diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
index d4057a9af3..b00af1bc54 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Class.cpp
@@ -28,6 +28,9 @@
 #include "Storage.h"
 #include "AnalogIn.h"
 #include "Util.h"
+#if AP_SIM_ENABLED
+#include <AP_HAL/SIMState.h>
+#endif
 
 
 static ESP32::UARTDriver cons(0);
@@ -60,15 +63,27 @@ static ESP32::AnalogIn analogIn;
 #else
 static Empty::AnalogIn analogIn;
 #endif
+#ifdef HAL_USE_EMPTY_STORAGE
+static Empty::Storage storageDriver;
+#else
 static ESP32::Storage storageDriver;
+#endif
 static Empty::GPIO gpioDriver;
+#if AP_SIM_ENABLED
+static Empty::RCOutput rcoutDriver;
+#else
 static ESP32::RCOutput rcoutDriver;
+#endif
 static ESP32::RCInput rcinDriver;
 static ESP32::Scheduler schedulerInstance;
 static ESP32::Util utilInstance;
 static Empty::OpticalFlow opticalFlowDriver;
 static Empty::Flash flashDriver;
 
+#if AP_SIM_ENABLED
+static AP_HAL::SIMState xsimstate;
+#endif
+
 extern const AP_HAL::HAL& hal;
 
 HAL_ESP32::HAL_ESP32() :
@@ -96,6 +111,9 @@ HAL_ESP32::HAL_ESP32() :
         &utilInstance,
         &opticalFlowDriver,
         &flashDriver,
+#if AP_SIM_ENABLED
+        &xsimstate,
+#endif
 #if HAL_WITH_DSP
         &dspDriver,
 #endif
diff --git a/libraries/AP_HAL_ESP32/RCInput.cpp b/libraries/AP_HAL_ESP32/RCInput.cpp
index 2923872dbd..704877962d 100644
--- a/libraries/AP_HAL_ESP32/RCInput.cpp
+++ b/libraries/AP_HAL_ESP32/RCInput.cpp
@@ -89,10 +89,10 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
 
 void RCInput::_timer_tick(void)
 {
+#if AP_RCPROTOCOL_ENABLED
     if (!_init) {
         return;
     }
-
     AP_RCProtocol &rcprot = AP::RC();
 
 #ifdef HAL_ESP32_RCIN
@@ -126,4 +126,5 @@ void RCInput::_timer_tick(void)
 #endif
 
 #endif
+#endif // AP_RCPROTOCOL_ENABLED
 }
diff --git a/libraries/AP_HAL_ESP32/boards/esp32empty.h b/libraries/AP_HAL_ESP32/boards/esp32empty.h
index 33f5d7c219..d95e30f9b2 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32empty.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32empty.h
@@ -148,3 +148,4 @@
 
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
 
+#define AP_RCPROTOCOL_ENABLED 0
diff --git a/libraries/AP_HAL_ESP32/boards/esp32s3empty.h b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
index d8f2af7f76..37c40f9a64 100644
--- a/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
+++ b/libraries/AP_HAL_ESP32/boards/esp32s3empty.h
@@ -44,7 +44,7 @@
 #define HAL_USE_ADC 0
 
 // 2 use udp, 1 use tcp...  for udp,client needs to connect as UDPCL in missionplanner etc to 192.168.4.1 port 14550
-#define HAL_ESP32_WIFI 1
+#define HAL_ESP32_WIFI 2
 
 // see boards.py
 #ifndef ENABLE_HEAP
@@ -87,3 +87,9 @@
 
 #define HAL_LOGGING_BACKENDS_DEFAULT 1
 
+#define AP_RCPROTOCOL_ENABLED 0
+
+#define AP_FILESYSTEM_ESP32_ENABLED 0
+#define AP_SCRIPTING_ENABLED 0
+#define HAL_USE_EMPTY_STORAGE 1
+