diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
index ddff67dda2..c8027d4d14 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
@@ -1,19 +1,11 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend.h"
-
-#include <AP_BoardConfig/AP_BoardConfig.h>
-
-#ifndef AP_RANGEFINDER_BBB_PRU_ENABLED
-#define AP_RANGEFINDER_BBB_PRU_ENABLED (                            \
-        AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                   \
-        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \
-        )
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BBB_PRU_ENABLED
 
+#include "AP_RangeFinder_Backend.h"
+
 #define PRU0_CTRL_BASE 0x4a322000
 
 #define PRU0_IRAM_BASE 0x4a334000
@@ -54,4 +46,4 @@ private:
 
 };
 
-#endif
+#endif  // AP_RANGEFINDER_BBB_PRU_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
index 63be4121cc..3a64e8f0b1 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BLPing.h
@@ -1,10 +1,6 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-
-#ifndef AP_RANGEFINDER_BLPING_ENABLED
-#define AP_RANGEFINDER_BLPING_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BLPING_ENABLED
 
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
index fa1c062203..e32be0ebe8 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Bebop.h
@@ -14,19 +14,7 @@
  */
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend.h"
-
-#include <AP_HAL/AP_HAL.h>
-#include <utility>
-
-#ifndef AP_RANGEFINDER_BEBOP_ENABLED
-#define AP_RANGEFINDER_BEBOP_ENABLED \
-    AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                           \
-    (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||       \
-     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) &&      \
-    defined(HAVE_LIBIIO)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_BEBOP_ENABLED
 
@@ -158,4 +146,4 @@ private:
 };
 
 
-#endif
+#endif  // AP_RANGEFINDER_BEBOP_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
index e412a398b8..12e5fad367 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
@@ -1,9 +1,10 @@
 #pragma once
 
-#include "AP_RangeFinder.h"
-#include "AP_RangeFinder_Backend.h"
+#include "AP_RangeFinder_config.h"
 
-#if AP_SCRIPTING_ENABLED
+#if AP_RANGEFINDER_LUA_ENABLED
+
+#include "AP_RangeFinder_Backend.h"
 
 // Data timeout
 #define AP_RANGEFINDER_LUA_TIMEOUT_MS 500
@@ -30,4 +31,4 @@ private:
     float _distance_m;   // stored data from lua script:
 };
 
-#endif
+#endif  // AP_RANGEFINDER_LUA_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
index 7ae23b0df6..c9f7466373 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_SITL.h
@@ -14,16 +14,12 @@
  */
 #pragma once
 
-#include <AP_BoardConfig/AP_BoardConfig.h>
-
-#include "AP_RangeFinder_Backend.h"
-
-#ifndef AP_RANGEFINDER_SIM_ENABLED
-#define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
-#endif
+#include "AP_RangeFinder_config.h"
 
 #if AP_RANGEFINDER_SIM_ENABLED
 
+#include "AP_RangeFinder_Backend.h"
+
 class AP_RangeFinder_SITL : public AP_RangeFinder_Backend {
 public:
     // constructor. This incorporates initialisation as well.
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_analog.h b/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
index 052782a0dd..d27ad72a00 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_analog.h
@@ -1,15 +1,13 @@
 #pragma once
 
+#include "AP_RangeFinder_config.h"
+
+#if AP_RANGEFINDER_ANALOG_ENABLED
+
 #include "AP_RangeFinder.h"
 #include "AP_RangeFinder_Backend.h"
 #include "AP_RangeFinder_Params.h"
 
-#ifndef AP_RANGEFINDER_ANALOG_ENABLED
-#define AP_RANGEFINDER_ANALOG_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
-#endif
-
-#if AP_RANGEFINDER_ANALOG_ENABLED
-
 class AP_RangeFinder_analog : public AP_RangeFinder_Backend
 {
 public:
@@ -35,4 +33,4 @@ private:
     AP_HAL::AnalogSource *source;
 };
 
-#endif
+#endif  // AP_RANGEFINDER_ANALOG_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_config.h b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
index c3fdf94cde..bb51ee21bf 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_config.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_config.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_Scripting/AP_Scripting_config.h>
 
 #ifndef AP_RANGEFINDER_ENABLED
 #define AP_RANGEFINDER_ENABLED 1
@@ -9,3 +10,34 @@
 #ifndef AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
 #define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED AP_RANGEFINDER_ENABLED
 #endif
+
+#ifndef AP_RANGEFINDER_ANALOG_ENABLED
+#define AP_RANGEFINDER_ANALOG_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_BBB_PRU_ENABLED
+#define AP_RANGEFINDER_BBB_PRU_ENABLED (                            \
+        AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                   \
+        CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI \
+        )
+#endif
+
+#ifndef AP_RANGEFINDER_BLPING_ENABLED
+#define AP_RANGEFINDER_BLPING_ENABLED AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_BEBOP_ENABLED
+#define AP_RANGEFINDER_BEBOP_ENABLED \
+    AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED &&                           \
+    (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP ||       \
+     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) &&      \
+    defined(HAVE_LIBIIO)
+#endif
+
+#ifndef AP_RANGEFINDER_LUA_ENABLED
+#define AP_RANGEFINDER_LUA_ENABLED AP_SCRIPTING_ENABLED
+#endif
+
+#ifndef AP_RANGEFINDER_SIM_ENABLED
+#define AP_RANGEFINDER_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL && AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED)
+#endif