diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 131cc07a47..d55a0b1c5d 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -284,9 +284,11 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
     esc_hobbywing_raw.set_timeout_ms(2);
     esc_hobbywing_raw.set_priority(CANARD_TRANSFER_PRIORITY_HIGH);
 #endif
-    
+
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
     himark_out.set_timeout_ms(2);
     himark_out.set_priority(CANARD_TRANSFER_PRIORITY_HIGH);
+#endif
 
     rgb_led.set_timeout_ms(20);
     rgb_led.set_priority(CANARD_TRANSFER_PRIORITY_LOW);
@@ -406,9 +408,12 @@ void AP_DroneCAN::loop(void)
             const uint32_t servo_period_us = 1000000UL / unsigned(_servo_rate_hz.get());
             if (now - _SRV_last_send_us >= servo_period_us) {
                 _SRV_last_send_us = now;
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
                 if (option_is_set(Options::USE_HIMARK_SERVO)) {
                     SRV_send_himark();
-                } else {
+                } else
+#endif
+                {
                     SRV_send_actuator();
                 }
                 for (uint8_t i = 0; i < DRONECAN_SRV_NUMBER; i++) {
@@ -622,6 +627,7 @@ void AP_DroneCAN::SRV_send_actuator(void)
     } while (repeat_send);
 }
 
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
 /*
   Himark servo output. This uses com.himark.servo.ServoCmd packets
  */
@@ -653,6 +659,7 @@ void AP_DroneCAN::SRV_send_himark(void)
 
     himark_out.broadcast(msg);
 }
+#endif // AP_DRONECAN_HIMARK_SERVO_SUPPORT
 
 void AP_DroneCAN::SRV_send_esc(void)
 {
@@ -1192,6 +1199,7 @@ void AP_DroneCAN::handle_actuator_status(const CanardRxTransfer& transfer, const
                                    0, 0, 0, 0, 0, 0);
 }
 
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
 /*
   handle himark ServoInfo message
  */
@@ -1211,6 +1219,7 @@ void AP_DroneCAN::handle_himark_servoinfo(const CanardRxTransfer& transfer, cons
                                    msg.pcb_temp*0.2-40,
                                    msg.error_status);
 }
+#endif // AP_DRONECAN_HIMARK_SERVO_SUPPORT
 
 #if AP_DRONECAN_VOLZ_FEEDBACK_ENABLED
 void AP_DroneCAN::handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg)
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.h b/libraries/AP_DroneCAN/AP_DroneCAN.h
index eb3b26a824..ed1d79e70b 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.h
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.h
@@ -54,6 +54,10 @@
 #define AP_DRONECAN_HOBBYWING_ESC_SUPPORT (BOARD_FLASH_SIZE>1024)
 #endif
 
+#ifndef AP_DRONECAN_HIMARK_SERVO_SUPPORT
+#define AP_DRONECAN_HIMARK_SERVO_SUPPORT (BOARD_FLASH_SIZE>1024)
+#endif
+
 // fwd-declare callback classes
 class AP_DroneCAN_DNA_Server;
 
@@ -145,7 +149,9 @@ private:
     ///// SRV output /////
     void SRV_send_actuator();
     void SRV_send_esc();
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
     void SRV_send_himark();
+#endif
 
     //scale servo output appropriately before sending
     int16_t scale_esc_output(uint8_t idx);
@@ -253,7 +259,10 @@ private:
     Canard::Publisher<ardupilot_indication_SafetyState> safety_state{canard_iface};
     Canard::Publisher<uavcan_equipment_safety_ArmingStatus> arming_status{canard_iface};
     Canard::Publisher<ardupilot_indication_NotifyState> notify_state{canard_iface};
+
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
     Canard::Publisher<com_himark_servo_ServoCmd> himark_out{canard_iface};
+#endif
 
 #if AP_DRONECAN_SEND_GPS
     Canard::Publisher<uavcan_equipment_gnss_Fix2> gnss_fix2{canard_iface};
@@ -324,6 +333,10 @@ private:
     void handle_hobbywing_StatusMsg1(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg1& msg);
     void handle_hobbywing_StatusMsg2(const CanardRxTransfer& transfer, const com_hobbywing_esc_StatusMsg2& msg);
 #endif // AP_DRONECAN_HOBBYWING_ESC_SUPPORT
+
+#if AP_DRONECAN_HIMARK_SERVO_SUPPORT
+    void handle_himark_servoinfo(const CanardRxTransfer& transfer, const com_himark_servo_ServoInfo &msg);
+#endif
     
     // incoming button handling
     void handle_button(const CanardRxTransfer& transfer, const ardupilot_indication_Button& msg);
@@ -331,7 +344,6 @@ private:
     void handle_actuator_status(const CanardRxTransfer& transfer, const uavcan_equipment_actuator_Status& msg);
     void handle_actuator_status_Volz(const CanardRxTransfer& transfer, const com_volz_servo_ActuatorStatus& msg);
     void handle_ESC_status(const CanardRxTransfer& transfer, const uavcan_equipment_esc_Status& msg);
-    void handle_himark_servoinfo(const CanardRxTransfer& transfer, const com_himark_servo_ServoInfo &msg);
     static bool is_esc_data_index_valid(const uint8_t index);
     void handle_debug(const CanardRxTransfer& transfer, const uavcan_protocol_debug_LogMessage& msg);
     void handle_param_get_set_response(const CanardRxTransfer& transfer, const uavcan_protocol_param_GetSetResponse& rsp);