diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index 58e7083f7b..44a9fa7b38 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -339,6 +339,8 @@ BUILD_OPTIONS = [
     Feature('Actuators', 'SBUS Output', 'AP_SBUSOUTPUT_ENABLED', 'Enable SBUS Output on serial ports', 0, None),
     Feature('Actuators', 'FETTecOneWire', 'AP_FETTEC_ONEWIRE_ENABLED', 'Enable FETTec OneWire ESCs', 0, None),
     Feature('Actuators', 'KDECAN', 'AP_KDECAN_ENABLED', 'KDE Direct KDECAN ESC', 0, None),
+    Feature('Actuators', 'HimarkServo', 'AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'Enable Himark DroneCAN servos', 0, None),
+    Feature('Actuators', 'HobbywingESC', 'AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'Enable Hobbywing DroneCAN ESCs', 0, None),
 
     Feature('Precision Landing', 'PrecLand', 'AC_PRECLAND_ENABLED', 'Enable Precision Landing support', 0, None),
     Feature('Precision Landing', 'PrecLand - Companion', 'AC_PRECLAND_COMPANION_ENABLED', 'Enable Companion-Supported Precision Landing support', 0, "PrecLand"),  # noqa
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 0c97e19d49..16da16c1fb 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -215,6 +215,9 @@ class ExtractFeatures(object):
             ('AP_MAVLINK_MSG_DEVICE_OP_ENABLED', 'GCS_MAVLINK::handle_device_op_write'),
             ('AP_MAVLINK_SERVO_RELAY_ENABLED', 'GCS_MAVLINK::handle_servorelay_message'),
             ('AP_MAVLINK_MSG_SERIAL_CONTROL_ENABLED', 'GCS_MAVLINK::handle_serial_control'),
+
+            ('AP_DRONECAN_HIMARK_SERVO_SUPPORT', 'AP_DroneCAN::SRV_send_himark'),
+            ('AP_DRONECAN_HOBBYWING_ESC_SUPPORT', 'AP_DroneCAN::hobbywing_ESC_update'),
         ]
 
     def progress(self, msg):