diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 7a1595b7e5dc0..9908cf767d60f 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -1,3 +1,7 @@
+#include "AP_Vehicle_config.h"
+
+#if AP_VEHICLE_ENABLED
+
 #include "AP_Vehicle.h"
 
 #include <AP_BLHeli/AP_BLHeli.h>
@@ -1029,3 +1033,4 @@ AP_Vehicle *vehicle()
 
 };
 
+#endif  // AP_VEHICLE_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 38e65f071fb4a..1ccbe4d550014 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -14,6 +14,10 @@
  */
 #pragma once
 
+#include "AP_Vehicle_config.h"
+
+#if AP_VEHICLE_ENABLED
+
 /*
   this header holds a parameter structure for each vehicle type for
   parameters needed by multiple libraries
@@ -490,3 +494,5 @@ extern const AP_HAL::HAL& hal;
 extern const AP_Param::Info vehicle_var_info[];
 
 #include "AP_Vehicle_Type.h"
+
+#endif  // AP_VEHICLE_ENABLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle_config.h b/libraries/AP_Vehicle/AP_Vehicle_config.h
new file mode 100644
index 0000000000000..8cdfa764a0529
--- /dev/null
+++ b/libraries/AP_Vehicle/AP_Vehicle_config.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#ifndef AP_VEHICLE_ENABLED
+#define AP_VEHICLE_ENABLED 1
+#endif