     case VisualOdom_Type::VOXL:
         _driver = new AP_VisualOdom_IntelT265(*this);
         break;
+#endif
     }
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.h b/libraries/AP_VisualOdom/AP_VisualOdom.h
index 68c051ff7e..5a11a6e9ac 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.h
@@ -44,9 +44,13 @@ public:
     // external position backend types (used by _TYPE parameter)
     enum class VisualOdom_Type {
         None         = 0,
+#if AP_VISUALODOM_MAV_ENABLED
         MAV          = 1,
+#endif
+#if AP_VISUALODOM_INTELT265_ENABLED
         IntelT265    = 2,
         VOXL         = 3,
+#endif
     };
 
     // detect and initialise any sensors
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index 3a01cb7a83..b0974348e1 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -17,11 +17,9 @@
 
 #if HAL_VISUALODOM_ENABLED
 
-#include <AP_Logger/AP_Logger.h>
+#include <AP_AHRS/AP_AHRS.h>
 #include <GCS_MAVLink/GCS.h>
 
-extern const AP_HAL::HAL &hal;
-
 /*
   base class constructor. 
   This incorporates initialisation as well.
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index a9c02b7366..853698ce8b 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -68,5 +68,4 @@ protected:
     uint32_t _reset_timestamp_ms;   // time reset counter was received
 };
 
-#endif
-
+#endif  // HAL_VISUALODOM_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
index 62421c82a1..610f49af26 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
@@ -13,14 +13,15 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_VisualOdom_IntelT265.h"
+#include "AP_VisualOdom_config.h"
 
-#if HAL_VISUALODOM_ENABLED
+#if AP_VISUALODOM_INTELT265_ENABLED
+
+#include "AP_VisualOdom_IntelT265.h"
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <GCS_MAVLink/GCS.h>
-#include <AP_Logger/AP_Logger.h>
 
 #define VISUALODOM_RESET_IGNORE_DURATION_MS 1000    // sensor data is ignored for 1sec after a position reset
 
@@ -344,4 +345,4 @@ void AP_VisualOdom_IntelT265::handle_voxl_camera_reset_jump(const Vector3f &sens
     _voxl_reset_counter_last = reset_counter;
 }
 
-#endif
+#endif  // AP_VISUALODOM_INTELT265_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
index 03914499f8..7c5b74e8d0 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.h
@@ -1,8 +1,10 @@
 #pragma once
 
-#include "AP_VisualOdom_Backend.h"
+#include "AP_VisualOdom_config.h"
 
-#if HAL_VISUALODOM_ENABLED
+#if AP_VISUALODOM_INTELT265_ENABLED
+
+#include "AP_VisualOdom_Backend.h"
 
 class AP_VisualOdom_IntelT265 : public AP_VisualOdom_Backend
 {
@@ -88,4 +90,4 @@ protected:
     Vector3f _voxl_position_last;               // last recorded position (post scaling, offset and orientation corrections)
 };
 
-#endif
+#endif  // AP_VISUALODOM_INTELT265_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
index cebd1edf58..b8c6d0ba30 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
@@ -13,15 +13,14 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_VisualOdom_MAV.h"
+#include "AP_VisualOdom_config.h"
 
-#if HAL_VISUALODOM_ENABLED
+#if AP_VISUALODOM_MAV_ENABLED
+
+#include "AP_VisualOdom_MAV.h"
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include <AP_Logger/AP_Logger.h>
-
-extern const AP_HAL::HAL& hal;
 
 // consume vision position estimate data and send to EKF. distances in meters
 void AP_VisualOdom_MAV::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude, float posErr, float angErr, uint8_t reset_counter)
@@ -58,4 +57,4 @@ void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, ui
     Write_VisualVelocity(remote_time_us, time_ms, vel, reset_counter, false);
 }
 
-#endif
+#endif  // AP_VISUALODOM_MAV_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
index 7b089d0777..6c09f4589a 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_MAV.h
@@ -1,8 +1,10 @@
 #pragma once
 
-#include "AP_VisualOdom_Backend.h"
+#include "AP_VisualOdom_config.h"
 
-#if HAL_VISUALODOM_ENABLED
+#if AP_VISUALODOM_MAV_ENABLED
+
+#include "AP_VisualOdom_Backend.h"
 
 class AP_VisualOdom_MAV : public AP_VisualOdom_Backend
 {
@@ -18,4 +20,4 @@ public:
     void handle_vision_speed_estimate(uint64_t remote_time_us, uint32_t time_ms, const Vector3f &vel, uint8_t reset_counter) override;
 };
 
-#endif
+#endif  // AP_VISUALODOM_MAV_ENABLED
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_config.h b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
index b4cba125a0..f39423384a 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_config.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_config.h
@@ -1,7 +1,20 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef HAL_VISUALODOM_ENABLED
 #define HAL_VISUALODOM_ENABLED BOARD_FLASH_SIZE > 1024
 #endif
+
+#ifndef AP_VISUALODOM_BACKEND_DEFAULT_ENABLED
+#define AP_VISUALODOM_BACKEND_DEFAULT_ENABLED HAL_VISUALODOM_ENABLED
+#endif
+
+#ifndef AP_VISUALODOM_INTELT265_ENABLED
+#define AP_VISUALODOM_INTELT265_ENABLED AP_VISUALODOM_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
+#endif
+
+#ifndef AP_VISUALODOM_MAV_ENABLED
+#define AP_VISUALODOM_MAV_ENABLED AP_VISUALODOM_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
+#endif