diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index b2e2212239..398286b878 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -241,17 +241,23 @@ void AC_PrecLand::init(uint16_t update_rate_hz)
         default:
             return;
         // companion computer
+#if AC_PRECLAND_COMPANION_ENABLED
         case Type::COMPANION:
             _backend = new AC_PrecLand_Companion(*this, _backend_state);
             break;
         // IR Lock
+#endif
+#if AC_PRECLAND_IRLOCK_ENABLED
         case Type::IRLOCK:
             _backend = new AC_PrecLand_IRLock(*this, _backend_state);
             break;
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AC_PRECLAND_SITL_GAZEBO_ENABLED
         case Type::SITL_GAZEBO:
             _backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state);
             break;
+#endif
+#if AC_PRECLAND_SITL_ENABLED
         case Type::SITL:
             _backend = new AC_PrecLand_SITL(*this, _backend_state);
             break;
diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h
index 397739c9f7..6826bded51 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.h
+++ b/libraries/AC_PrecLand/AC_PrecLand.h
@@ -127,10 +127,18 @@ private:
     // types of precision landing (used for PRECLAND_TYPE parameter)
     enum class Type : uint8_t {
         NONE = 0,
+#if AC_PRECLAND_COMPANION_ENABLED
         COMPANION = 1,
+#endif
+#if AC_PRECLAND_IRLOCK_ENABLED
         IRLOCK = 2,
+#endif
+#if AC_PRECLAND_SITL_GAZEBO_ENABLED
         SITL_GAZEBO = 3,
+#endif
+#if AC_PRECLAND_SITL_ENABLED
         SITL = 4,
+#endif
     };
 
     enum PLndOptions {