diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index 9ed6d10d1e..7d3b252feb 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -41,10 +41,6 @@
 #define RANGEFINDER_PREARM_REQUIRED_CHANGE_CM   50
 #endif
 
-#ifndef HAL_MSP_RANGEFINDER_ENABLED
-#define HAL_MSP_RANGEFINDER_ENABLED HAL_MSP_ENABLED
-#endif
-
 class AP_RangeFinder_Backend;
 
 class RangeFinder
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
index a52f042f77..f60ea1d023 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake.h
@@ -1,14 +1,11 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-
-#ifndef AP_RANGEFINDER_BENEWAKE_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_ENABLED AP_RANGEFINDER_ENABLED
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_ENABLED
 
 #include "AP_RangeFinder_Backend_Serial.h"
+#include "AP_RangeFinder.h"
 
 class AP_RangeFinder_Benewake : public AP_RangeFinder_Backend_Serial
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
index 7075598e33..7830ab99b0 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
@@ -1,15 +1,12 @@
 #pragma once
 
-#include "AP_RangeFinder_Backend.h"
-
-#include <AP_CANManager/AP_CANSensor.h>
-
-#ifndef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
 
+#include "AP_RangeFinder_Backend.h"
+#include <AP_CANManager/AP_CANSensor.h>
+
 class Benewake_MultiCAN;
 
 class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
index 207eed4f27..f6b62d4ac2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF02.h
@@ -1,13 +1,11 @@
 #pragma once
 
-#include "AP_RangeFinder_Benewake.h"
-
-#ifndef AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_TF02_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
 
+#include "AP_RangeFinder_Benewake.h"
+
 class AP_RangeFinder_Benewake_TF02 : public AP_RangeFinder_Benewake
 {
 public:
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
index 8353307fc3..2e2318ae22 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TF03.h
@@ -1,13 +1,11 @@
 #pragma once
 
-#include "AP_RangeFinder_Benewake.h"
-
-#ifndef AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_TF03_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
 
+#include "AP_RangeFinder_Benewake.h"
+
 class AP_RangeFinder_Benewake_TF03 : public AP_RangeFinder_Benewake
 {
 public:
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
index 1116f748a6..451cdfe525 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMini.h
@@ -1,13 +1,11 @@
 #pragma once
 
-#include "AP_RangeFinder_Benewake.h"
-
-#ifndef AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
 
+#include "AP_RangeFinder_Benewake.h"
+
 class AP_RangeFinder_Benewake_TFMini : public AP_RangeFinder_Benewake
 {
 public:
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
index b3cd7e6a51..8a874c710a 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
@@ -16,15 +16,13 @@
  */
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend.h"
-
-#ifndef AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
-#define AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
 
+#include "AP_RangeFinder.h"
+#include "AP_RangeFinder_Backend.h"
+
 #define TFMINIPLUS_ADDR_DEFAULT              0x10        // TFMini default device id
 
 #include <AP_HAL/utility/sparse-endian.h>
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h
index 62b01782de..6d763b2b97 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_DroneCAN.h
@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_RangeFinder_Backend.h"
-
-#ifndef AP_RANGEFINDER_DRONECAN_ENABLED
-#define AP_RANGEFINDER_DRONECAN_ENABLED (HAL_ENABLE_DRONECAN_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_DRONECAN_ENABLED
 
+#include "AP_RangeFinder_Backend.h"
 #include <AP_DroneCAN/AP_DroneCAN.h>
 
 class MeasurementCb;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
index 8e0d9281d3..7347e649e1 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_GYUS42v2.h
@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-
-#ifndef AP_RANGEFINDER_GYUS42V2_ENABLED
-#define AP_RANGEFINDER_GYUS42V2_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_GYUS42V2_ENABLED
 
+#include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
 class AP_RangeFinder_GYUS42v2 : public AP_RangeFinder_Backend_Serial
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
index 5ef460f6bb..0c582e5bfc 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_HC_SR04.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_HC_SR04_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_HC_SR04_ENABLED
-#define AP_RANGEFINDER_HC_SR04_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_HC_SR04_ENABLED
-
 #include "AP_RangeFinder_Params.h"
 
 class AP_RangeFinder_HC_SR04 : public AP_RangeFinder_Backend
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
index d65b607c8a..0a655c5183 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lanbao.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_LANBAO_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_LANBAO_ENABLED
-#define AP_RANGEFINDER_LANBAO_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_LANBAO_ENABLED
-
 class AP_RangeFinder_Lanbao : public AP_RangeFinder_Backend_Serial
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
index 8d5d96686a..43ee3f09ba 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_LEDDARONE_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_LEDDARONE_ENABLED
-#define AP_RANGEFINDER_LEDDARONE_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_LEDDARONE_ENABLED
-
 // defines
 #define LEDDARONE_DEFAULT_ADDRESS 0x01
 #define LEDDARONE_MODOBUS_FUNCTION_CODE 0x04
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
index f4492557da..68db11394e 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarVu8.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_LEDDARVU8_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_LEDDARVU8_ENABLED
-#define AP_RANGEFINDER_LEDDARVU8_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_LEDDARVU8_ENABLED
-
 #define LEDDARVU8_PAYLOAD_LENGTH (8*2)
 
 class AP_RangeFinder_LeddarVu8 : public AP_RangeFinder_Backend_Serial
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
index ebc5e760ce..ab15b6a9e5 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_LWI2C_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_LWI2C_ENABLED
-#define AP_RANGEFINDER_LWI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_LWI2C_ENABLED
-
 #include <AP_HAL/I2CDevice.h>
 
 #define NUM_SF20_DATA_STREAMS 1
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
index a5fb37f356..17b5ef46ea 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
-#define AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
-
 class AP_RangeFinder_LightWareSerial : public AP_RangeFinder_Backend_Serial
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
index 94a3e63373..b38c6fcc49 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MAVLink.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_MAVLINK_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_MAVLINK_ENABLED
-#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_MAVLINK_ENABLED
-
 // Data timeout
 #define AP_RANGEFINDER_MAVLINK_TIMEOUT_MS 500
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
index 325c3d63d7..59643fe696 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
@@ -1,10 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if HAL_MSP_RANGEFINDER_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#if HAL_MSP_RANGEFINDER_ENABLED
-
 // Data timeout
 #define AP_RANGEFINDER_MSP_TIMEOUT_MS 500
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
index 7cae78c326..7648133963 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
-#define AP_RANGEFINDER_MAXSONARI2CXL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
-
 #include <AP_HAL/I2CDevice.h>
 
 #define AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR   0x70
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
index 041d74c933..b0693c11e3 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarSerialLV.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
-#define AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
-
 class AP_RangeFinder_MaxsonarSerialLV : public AP_RangeFinder_Backend_Serial
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
index 8f9cf0406a..d8c7ff3d14 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NMEA.h
@@ -15,15 +15,13 @@
 
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend_Serial.h"
-
-#ifndef AP_RANGEFINDER_NMEA_ENABLED
-#define AP_RANGEFINDER_NMEA_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_NMEA_ENABLED
 
+#include "AP_RangeFinder.h"
+#include "AP_RangeFinder_Backend_Serial.h"
+
 class AP_RangeFinder_NMEA : public AP_RangeFinder_Backend_Serial
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h b/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h
index deaeb96a4d..e40fe11dd6 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_NoopLoop.h
@@ -1,13 +1,10 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-
-#ifndef AP_RANGEFINDER_NOOPLOOP_ENABLED
-#define AP_RANGEFINDER_NOOPLOOP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_NOOPLOOP_ENABLED
 
+#include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
 class AP_RangeFinder_NoopLoop : public AP_RangeFinder_Backend_Serial
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
index 597861d1d0..60cd5e56a7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PWM.h
@@ -14,17 +14,13 @@
  */
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend.h"
-
-#ifndef AP_RANGEFINDER_PWM_ENABLED
-#define AP_RANGEFINDER_PWM_ENABLED        \
-    (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS &&   \
-     AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_PWM_ENABLED
 
+#include "AP_RangeFinder.h"
+#include "AP_RangeFinder_Backend.h"
+
 class AP_RangeFinder_PWM : public AP_RangeFinder_Backend
 {
 public:
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
index 8f6d40e200..650c440809 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
-#define AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
-
 #include <AP_HAL/I2CDevice.h>
 
 /* Connection diagram
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
index 09bdb5f0a7..18e7c0ed64 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_TRI2C_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_TRI2C_ENABLED
-#define AP_RANGEFINDER_TRI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_TRI2C_ENABLED
-
 #include <AP_HAL/I2CDevice.h>
 
 class AP_RangeFinder_TeraRangerI2C : public AP_RangeFinder_Backend
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h
index 6840849e07..aba2d08df8 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRanger_Serial.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
-#define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
-
 class AP_RangeFinder_TeraRanger_Serial : public AP_RangeFinder_Backend_Serial
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
index 2d38a4c498..4ca6890fbe 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_USD1_CAN.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_USD1_CAN_ENABLED
+
 #include "AP_RangeFinder_Backend.h"
 #include <AP_CANManager/AP_CANSensor.h>
 
-#ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
-#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
-
-#if AP_RANGEFINDER_USD1_CAN_ENABLED
-
 class USD1_MultiCAN;
 
 class AP_RangeFinder_USD1_CAN : public AP_RangeFinder_Backend {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
index 9ffa4f96e5..98a77d5b0f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L0X.h
@@ -1,15 +1,13 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_VL53L0X_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 #include <AP_HAL/I2CDevice.h>
 
-#ifndef AP_RANGEFINDER_VL53L0X_ENABLED
-#define AP_RANGEFINDER_VL53L0X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_VL53L0X_ENABLED
-
 class AP_RangeFinder_VL53L0X : public AP_RangeFinder_Backend
 {
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
index f073781d4c..037a320d39 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_VL53L1X.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_VL53L1X_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 
-#ifndef AP_RANGEFINDER_VL53L1X_ENABLED
-#define AP_RANGEFINDER_VL53L1X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_VL53L1X_ENABLED
-
 #include <AP_HAL/I2CDevice.h>
 
 class AP_RangeFinder_VL53L1X : public AP_RangeFinder_Backend
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
index 876e0cd41a..e0a3e15ca2 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Wasp.h
@@ -1,14 +1,12 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_WASP_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend_Serial.h"
 
-#ifndef AP_RANGEFINDER_WASP_ENABLED
-#define AP_RANGEFINDER_WASP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_WASP_ENABLED
-
 // WASP 200 LRF
 // http://www.attolloengineering.com/wasp-200-lrf.html
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_config.h b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
index bb51ee21bf..ed10e44160 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_config.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
@@ -2,6 +2,8 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Scripting/AP_Scripting_config.h>
+#include <AP_CANManager/AP_CANManager_config.h>
+#include <AP_MSP/AP_MSP_config.h>
 
 #ifndef AP_RANGEFINDER_ENABLED
 #define AP_RANGEFINDER_ENABLED 1
@@ -22,6 +24,30 @@
         )
 #endif
 
+#ifndef AP_RANGEFINDER_BENEWAKE_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_ENABLED AP_RANGEFINDER_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_BENEWAKE_CAN_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_BENEWAKE_TF02_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TF02_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_BENEWAKE_TF03_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TF03_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TFMINI_ENABLED (AP_RANGEFINDER_BENEWAKE_ENABLED && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED
+#define AP_RANGEFINDER_BENEWAKE_TFMINIPLUS_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RANGEFINDER_BLPING_ENABLED
 #define AP_RANGEFINDER_BLPING_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
 #endif
@@ -34,10 +60,98 @@
     defined(HAVE_LIBIIO)
 #endif
 
+#ifndef AP_RANGEFINDER_DRONECAN_ENABLED
+#define AP_RANGEFINDER_DRONECAN_ENABLED (HAL_ENABLE_DRONECAN_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_GYUS42V2_ENABLED
+#define AP_RANGEFINDER_GYUS42V2_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_HC_SR04_ENABLED
+#define AP_RANGEFINDER_HC_SR04_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_LANBAO_ENABLED
+#define AP_RANGEFINDER_LANBAO_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_LEDDARONE_ENABLED
+#define AP_RANGEFINDER_LEDDARONE_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_LEDDARVU8_ENABLED
+#define AP_RANGEFINDER_LEDDARVU8_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_LWI2C_ENABLED
+#define AP_RANGEFINDER_LWI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED
+#define AP_RANGEFINDER_LIGHTWARE_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RANGEFINDER_LUA_ENABLED
 #define AP_RANGEFINDER_LUA_ENABLED AP_SCRIPTING_ENABLED
 #endif
 
+#ifndef AP_RANGEFINDER_MAVLINK_ENABLED
+#define AP_RANGEFINDER_MAVLINK_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED
+#define AP_RANGEFINDER_MAXBOTIX_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_MAXSONARI2CXL_ENABLED
+#define AP_RANGEFINDER_MAXSONARI2CXL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef HAL_MSP_RANGEFINDER_ENABLED
+#define HAL_MSP_RANGEFINDER_ENABLED HAL_MSP_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_NMEA_ENABLED
+#define AP_RANGEFINDER_NMEA_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_NOOPLOOP_ENABLED
+#define AP_RANGEFINDER_NOOPLOOP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED && BOARD_FLASH_SIZE > 1024
+#endif
+
+#ifndef AP_RANGEFINDER_PWM_ENABLED
+#define AP_RANGEFINDER_PWM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED
+#define AP_RANGEFINDER_PULSEDLIGHTLRF_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
 #ifndef AP_RANGEFINDER_SIM_ENABLED
 #define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
 #endif
+
+#ifndef AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED
+#define AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_TRI2C_ENABLED
+#define AP_RANGEFINDER_TRI2C_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_USD1_CAN_ENABLED
+#define AP_RANGEFINDER_USD1_CAN_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif
+
+#ifndef AP_RANGEFINDER_VL53L0X_ENABLED
+#define AP_RANGEFINDER_VL53L0X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_VL53L1X_ENABLED
+#define AP_RANGEFINDER_VL53L1X_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_WASP_ENABLED
+#define AP_RANGEFINDER_WASP_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif