diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 324e36e516..d04525b12e 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -226,9 +226,9 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-//  Crop Sprayer
+//  Crop Sprayer - enabled only on larger firmwares
 #ifndef SPRAYER
- # define SPRAYER  ENABLED
+ # define SPRAYER  !HAL_MINIMIZE_FEATURES
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
@@ -238,15 +238,15 @@
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-//	gripper
+// gripper - enabled only on larger firmwares
 #ifndef GRIPPER_ENABLED
- # define GRIPPER_ENABLED ENABLED
+ # define GRIPPER_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
-// Winch support
+// winch support - enabled only on larger firmwares
 #ifndef WINCH_ENABLED
-# define WINCH_ENABLED ENABLED
+# define WINCH_ENABLED !HAL_MINIMIZE_FEATURES
 #endif
 
 //////////////////////////////////////////////////////////////////////////////