diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index 274361f7bc..2cc0f158be 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -1,5 +1,8 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include "AP_OpticalFlow.h"
+
+#if AP_OPTICALFLOW_ENABLED
+
 #include "AP_OpticalFlow_Onboard.h"
 #include "AP_OpticalFlow_SITL.h"
 #include "AP_OpticalFlow_Pixart.h"
@@ -247,3 +250,5 @@ OpticalFlow *opticalflow()
 }
 
 }
+
+#endif // AP_OPTICALFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
index 98c5a5d001..84012bf735 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.h
@@ -14,6 +14,18 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_OPTICALFLOW_ENABLED
+#define AP_OPTICALFLOW_ENABLED 1
+#endif
+
+#ifndef HAL_MSP_OPTICALFLOW_ENABLED
+#define HAL_MSP_OPTICALFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && (HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES))
+#endif
+
+#if AP_OPTICALFLOW_ENABLED
+
 /*
  *       AP_OpticalFlow.h - OpticalFlow Base Class for Ardupilot
  *       Code by Randy Mackay. DIYDrones.com
@@ -25,10 +37,6 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
 
-#ifndef HAL_MSP_OPTICALFLOW_ENABLED
-#define HAL_MSP_OPTICALFLOW_ENABLED HAL_MSP_ENABLED && !HAL_MINIMIZE_FEATURES
-#endif
-
 class OpticalFlow_backend;
 class AP_AHRS;
 
@@ -143,3 +151,5 @@ namespace AP {
 }
 
 #include "AP_OpticalFlow_Backend.h"
+
+#endif // AP_OPTICALFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp
index 4a48afecab..20eb879895 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp
@@ -15,6 +15,8 @@
 
 #include "AP_OpticalFlow.h"
 
+#if AP_OPTICALFLOW_ENABLED
+
 extern const AP_HAL::HAL& hal;
 
 OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
@@ -46,3 +48,5 @@ void OpticalFlow_backend::_applyYaw(Vector2f &v)
     v.x = cosYaw * x - sinYaw * y;
     v.y = sinYaw * x + cosYaw * y;
 }
+
+#endif
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
index 57c0cc5a35..0e120df34e 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.cpp
@@ -30,8 +30,11 @@
    sensor sends packets at 25hz
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_CXOF.h"
+
+#if AP_OPTICALFLOW_CXOF_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -199,3 +202,5 @@ void AP_OpticalFlow_CXOF::update(void)
     gyro_sum.zero();
     gyro_sum_count = 0;
 }
+
+#endif  // AP_OPTICALFLOW_CXOF_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
index aec5a85393..32b61af2c5 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_CXOF.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_CXOF_ENABLED
+#define AP_OPTICALFLOW_CXOF_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_CXOF_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_CXOF : public OpticalFlow_backend
@@ -27,3 +34,5 @@ private:
     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
 };
+
+#endif  // AP_OPTICALFLOW_CXOF_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
index bf80ca230c..944c1fd368 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
@@ -1,8 +1,8 @@
-#include <AP_HAL/AP_HAL.h>
+#include "AP_OpticalFlow_HereFlow.h"
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#if AP_OPTICALFLOW_HEREFLOW_ENABLED
 
-#include "AP_OpticalFlow_HereFlow.h"
+#include <AP_HAL/AP_HAL.h>
 
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
@@ -101,5 +101,4 @@ void AP_OpticalFlow_HereFlow::_push_state(void)
     new_data = false;
 }
 
-#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
-
+#endif // AP_OPTICALFLOW_HEREFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
index 3c9ed02551..77d86ff73e 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
@@ -1,7 +1,12 @@
 #pragma once
-#include "AP_OpticalFlow_Backend.h"
 
-#if HAL_ENABLE_LIBUAVCAN_DRIVERS
+#include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_HEREFLOW_ENABLED
+#define AP_OPTICALFLOW_HEREFLOW_ENABLED (AP_OPTICALFLOW_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#endif
+
+#if AP_OPTICALFLOW_HEREFLOW_ENABLED
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -32,4 +37,5 @@ private:
     void _push_state(void);
 
 };
-#endif //HAL_ENABLE_LIBUAVCAN_DRIVERS
+
+#endif  // AP_OPTICALFLOW_HEREFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp
index a7b739c444..9b90bb42b3 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.cpp
@@ -13,9 +13,12 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_OpticalFlow_MAV.h"
+
+#if AP_OPTICALFLOW_MAV_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
-#include "AP_OpticalFlow_MAV.h"
 
 #define OPTFLOW_MAV_TIMEOUT_SEC 0.5f
 
@@ -104,3 +107,5 @@ void AP_OpticalFlow_MAV::handle_msg(const mavlink_message_t &msg)
     // take sensor id from message
     sensor_id = packet.sensor_id;
 }
+
+#endif  // AP_OPTICALFLOW_MAV_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
index 5ba90ae784..ba1a7872af 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MAV.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_MAV_ENABLED
+#define AP_OPTICALFLOW_MAV_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_MAV_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_MAV : public OpticalFlow_backend
@@ -32,3 +39,5 @@ private:
     Vector2f gyro_sum;                  // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;            // number of gyro sensor values in sum
 };
+
+#endif  // AP_OPTICALFLOW_MAV_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
index c441f7cf36..8b5896a9dd 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.cpp
@@ -14,6 +14,8 @@
  */
 #include "AP_OpticalFlow_Onboard.h"
 
+#if AP_OPTICALFLOW_ONBOARD_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 
 #include "AP_OpticalFlow.h"
@@ -98,3 +100,5 @@ void AP_OpticalFlow_Onboard::update()
 }
 
 #endif
+
+#endif  // AP_OPTICALFLOW_ONBOARD_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
index 7b28c64ad0..b152741ddf 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.h
@@ -14,6 +14,14 @@
  */
 #pragma once
 
+#include <AP_HAL/AP_HAL_Boards.h>
+
+#ifndef AP_OPTICALFLOW_ONBOARD_ENABLED
+#define AP_OPTICALFLOW_ONBOARD_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_ONBOARD_ENABLED
+
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
@@ -30,3 +38,5 @@ public:
 private:
     uint32_t _last_read_ms;
 };
+
+#endif  // AP_OPTICALFLOW_ONBOARD_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
index 8808534e4c..1e3f634520 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
@@ -16,8 +16,11 @@
   driver for PX4Flow optical flow sensor
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_PX4Flow.h"
+
+#if AP_OPTICALFLOW_PX4FLOW_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_HAL/I2CDevice.h>
@@ -135,3 +138,5 @@ void AP_OpticalFlow_PX4Flow::timer(void)
 
     _update_frontend(state);
 }
+
+#endif  // AP_OPTICALFLOW_PX4FLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
index eeeecb7bbf..ebda790c20 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_PX4FLOW_ENABLED
+#define AP_OPTICALFLOW_PX4FLOW_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_PX4FLOW_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_PX4Flow : public OpticalFlow_backend
@@ -46,3 +53,5 @@ private:
 
     void timer(void);
 };
+
+#endif  // AP_OPTICALFLOW_PX4FLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
index 9de917fd4e..55ae7946e2 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.cpp
@@ -20,12 +20,15 @@
   timing for register reads and writes is critical
  */
 
+#include "AP_OpticalFlow_Pixart.h"
+
+#if AP_OPTICALFLOW_PIXART_ENABLED
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <utility>
 #include "AP_OpticalFlow.h"
-#include "AP_OpticalFlow_Pixart.h"
 #include "AP_OpticalFlow_Pixart_SROM.h"
 #include <stdio.h>
 
@@ -360,3 +363,5 @@ void AP_OpticalFlow_Pixart::update(void)
     // copy results to front end
     _update_frontend(state);
 }
+
+#endif  // AP_OPTICALFLOW_PIXART_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
index 82b2f14a68..b2e8a4d179 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Pixart.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_PIXART_ENABLED
+#define AP_OPTICALFLOW_PIXART_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_PIXART_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_Pixart : public OpticalFlow_backend
@@ -75,3 +82,5 @@ private:
     uint32_t last_burst_us;
     uint32_t last_update_ms;
 };
+
+#endif  // AP_OPTICALFLOW_PIXART_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
index ce85a2a4d3..3e7253071f 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.cpp
@@ -33,8 +33,11 @@
    byte13:footer (0x55)
  */
 
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OpticalFlow_UPFLOW.h"
+
+#if AP_OPTICALFLOW_UPFLOW_ENABLED
+
+#include <AP_HAL/AP_HAL.h>
 #include <AP_AHRS/AP_AHRS.h>
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <utility>
@@ -187,3 +190,5 @@ void AP_OpticalFlow_UPFLOW::update(void)
     gyro_sum.zero();
     gyro_sum_count = 0;
 }
+
+#endif  // AP_OPTICALFLOW_UPFLOW_ENABLED
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
index d00aa3b31f..5cf16f182c 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_UPFLOW.h
@@ -1,6 +1,13 @@
 #pragma once
 
 #include "AP_OpticalFlow.h"
+
+#ifndef AP_OPTICALFLOW_UPFLOW_ENABLED
+#define AP_OPTICALFLOW_UPFLOW_ENABLED AP_OPTICALFLOW_ENABLED
+#endif
+
+#if AP_OPTICALFLOW_UPFLOW_ENABLED
+
 #include <AP_HAL/utility/OwnPtr.h>
 
 class AP_OpticalFlow_UPFLOW : public OpticalFlow_backend
@@ -34,3 +41,5 @@ private:
     Vector2f gyro_sum;                      // sum of gyro sensor values since last frame from flow sensor
     uint16_t gyro_sum_count;                // number of gyro sensor values in sum
 };
+
+#endif // AP_OPTICALFLOW_UPFLOW_ENABLED