diff --git a/Tools/autotest/test_build_options.py b/Tools/autotest/test_build_options.py
index 9caf2333ae..77f78b23c1 100755
--- a/Tools/autotest/test_build_options.py
+++ b/Tools/autotest/test_build_options.py
@@ -182,8 +182,6 @@ class TestBuildOptions(object):
                 # or all vehicles:
                 feature_define_whitelist = set([
                     'AP_RANGEFINDER_ENABLED',  # only at vehicle level ATM
-                    'AC_AVOID_ENABLED',  # Rover doesn't obey this
-                    'AC_OAPATHPLANNER_ENABLED',   # Rover doesn't obey this
                     'BEACON_ENABLED',  # Rover doesn't obey this (should also be AP_BEACON_ENABLED)
                     'WINCH_ENABLED',  # Copter doesn't use this; should use AP_WINCH_ENABLED
                 ])
diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index bba07f7534..c6d28741bb 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -42,8 +42,8 @@ BUILD_OPTIONS = [
     Feature('Safety', 'PARACHUTE', 'HAL_PARACHUTE_ENABLED', 'Enable Parachute', 0, None),
     Feature('Safety', 'FENCE', 'AP_FENCE_ENABLED', 'Enable Geofence', 2, None),
     Feature('Safety', 'RALLY', 'HAL_RALLY_ENABLED', 'Enable Rally Points', 0, None),  # noqa
-    Feature('Safety', 'AC_AVOID', 'AC_AVOID_ENABLED', 'Enable Avoidance', 0, 'FENCE'),
-    Feature('Safety', 'AC_OAPATHPLANNER', 'AC_OAPATHPLANNER_ENABLED', 'Enable Object Avoidance Path Planner', 0, 'FENCE'),
+    Feature('Safety', 'AC_AVOID', 'AP_AVOIDANCE_ENABLED', 'Enable Avoidance', 0, 'FENCE'),
+    Feature('Safety', 'AC_OAPATHPLANNER', 'AP_OAPATHPLANNER_ENABLED', 'Enable Object Avoidance Path Planner', 0, 'FENCE'),
 
     Feature('Battery', 'BATTERY_FUELFLOW', 'AP_BATTERY_FUELFLOW_ENABLED', 'Enable Fuel Flow BatteryMonitor', 0, None),
     Feature('Battery', 'BATTERY_FUELLEVEL_PWM', 'AP_BATTERY_FUELLEVEL_PWM_ENABLED', 'Enable Flow Level PWM BatteryMonitor', 0, None),  # noqa: E501
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 4f845a878d..26780e0e03 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -136,8 +136,8 @@ class ExtractFeatures(object):
             ('HAL_PARACHUTE_ENABLED', 'AP_Parachute::update',),
             ('AP_FENCE_ENABLED', r'AC_Fence::check\b',),
             ('HAL_RALLY_ENABLED', r'AP_Rally::get_rally_max\b',),
-            ('AC_AVOID_ENABLED', 'AC_Avoid::AC_Avoid',),
-            ('AC_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
+            ('AP_AVOIDANCE_ENABLED', 'AC_Avoid::AC_Avoid',),
+            ('AP_OAPATHPLANNER_ENABLED', 'AP_OAPathPlanner::AP_OAPathPlanner',),
             ('AC_PAYLOAD_PLACE_ENABLED', 'PayloadPlace::start_descent'),
             ('AP_MISSION_NAV_PAYLOAD_PLACE_ENABLED', ExtractFeatures.FindString('PayloadPlace')),
             ('AP_ICENGINE_ENABLED', 'AP_ICEngine::AP_ICEngine',),