diff --git a/libraries/AP_RPM/AP_RPM.h b/libraries/AP_RPM/AP_RPM.h
index e54f857dc0..e251996777 100644
--- a/libraries/AP_RPM/AP_RPM.h
+++ b/libraries/AP_RPM/AP_RPM.h
@@ -19,6 +19,7 @@
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
 #include "AP_RPM_Params.h"
+#include "AP_RPM_config.h"
 
 // Maximum number of RPM measurement instances available on this platform
 #define RPM_MAX_INSTANCES 2
diff --git a/libraries/AP_RPM/AP_RPM_config.h b/libraries/AP_RPM/AP_RPM_config.h
new file mode 100644
index 0000000000..6a34bbb697
--- /dev/null
+++ b/libraries/AP_RPM/AP_RPM_config.h
@@ -0,0 +1,4 @@
+#pragma once
+
+#define AP_RPM_ENABLED 1
+
diff --git a/libraries/AP_RPM/RPM_SITL.h b/libraries/AP_RPM/RPM_SITL.h
index cff2511cf9..578b206156 100644
--- a/libraries/AP_RPM/RPM_SITL.h
+++ b/libraries/AP_RPM/RPM_SITL.h
@@ -16,6 +16,8 @@
 
 #include "AP_RPM.h"
 
+#define AP_RPM_SIM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+
 #if AP_RPM_SIM_ENABLED
 
 #include "RPM_Backend.h"