diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 866e5b3460..3ef0db827e 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -121,10 +121,12 @@ void AP_Proximity::init()
 
     // instantiate backends
     uint8_t serial_instance = 0;
+    (void)serial_instance;  // in case no serial backends are compiled in
     for (uint8_t instance=0; instance<PROXIMITY_MAX_INSTANCES; instance++) {
         switch (get_type(instance)) {
         case Type::None:
             break;
+#if AP_PROXIMITY_RPLIDARA2_ENABLED
         case Type::RPLidarA2:
             if (AP_Proximity_RPLidarA2::detect(serial_instance)) {
                 state[instance].instance = instance;
@@ -132,11 +134,14 @@ void AP_Proximity::init()
                 serial_instance++;
             }
             break;
+#endif
+#if AP_PROXIMITY_MAV_ENABLED
         case Type::MAV:
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_MAV(*this, state[instance], params[instance]);
             break;
-
+#endif
+#if AP_PROXIMITY_TERARANGERTOWER_ENABLED
         case Type::TRTOWER:
             if (AP_Proximity_TeraRangerTower::detect(serial_instance)) {
                 state[instance].instance = instance;
@@ -144,6 +149,8 @@ void AP_Proximity::init()
                 serial_instance++;
             }
             break;
+#endif
+#if AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
         case Type::TRTOWEREVO:
             if (AP_Proximity_TeraRangerTowerEvo::detect(serial_instance)) {
                 state[instance].instance = instance;
@@ -151,12 +158,14 @@ void AP_Proximity::init()
                 serial_instance++;
             }
             break;
-
+#endif
+#if AP_PROXIMITY_RANGEFINDER_ENABLED
         case Type::RangeFinder:
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_RangeFinder(*this, state[instance], params[instance]);
             break;
-
+#endif
+#if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
         case Type::SF40C:
             if (AP_Proximity_LightWareSF40C::detect(serial_instance)) {
                 state[instance].instance = instance;
@@ -164,7 +173,8 @@ void AP_Proximity::init()
                 serial_instance++;
             }
             break;
-
+#endif
+#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
         case Type::SF45B:
             if (AP_Proximity_LightWareSF45B::detect(serial_instance)) {
                 state[instance].instance = instance;
@@ -172,7 +182,7 @@ void AP_Proximity::init()
                 serial_instance++;
             }
             break;
-
+#endif
 #if AP_PROXIMITY_CYGBOT_ENABLED
         case Type::CYGBOT_D1:
         if (AP_Proximity_Cygbot_D1::detect(serial_instance)) {
@@ -182,17 +192,18 @@ void AP_Proximity::init()
         }
             break;
 # endif
-
+#if AP_PROXIMITY_DRONECAN_ENABLED
         case  Type::DroneCAN:
             num_instances = instance+1;
         break;
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_PROXIMITY_SITL_ENABLED
         case Type::SITL:
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_SITL(*this, state[instance], params[instance]);
             break;
-
+#endif
+#if AP_PROXIMITY_AIRSIMSITL_ENABLED
         case Type::AirSimSITL:
             state[instance].instance = instance;
             drivers[instance] = new AP_Proximity_AirSimSITL(*this, state[instance], params[instance]);
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index e5ebb32a33..f65536a84f 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -48,21 +48,39 @@ public:
     enum class Type {
         None    = 0,
         // 1 was SF40C_v09
+#if AP_PROXIMITY_MAV_ENABLED
         MAV     = 2,
+#endif
+#if AP_PROXIMITY_TERARANGERTOWER_ENABLED
         TRTOWER = 3,
+#endif
+#if AP_PROXIMITY_RANGEFINDER_ENABLED
         RangeFinder = 4,
+#endif
+#if AP_PROXIMITY_RPLIDARA2_ENABLED
         RPLidarA2 = 5,
+#endif
+#if AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
         TRTOWEREVO = 6,
+#endif
+#if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
         SF40C = 7,
+#endif
+#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
         SF45B = 8,
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#endif
+#if AP_PROXIMITY_SITL_ENABLED
         SITL    = 10,
+#endif
+#if AP_PROXIMITY_AIRSIMSITL_ENABLED
         AirSimSITL = 12,
 #endif
 #if AP_PROXIMITY_CYGBOT_ENABLED
         CYGBOT_D1 = 13,
 #endif
+#if AP_PROXIMITY_DRONECAN_ENABLED
         DroneCAN = 14,
+#endif
     };
 
     enum class Status {
diff --git a/libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp b/libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
index d275cdfbc7..7394949722 100644
--- a/libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_AirSimSITL.cpp
@@ -13,15 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_AIRSIMSITL_ENABLED
+
 #include "AP_Proximity_AirSimSITL.h"
 
-#if HAL_PROXIMITY_ENABLED
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
-#include <AP_HAL/AP_HAL.h>
-#include <stdio.h>
-
-extern const AP_HAL::HAL& hal;
-
 #define PROXIMITY_MAX_RANGE 100.0f
 #define PROXIMITY_ACCURACY  0.1f        // minimum distance (in meters) between objects sent to object database
 
@@ -98,6 +95,4 @@ bool AP_Proximity_AirSimSITL::get_upward_distance(float &distance) const
     return false;
 }
 
-#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL
-
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_AIRSIMSITL_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_AirSimSITL.h b/libraries/AP_Proximity/AP_Proximity_AirSimSITL.h
index cf343734ff..200f534b76 100644
--- a/libraries/AP_Proximity/AP_Proximity_AirSimSITL.h
+++ b/libraries/AP_Proximity/AP_Proximity_AirSimSITL.h
@@ -15,11 +15,12 @@
 
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_AIRSIMSITL_ENABLED
+
 #include "AP_Proximity_Backend.h"
 
-#if HAL_PROXIMITY_ENABLED
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
 
 class AP_Proximity_AirSimSITL : public AP_Proximity_Backend
@@ -44,6 +45,6 @@ private:
     AP_Proximity_Temp_Boundary temp_boundary;
 
 };
-#endif // CONFIG_HAL_BOARD
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_AIRSIMSITL_ENABLED
+
diff --git a/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.cpp b/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.cpp
index 5a81f3fe4a..8d4e1959b3 100644
--- a/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.cpp
@@ -1,6 +1,8 @@
-#include "AP_Proximity_Cygbot_D1.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED && AP_PROXIMITY_CYGBOT_ENABLED
+#if AP_PROXIMITY_CYGBOT_ENABLED
+
+#include "AP_Proximity_Cygbot_D1.h"
 
 // update the state of the sensor
 void AP_Proximity_Cygbot_D1::update()
@@ -182,4 +184,4 @@ void AP_Proximity_Cygbot_D1::reset()
     _temp_boundary.reset();
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_CYGBOT_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.h b/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.h
index aaa1de91c8..e9e7bed7fa 100644
--- a/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.h
+++ b/libraries/AP_Proximity/AP_Proximity_Cygbot_D1.h
@@ -1,8 +1,9 @@
 #pragma once
 
-#include "AP_Proximity.h"
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_CYGBOT_ENABLED
 
-#if (HAL_PROXIMITY_ENABLED && AP_PROXIMITY_CYGBOT_ENABLED)
 #include "AP_Proximity_Backend_Serial.h"
 
 #define CYGBOT_MAX_MSG_SIZE            350
@@ -80,4 +81,4 @@ private:
 
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_CYGBOT_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
index b5b3e8265a..09f751491e 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
@@ -191,5 +191,4 @@ void AP_Proximity_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const C
     }
 }
 
-
 #endif // AP_PROXIMITY_DRONECAN_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
index a5c3c731d1..deee2b77df 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
@@ -1,15 +1,13 @@
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_DRONECAN_ENABLED
+
 #include "AP_Proximity_Backend.h"
 
 #include <AP_DroneCAN/AP_DroneCAN.h>
 
-#ifndef AP_PROXIMITY_DRONECAN_ENABLED
-#define AP_PROXIMITY_DRONECAN_ENABLED (HAL_ENABLE_DRONECAN_DRIVERS && HAL_PROXIMITY_ENABLED)
-#endif
-
-#if AP_PROXIMITY_DRONECAN_ENABLED
-
 class AP_Proximity_DroneCAN : public AP_Proximity_Backend
 {
 public:
diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
index 8204a08001..2addb7cd01 100644
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
+
 #include "AP_Proximity_LightWareSF40C.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/utility/sparse-endian.h>
@@ -421,4 +424,4 @@ uint16_t AP_Proximity_LightWareSF40C::buff_to_uint16(uint8_t b0, uint8_t b1) con
     return leval;
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
index 2dc00e4b88..87ae4d3f5e 100644
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.h
@@ -1,8 +1,10 @@
 #pragma once
 
-#include "AP_Proximity_Backend_Serial.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED
+#if AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
+
+#include "AP_Proximity_Backend_Serial.h"
 
 #define PROXIMITY_SF40C_TIMEOUT_MS            200   // requests timeout after 0.2 seconds
 #define PROXIMITY_SF40C_PAYLOAD_LEN_MAX       256   // maximum payload size we can accept (in some configurations sensor may send as large as 1023)
@@ -152,4 +154,4 @@ private:
     uint16_t buff_to_uint16(uint8_t b0, uint8_t b1) const;
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp
index 79db05c6ae..47e0e28e8e 100644
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.cpp
@@ -16,8 +16,11 @@
    http://support.lightware.co.za/sf45/#/commands
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
+
 #include "AP_Proximity_LightWareSF45B.h"
-#if HAL_PROXIMITY_ENABLED
 
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
@@ -200,4 +203,4 @@ uint8_t AP_Proximity_LightWareSF45B::convert_angle_to_minisector(float angle_deg
     return wrap_360(angle_deg + (PROXIMITY_SF45B_COMBINE_READINGS_DEG * 0.5f)) / PROXIMITY_SF45B_COMBINE_READINGS_DEG;
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h
index 2a3e2d2cbd..203c59bea6 100644
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF45B.h
@@ -1,8 +1,11 @@
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
+
 #include "AP_Proximity_LightWareSerial.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <Filter/Filter.h>
 
 class AP_Proximity_LightWareSF45B : public AP_Proximity_LightWareSerial
@@ -104,4 +107,4 @@ private:
 
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.cpp b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
index 254f1f36d7..0a31893e26 100644
--- a/libraries/AP_Proximity/AP_Proximity_MAV.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
@@ -13,9 +13,11 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include "AP_Proximity_MAV.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED
+#if AP_PROXIMITY_MAV_ENABLED
+
+#include "AP_Proximity_MAV.h"
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -272,4 +274,4 @@ void AP_Proximity_MAV::handle_obstacle_distance_3d_msg(const mavlink_message_t &
     return;
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_MAV_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.h b/libraries/AP_Proximity/AP_Proximity_MAV.h
index 7d594cf884..3ef8976fe2 100644
--- a/libraries/AP_Proximity/AP_Proximity_MAV.h
+++ b/libraries/AP_Proximity/AP_Proximity_MAV.h
@@ -1,8 +1,10 @@
 #pragma once
 
-#include "AP_Proximity_Backend.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED
+#if AP_PROXIMITY_MAV_ENABLED
+
+#include "AP_Proximity_Backend.h"
 
 class AP_Proximity_MAV : public AP_Proximity_Backend
 {
@@ -46,4 +48,4 @@ private:
     float _distance_upward;             // upward distance in meters
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_MAV_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
index ab3d1ad05a..26d75185a9 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
@@ -26,9 +26,12 @@
  *
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_RPLIDARA2_ENABLED
+
 #include "AP_Proximity_RPLidarA2.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -361,4 +364,4 @@ void AP_Proximity_RPLidarA2::parse_response_data()
     }
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_RPLIDARA2_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
index a78d02cee5..9fd20108a3 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.h
@@ -29,9 +29,11 @@
 
 #pragma once
 
-#include "AP_Proximity_Backend_Serial.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED
+#if AP_PROXIMITY_RPLIDARA2_ENABLED
+
+#include "AP_Proximity_Backend_Serial.h"
 
 class AP_Proximity_RPLidarA2 : public AP_Proximity_Backend_Serial
 {
@@ -121,4 +123,4 @@ private:
     } payload;
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_RPLIDARA2_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
index ebcca88be7..4ec86b7f6e 100644
--- a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_RANGEFINDER_ENABLED
+
 #include "AP_Proximity_RangeFinder.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -94,4 +97,4 @@ bool AP_Proximity_RangeFinder::get_upward_distance(float &distance) const
     return false;
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_RANGEFINDER_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_RangeFinder.h b/libraries/AP_Proximity/AP_Proximity_RangeFinder.h
index 635cc1bd29..828b3a2d73 100644
--- a/libraries/AP_Proximity/AP_Proximity_RangeFinder.h
+++ b/libraries/AP_Proximity/AP_Proximity_RangeFinder.h
@@ -1,8 +1,10 @@
 #pragma once
 
-#include "AP_Proximity_Backend.h"
+#include "AP_Proximity_config.h"
 
-#if HAL_PROXIMITY_ENABLED
+#if AP_PROXIMITY_RANGEFINDER_ENABLED
+
+#include "AP_Proximity_Backend.h"
 
 #define PROXIMITY_RANGEFIDER_TIMEOUT_MS 200 // requests timeout after 0.2 seconds
 
@@ -35,4 +37,4 @@ private:
     float _distance_upward = -1;        // upward distance in meters, negative if the last reading was out of range
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_RANGEFINDER_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_SITL.cpp b/libraries/AP_Proximity/AP_Proximity_SITL.cpp
index f5a71de2f3..1d72a8ebed 100644
--- a/libraries/AP_Proximity/AP_Proximity_SITL.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_SITL.cpp
@@ -13,14 +13,14 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_SITL_ENABLED
+
 #include "AP_Proximity_SITL.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_HAL/AP_HAL.h>
-
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <AP_Param/AP_Param.h>
-
 #include <AC_Fence/AC_Fence.h>
 #include <stdio.h>
 
@@ -135,6 +135,4 @@ bool AP_Proximity_SITL::get_upward_distance(float &distance) const
     return true;
 }
 
-#endif // CONFIG_HAL_BOARD
-
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_SITL_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_SITL.h b/libraries/AP_Proximity/AP_Proximity_SITL.h
index ba85dd966d..5fbe24f6ec 100644
--- a/libraries/AP_Proximity/AP_Proximity_SITL.h
+++ b/libraries/AP_Proximity/AP_Proximity_SITL.h
@@ -1,12 +1,13 @@
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_SITL_ENABLED
+
 #include "AP_Proximity.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include "AP_Proximity_Backend.h"
-#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 #include <SITL/SITL.h>
-#include <AC_Fence/AC_PolyFence_loader.h>
 #include <AP_Common/Location.h>
 
 class AP_Proximity_SITL : public AP_Proximity_Backend
@@ -35,6 +36,5 @@ private:
     bool get_distance_to_fence(float angle_deg, float &distance) const;
 
 };
-#endif // CONFIG_HAL_BOARD
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_SITL_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
index a5c2027c35..f467045035 100644
--- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_TERARANGERTOWER_ENABLED
+
 #include "AP_Proximity_TeraRangerTower.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <ctype.h>
@@ -109,4 +112,4 @@ void AP_Proximity_TeraRangerTower::update_sector_data(int16_t angle_deg, uint16_
     _last_distance_received_ms = AP_HAL::millis();
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_TERARANGERTOWER_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
index 35006cad84..c060e022b6 100644
--- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
+++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTower.h
@@ -1,8 +1,11 @@
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_TERARANGERTOWER_ENABLED
+
 #include "AP_Proximity_Backend_Serial.h"
 
-#if HAL_PROXIMITY_ENABLED
 #define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
 
 class AP_Proximity_TeraRangerTower : public AP_Proximity_Backend_Serial
@@ -33,4 +36,4 @@ private:
     uint32_t _last_distance_received_ms;    // system time of last distance measurement received from sensor
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_TERARANGERTOWER_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
index db527417df..476d47415a 100644
--- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.cpp
@@ -13,10 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_TeraRangerTowerEvo.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include <AP_Math/crc.h>
 #include <ctype.h>
 #include <stdio.h>
@@ -164,4 +167,4 @@ void AP_Proximity_TeraRangerTowerEvo::update_sector_data(int16_t angle_deg, uint
     _last_distance_received_ms = AP_HAL::millis();
 }
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
index 4b12d3fab6..5804344636 100644
--- a/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
+++ b/libraries/AP_Proximity/AP_Proximity_TeraRangerTowerEvo.h
@@ -1,8 +1,11 @@
 #pragma once
 
+#include "AP_Proximity_config.h"
+
+#if AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
+
 #include "AP_Proximity.h"
 
-#if HAL_PROXIMITY_ENABLED
 #include "AP_Proximity_Backend_Serial.h"
 
 #define PROXIMITY_TRTOWER_TIMEOUT_MS            300                               // requests timeout after 0.3 seconds
@@ -59,4 +62,4 @@ private:
 //    const uint8_t REFRESH_600_HZ[5] = { (uint8_t)0x00, (uint8_t)0x52, (uint8_t)0x03, (uint8_t)0x06, (uint8_t)0xDF};
 };
 
-#endif // HAL_PROXIMITY_ENABLED
+#endif // AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_config.h b/libraries/AP_Proximity/AP_Proximity_config.h
index c6ca9e0291..e34f3dd306 100644
--- a/libraries/AP_Proximity/AP_Proximity_config.h
+++ b/libraries/AP_Proximity/AP_Proximity_config.h
@@ -1,11 +1,57 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <GCS_MAVLink/GCS_config.h>
+#include <AP_RangeFinder/AP_RangeFinder_config.h>
 
 #ifndef HAL_PROXIMITY_ENABLED
 #define HAL_PROXIMITY_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
 #endif
 
-#ifndef AP_PROXIMITY_CYGBOT_ENABLED
-#define AP_PROXIMITY_CYGBOT_ENABLED HAL_PROXIMITY_ENABLED
+#ifndef AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#define AP_PROXIMITY_BACKEND_DEFAULT_ENABLED HAL_PROXIMITY_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_AIRSIMSITL_ENABLED
+#define AP_PROXIMITY_AIRSIMSITL_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_PROXIMITY_CYGBOT_ENABLED
+#define AP_PROXIMITY_CYGBOT_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_DRONECAN_ENABLED
+#define AP_PROXIMITY_DRONECAN_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS
+#endif
+
+#ifndef AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED
+#define AP_PROXIMITY_LIGHTWARE_SF40C_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED
+#define AP_PROXIMITY_LIGHTWARE_SF45B_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_MAV_ENABLED
+#define AP_PROXIMITY_MAV_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_RANGEFINDER_ENABLED
+#define AP_PROXIMITY_RANGEFINDER_ENABLED AP_RANGEFINDER_ENABLED && AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_RPLIDARA2_ENABLED
+#define AP_PROXIMITY_RPLIDARA2_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_SITL_ENABLED
+#define AP_PROXIMITY_SITL_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
+#ifndef AP_PROXIMITY_TERARANGERTOWER_ENABLED
+#define AP_PROXIMITY_TERARANGERTOWER_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
+#endif
+
+#ifndef AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED
+#define AP_PROXIMITY_TERARANGERTOWEREVO_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
 #endif