diff --git a/libraries/AP_ICEngine/AP_ICEngine.cpp b/libraries/AP_ICEngine/AP_ICEngine.cpp
index c212abe9d2..230d8d8cf2 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.cpp
+++ b/libraries/AP_ICEngine/AP_ICEngine.cpp
@@ -13,6 +13,9 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_ICEngine.h"
+
+#if AP_ICENGINE_ENABLED
 
 #include <SRV_Channel/SRV_Channel.h>
 #include <GCS_MAVLink/GCS.h>
@@ -20,8 +23,6 @@
 #include <AP_Scheduler/AP_Scheduler.h>
 #include <AP_Notify/AP_Notify.h>
 #include <RC_Channel/RC_Channel.h>
-#include <Filter/LowPassFilter.h>
-#include "AP_ICEngine.h"
 #include <AP_RPM/AP_RPM.h>
 
 extern const AP_HAL::HAL& hal;
@@ -533,3 +534,5 @@ AP_ICEngine *ice() {
         return AP_ICEngine::get_singleton();
     }
 }
+
+#endif  // AP_ICENGINE_ENABLED
diff --git a/libraries/AP_ICEngine/AP_ICEngine.h b/libraries/AP_ICEngine/AP_ICEngine.h
index dd6bb6123e..f5a1818f22 100644
--- a/libraries/AP_ICEngine/AP_ICEngine.h
+++ b/libraries/AP_ICEngine/AP_ICEngine.h
@@ -18,7 +18,12 @@
  */
 #pragma once
 
+#include "AP_ICEngine_config.h"
+
+#if AP_ICENGINE_ENABLED
+
 #include <AP_Param/AP_Param.h>
+#include <Filter/LowPassFilter.h>
 
 class AP_ICEngine {
 public:
@@ -151,3 +156,5 @@ private:
 namespace AP {
     AP_ICEngine *ice();
 };
+
+#endif  // AP_ICENGINE_ENABLED
diff --git a/libraries/AP_ICEngine/AP_ICEngine_config.h b/libraries/AP_ICEngine/AP_ICEngine_config.h
new file mode 100644
index 0000000000..c609d429f1
--- /dev/null
+++ b/libraries/AP_ICEngine/AP_ICEngine_config.h
@@ -0,0 +1,7 @@
+#pragma once
+
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_ICENGINE_ENABLED
+#define AP_ICENGINE_ENABLED 1
+#endif