diff --git a/ArduPlane/GCS_MAVLink_Plane.cpp b/ArduPlane/GCS_MAVLink_Plane.cpp
index 9dad1e1446c..ac22ee8c3b2 100644
--- a/ArduPlane/GCS_MAVLink_Plane.cpp
+++ b/ArduPlane/GCS_MAVLink_Plane.cpp
@@ -545,7 +545,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_preflight_calibration(const mavlink
 void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
                                        const mavlink_message_t &msg)
 {
-#if HAL_ADSB_ENABLED
+#if AP_ADSB_AVOIDANCE_ENABLED
     plane.avoidance_adsb.handle_msg(msg);
 #endif
     GCS_MAVLINK::packetReceived(status, msg);
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index e64339f07c9..42cfafd2083 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -802,11 +802,13 @@ const AP_Param::Info Plane::var_info[] = {
     // @Group: ADSB_
     // @Path: ../libraries/AP_ADSB/AP_ADSB.cpp
     GOBJECT(adsb,                "ADSB_", AP_ADSB),
+#endif  // HAL_ADSB_ENABLED
 
+#if AP_ADSB_AVOIDANCE_ENABLED
     // @Group: AVD_
     // @Path: ../libraries/AP_Avoidance/AP_Avoidance.cpp
     GOBJECT(avoidance_adsb, "AVD_", AP_Avoidance_Plane),
-#endif
+#endif  // AP_ADSB_AVOIDANCE_ENABLED
 
 #if HAL_QUADPLANE_ENABLED
     // @Group: Q_
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index ec6bb434507..7a2803ce0db 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -131,9 +131,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_Logger,         &plane.logger, periodic_tasks, 50, 400, 138),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor, &plane.ins,    periodic,       50,  50, 141),
-#if HAL_ADSB_ENABLED
+#if HAL_ADSB_ENABLED || AP_ADSB_AVOIDANCE_ENABLED
     SCHED_TASK(avoidance_adsb_update,  10,    100, 144),
-#endif
+#endif  // HAL_ADSB_ENABLED || AP_ADSB_AVOIDANCE_ENABLED
     SCHED_TASK_CLASS(RC_Channels,       (RC_Channels*)&plane.g2.rc_channels, read_aux_all,           10,    200, 147),
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button, &plane.button, update, 5, 100, 150),
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 18a09aa0d73..c1915d81a4d 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -78,6 +78,7 @@
 #include <AP_OpticalFlow/AP_OpticalFlow.h>     // Optical Flow library
 #include <AP_Parachute/AP_Parachute.h>
 #include <AP_ADSB/AP_ADSB.h>
+#include <AP_Avoidance/AP_Avoidance_config.h>      // "ADSB" avoidance library
 #include <AP_ICEngine/AP_ICEngine.h>
 #include <AP_Landing/AP_Landing.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
@@ -117,9 +118,9 @@
 
 #include "RC_Channel_Plane.h"     // RC Channel Library
 #include "Parameters.h"
-#if HAL_ADSB_ENABLED
+#if AP_ADSB_AVOIDANCE_ENABLED
 #include "avoidance_adsb.h"
-#endif
+#endif  // AP_ADSB_AVOIDANCE_ENABLED
 #include "AP_Arming_Plane.h"
 #include "pullup.h"
 #include "systemid.h"
@@ -703,10 +704,12 @@ private:
             FUNCTOR_BIND_MEMBER(&Plane::update_flight_stage, void)};
 #if HAL_ADSB_ENABLED
     AP_ADSB adsb;
+#endif  // HAL_ADSB_ENABLED
 
+#if AP_ADSB_AVOIDANCE_ENABLED
     // avoidance of adsb enabled vehicles (normally manned vehicles)
     AP_Avoidance_Plane avoidance_adsb{adsb};
-#endif
+#endif  // AP_ADSB_AVOIDANCE_ENABLED
 
     // Outback Challenge Failsafe Support
 #if AP_ADVANCEDFAILSAFE_ENABLED
diff --git a/ArduPlane/avoidance_adsb.cpp b/ArduPlane/avoidance_adsb.cpp
index b758eb13660..93c633a8e95 100644
--- a/ArduPlane/avoidance_adsb.cpp
+++ b/ArduPlane/avoidance_adsb.cpp
@@ -2,14 +2,19 @@
 #include <stdio.h>
 #include "Plane.h"
 
-#if HAL_ADSB_ENABLED
+#if HAL_ADSB_ENABLED || AP_ADSB_AVOIDANCE_ENABLED
 void Plane::avoidance_adsb_update(void)
 {
+#if HAL_ADSB_ENABLED
     adsb.update();
+#endif  // HAL_ADSB_ENABLED
+#if AP_ADSB_AVOIDANCE_ENABLED
     avoidance_adsb.update();
+#endif  // AP_ADSB_AVOIDANCE_ENABLED
 }
+#endif  // HAL_ADSB_ENABLED || AP_ADSB_AVOIDANCE_ENABLED
 
-
+#if AP_ADSB_AVOIDANCE_ENABLED
 MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action)
 {
     MAV_COLLISION_ACTION actual_action = requested_action;
@@ -223,5 +228,4 @@ bool AP_Avoidance_Plane::handle_avoidance_horizontal(const AP_Avoidance::Obstacl
     return false;
 }
 
-#endif // HAL_ADSB_ENABLED
-
+#endif // AP_ADSB_AVOIDANCE_ENABLED
diff --git a/ArduPlane/avoidance_adsb.h b/ArduPlane/avoidance_adsb.h
index 3fbc8c771c9..009c14ce93a 100644
--- a/ArduPlane/avoidance_adsb.h
+++ b/ArduPlane/avoidance_adsb.h
@@ -2,6 +2,8 @@
 
 #include <AP_Avoidance/AP_Avoidance.h>
 
+#if AP_ADSB_AVOIDANCE_ENABLED
+
 // Provide Plane-specific implementation of avoidance.  While most of
 // the logic for doing the actual avoidance is present in
 // AP_Avoidance, this class allows Plane to override base
@@ -33,3 +35,5 @@ protected:
     // control mode before avoidance began
     enum Mode::Number prev_control_mode_number = Mode::Number::RTL;
 };
+
+#endif  // AP_ADSB_AVOIDANCE_ENABLED