diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
index e00bf4ce3ea13..c602776eb9d10 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_periph.h
@@ -351,3 +351,36 @@
 #ifndef AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED
 #define AP_HAL_CHIBIOS_IN_EXPECTED_DELAY_WHEN_NOT_INITIALISED 0
 #endif
+
+#ifndef AP_SERIALLED_ENABLED
+#define AP_SERIALLED_ENABLED 0
+#endif
+
+#ifndef AP_OPTICALFLOW_ENABLED
+#define AP_OPTICALFLOW_ENABLED 0
+#endif
+
+#ifndef HAL_BUTTON_ENABLED
+#define HAL_BUTTON_ENABLED 0
+#endif
+
+#ifndef AP_NOTIFY_SCRIPTING_LED_ENABLED
+#define AP_NOTIFY_SCRIPTING_LED_ENABLED 0
+#endif
+
+#ifndef AP_PARAM_DYNAMIC_ENABLED
+#define AP_PARAM_DYNAMIC_ENABLED 0
+#endif
+
+#ifndef HAL_MOUNT_ENABLED
+#define HAL_MOUNT_ENABLED 0
+#endif
+
+#ifndef AP_CAMERA_ENABLED
+#define AP_CAMERA_ENABLED 0
+#endif
+
+#ifndef AP_TERRAIN_AVAILABLE
+#define AP_TERRAIN_AVAILABLE 0
+#endif
+
diff --git a/libraries/AP_Param/AP_Param.h b/libraries/AP_Param/AP_Param.h
index d40a7a30f86e5..db8fbde15f460 100644
--- a/libraries/AP_Param/AP_Param.h
+++ b/libraries/AP_Param/AP_Param.h
@@ -54,7 +54,9 @@
 #endif
 
 // allow for dynamically added tables when scripting enabled
+#ifndef AP_PARAM_DYNAMIC_ENABLED
 #define AP_PARAM_DYNAMIC_ENABLED AP_SCRIPTING_ENABLED
+#endif
 
 // maximum number of dynamically created tables (from scripts)
 #ifndef AP_PARAM_MAX_DYNAMIC
diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
index 1e1bfc96f9f1b..a31ba85f86450 100644
--- a/libraries/AP_Scripting/AP_Scripting.cpp
+++ b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -304,6 +304,7 @@ void AP_Scripting::thread(void) {
 
 void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
 {
+#if AP_MISSION_ENABLED
     if (!_enable) {
         return;
     }
@@ -328,6 +329,7 @@ void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd
                                       AP_HAL::millis()};
 
     mission_data->push(cmd);
+#endif
 }
 
 bool AP_Scripting::arming_checks(size_t buflen, char *buffer) const
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
index 2895aafe64b97..bc057eb7335a7 100644
--- a/libraries/AP_Scripting/AP_Scripting.h
+++ b/libraries/AP_Scripting/AP_Scripting.h
@@ -84,12 +84,13 @@ class AP_Scripting
     uint8_t num_i2c_devices;
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_SCRIPTING_CAN_SENSOR_ENABLED
     // Scripting CAN sensor
     ScriptingCANSensor *_CAN_dev;
     ScriptingCANSensor *_CAN_dev2;
 #endif
 
+#if AP_MISSION_ENABLED
     // mission item buffer
     static const int mission_cmd_queue_size = 5;
     struct scripting_mission_cmd {
@@ -100,6 +101,7 @@ class AP_Scripting
         uint32_t time_ms;
     };
     ObjectBuffer<struct scripting_mission_cmd> * mission_data;
+#endif
 
     // PWMSource storage
     uint8_t num_pwm_source;
diff --git a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
index c0d8cdc0e565e..d3b0ab2375653 100644
--- a/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
+++ b/libraries/AP_Scripting/AP_Scripting_CANSensor.cpp
@@ -17,7 +17,7 @@
  */
 #include "AP_Scripting_CANSensor.h"
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_SCRIPTING_CAN_SENSOR_ENABLED
 
 // handler for outgoing frames, using uint32
 bool ScriptingCANSensor::write_frame(AP_HAL::CANFrame &out_frame, const uint32_t timeout_us)
@@ -79,4 +79,4 @@ void ScriptingCANBuffer::add_buffer(ScriptingCANBuffer* new_buff) {
     next->add_buffer(new_buff);
 }
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
diff --git a/libraries/AP_Scripting/AP_Scripting_CANSensor.h b/libraries/AP_Scripting/AP_Scripting_CANSensor.h
index 7f7b5ecd3b013..b6f19d28d83e7 100644
--- a/libraries/AP_Scripting/AP_Scripting_CANSensor.h
+++ b/libraries/AP_Scripting/AP_Scripting_CANSensor.h
@@ -18,9 +18,19 @@
  
 #pragma once
 
+#include <AP_HAL/AP_HAL.h>
+
+#if defined(HAL_BUILD_AP_PERIPH)
+    // Must have at least two CAN ports on Periph
+    #define AP_SCRIPTING_CAN_SENSOR_ENABLED (HAL_MAX_CAN_PROTOCOL_DRIVERS > 1)
+#else
+    #define AP_SCRIPTING_CAN_SENSOR_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif
+
+#if AP_SCRIPTING_CAN_SENSOR_ENABLED
+
 #include <AP_CANManager/AP_CANSensor.h>
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
 class ScriptingCANBuffer;
 class ScriptingCANSensor : public CANSensor {
 public:
@@ -76,4 +86,4 @@ class ScriptingCANBuffer {
 
 };
 
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
diff --git a/libraries/AP_Scripting/AP_Scripting_config.h b/libraries/AP_Scripting/AP_Scripting_config.h
index 6eb4a7b59d1a8..a58d83062b9d3 100644
--- a/libraries/AP_Scripting/AP_Scripting_config.h
+++ b/libraries/AP_Scripting/AP_Scripting_config.h
@@ -3,5 +3,12 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 
 #ifndef AP_SCRIPTING_ENABLED
-#define AP_SCRIPTING_ENABLED BOARD_FLASH_SIZE > 1024
+#define AP_SCRIPTING_ENABLED (BOARD_FLASH_SIZE > 1024)
+#endif
+
+#if AP_SCRIPTING_ENABLED
+    #include <AP_Filesystem/AP_Filesystem_config.h>
+    #if !AP_FILESYSTEM_FILE_READING_ENABLED
+        #error "Scripting requires a filesystem"
+    #endif
 #endif
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index b47e877241c86..54285356bd807 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -15,6 +15,7 @@ userdata Location method offset void float'skip_check float'skip_check
 userdata Location method offset_bearing void float'skip_check float'skip_check
 userdata Location method offset_bearing_and_pitch void float'skip_check float'skip_check float'skip_check
 userdata Location method get_vector_from_origin_NEU boolean Vector3f'Null
+userdata Location method get_vector_from_origin_NEU depends AP_AHRS_ENABLED
 userdata Location method get_bearing float Location
 userdata Location method get_distance_NED Vector3f Location
 userdata Location method get_distance_NE Vector2f Location
@@ -25,6 +26,7 @@ userdata Location method copy Location
 include AP_AHRS/AP_AHRS.h
 
 singleton AP_AHRS rename ahrs
+singleton AP_AHRS depends AP_AHRS_ENABLED
 singleton AP_AHRS semaphore
 singleton AP_AHRS method get_roll float
 singleton AP_AHRS method get_pitch float
@@ -61,6 +63,7 @@ singleton AP_AHRS method get_quaternion boolean Quaternion'Null
 include AP_Arming/AP_Arming.h
 
 singleton AP_Arming rename arming
+singleton AP_Arming depends (!defined(HAL_BUILD_AP_PERIPH))
 singleton AP_Arming method disarm boolean AP_Arming::Method::SCRIPTING'literal
 singleton AP_Arming method is_armed boolean
 singleton AP_Arming method pre_arm_checks boolean false'literal
@@ -72,6 +75,7 @@ singleton AP_Arming method set_aux_auth_failed void uint8_t'skip_check string
 include AP_BattMonitor/AP_BattMonitor.h
 
 singleton AP_BattMonitor rename battery
+singleton AP_BattMonitor depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BATTERY))
 singleton AP_BattMonitor method num_instances uint8_t
 singleton AP_BattMonitor method healthy boolean uint8_t 0 ud->num_instances()
 singleton AP_BattMonitor method voltage float uint8_t 0 ud->num_instances()
@@ -89,6 +93,7 @@ singleton AP_BattMonitor method reset_remaining boolean uint8_t 0 ud->num_instan
 
 include AP_GPS/AP_GPS.h
 
+singleton AP_GPS depends (AP_GPS_ENABLED && (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_GPS)))
 singleton AP_GPS rename gps
 singleton AP_GPS enum NO_GPS NO_FIX GPS_OK_FIX_2D GPS_OK_FIX_3D GPS_OK_FIX_3D_DGPS GPS_OK_FIX_3D_RTK_FLOAT GPS_OK_FIX_3D_RTK_FIXED
 singleton AP_GPS method num_sensors uint8_t
@@ -145,6 +150,7 @@ userdata Vector2f operator +
 userdata Vector2f operator -
 userdata Vector2f method copy Vector2f
 
+userdata Quaternion depends AP_AHRS_ENABLED
 userdata Quaternion field q1 float'skip_check read write
 userdata Quaternion field q2 float'skip_check read write
 userdata Quaternion field q3 float'skip_check read write
@@ -164,6 +170,7 @@ userdata Quaternion method from_angular_velocity void Vector3f float'skip_check
 
 include AP_Notify/AP_Notify.h
 singleton AP_Notify rename notify
+singleton AP_Notify depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_NOTIFY))
 singleton AP_Notify method play_tune void string
 singleton AP_Notify method handle_rgb void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
 singleton AP_Notify method handle_rgb_id void uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check uint8_t'skip_check
@@ -190,12 +197,14 @@ singleton AP_Proximity method get_backend AP_Proximity_Backend uint8_t'skip_chec
 include AP_RangeFinder/AP_RangeFinder.h
 include AP_RangeFinder/AP_RangeFinder_Backend.h
 
+ap_object AP_RangeFinder_Backend depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 ap_object AP_RangeFinder_Backend method distance float
 ap_object AP_RangeFinder_Backend method orientation Rotation'enum
 ap_object AP_RangeFinder_Backend method type uint8_t
 ap_object AP_RangeFinder_Backend method status uint8_t
 ap_object AP_RangeFinder_Backend method handle_script_msg boolean float'skip_check
 
+singleton RangeFinder depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
@@ -254,6 +263,7 @@ singleton AP_ONVIF method get_pan_tilt_limit_min Vector2f
 singleton AP_ONVIF method get_pan_tilt_limit_max Vector2f
 
 include AP_Vehicle/AP_Vehicle.h
+singleton AP_Vehicle depends (!defined(HAL_BUILD_AP_PERIPH))
 singleton AP_Vehicle rename vehicle
 singleton AP_Vehicle scheduler-semaphore
 singleton AP_Vehicle method set_mode boolean uint8_t'skip_check ModeReason::SCRIPTING'literal
@@ -304,11 +314,13 @@ singleton AP_SerialLED method set_RGB void uint8_t 1 16 int8_t -1 INT8_MAX uint8
 singleton AP_SerialLED method send void uint8_t 1 16
 
 include SRV_Channel/SRV_Channel.h
+singleton SRV_Channels depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RC_OUT))
 singleton SRV_Channels rename SRV_Channels
 singleton SRV_Channels method find_channel boolean SRV_Channel::Aux_servo_function_t'enum SRV_Channel::k_none SRV_Channel::k_nr_aux_servo_functions-1 uint8_t'Null
 singleton SRV_Channels method set_output_pwm void SRV_Channel::Aux_servo_function_t'enum SRV_Channel::k_none SRV_Channel::k_nr_aux_servo_functions-1 uint16_t'skip_check
 singleton SRV_Channels method set_output_pwm_chan void uint8_t 0 NUM_SERVO_CHANNELS-1 uint16_t'skip_check
 singleton SRV_Channels method set_output_pwm_chan_timeout void uint8_t 0 NUM_SERVO_CHANNELS-1 uint16_t'skip_check uint16_t'skip_check
+singleton SRV_Channels method set_output_pwm_chan_timeout depends (!defined(HAL_BUILD_AP_PERIPH))
 singleton SRV_Channels method set_output_scaled void SRV_Channel::Aux_servo_function_t'enum SRV_Channel::k_none SRV_Channel::k_nr_aux_servo_functions-1 float'skip_check
 singleton SRV_Channels method get_output_pwm boolean SRV_Channel::Aux_servo_function_t'enum SRV_Channel::k_none SRV_Channel::k_nr_aux_servo_functions-1 uint16_t'Null
 singleton SRV_Channels method get_output_scaled float SRV_Channel::Aux_servo_function_t'enum SRV_Channel::k_none SRV_Channel::k_nr_aux_servo_functions-1
@@ -339,6 +351,7 @@ singleton RC_Channels method get_aux_cached boolean RC_Channel::AUX_FUNC'enum 0
 
 include AP_SerialManager/AP_SerialManager.h
 
+ap_object AP_HAL::UARTDriver depends HAL_GCS_ENABLED
 ap_object AP_HAL::UARTDriver method begin void uint32_t 1U UINT32_MAX
 ap_object AP_HAL::UARTDriver method read int16_t
 ap_object AP_HAL::UARTDriver method write uint32_t uint8_t'skip_check
@@ -346,9 +359,11 @@ ap_object AP_HAL::UARTDriver method available uint32_t
 ap_object AP_HAL::UARTDriver method set_flow_control void AP_HAL::UARTDriver::flow_control'enum AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE AP_HAL::UARTDriver::FLOW_CONTROL_AUTO
 
 singleton AP_SerialManager rename serial
+singleton AP_SerialManager depends HAL_GCS_ENABLED
 singleton AP_SerialManager method find_serial AP_HAL::UARTDriver AP_SerialManager::SerialProtocol_Scripting'literal uint8_t'skip_check
 
 include AP_Baro/AP_Baro.h
+singleton AP_Baro depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_BARO))
 singleton AP_Baro rename baro
 singleton AP_Baro method get_pressure float
 singleton AP_Baro method get_temperature float
@@ -386,7 +401,9 @@ singleton AP_Param method set_and_save_by_name rename set_and_save
 singleton AP_Param method set_default_by_name boolean string float'skip_check
 singleton AP_Param method set_default_by_name rename set_default
 singleton AP_Param method add_table boolean uint8_t 0 200 string uint8_t 1 63
+singleton AP_Param method add_table depends AP_PARAM_DYNAMIC_ENABLED
 singleton AP_Param method add_param boolean uint8_t 0 200 uint8_t 1 63 string float'skip_check
+singleton AP_Param method add_param depends AP_PARAM_DYNAMIC_ENABLED
 
 include AP_Scripting/AP_Scripting_helpers.h
 userdata Parameter creation lua_new_Parameter 1
@@ -403,6 +420,7 @@ singleton AP_Scripting rename scripting
 singleton AP_Scripting method restart_all void
 
 include AP_Mission/AP_Mission.h
+singleton AP_Mission depends AP_MISSION_ENABLED
 singleton AP_Mission rename mission
 singleton AP_Mission scheduler-semaphore
 singleton AP_Mission enum MISSION_STOPPED MISSION_RUNNING MISSION_COMPLETE
@@ -422,6 +440,7 @@ singleton AP_Mission method get_index_of_jump_tag uint16_t uint16_t 0 UINT16_MAX
 singleton AP_Mission method get_last_jump_tag boolean uint16_t'Null uint16_t'Null
 
 
+userdata mavlink_mission_item_int_t depends AP_MISSION_ENABLED
 userdata mavlink_mission_item_int_t field param1 float'skip_check read write
 userdata mavlink_mission_item_int_t field param2 float'skip_check read write
 userdata mavlink_mission_item_int_t field param3 float'skip_check read write
@@ -505,6 +524,7 @@ ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registe
 ap_object AP_HAL::I2CDevice method set_address void uint8_t'skip_check
 
 
+ap_object AP_HAL::AnalogSource depends !defined(HAL_DISABLE_ADC_DRIVER)
 ap_object AP_HAL::AnalogSource method set_pin boolean uint8_t'skip_check
 ap_object AP_HAL::AnalogSource method voltage_average float
 ap_object AP_HAL::AnalogSource method voltage_latest float
@@ -523,6 +543,7 @@ singleton hal.gpio method write void uint8_t'skip_check uint8_t 0 1
 singleton hal.gpio method toggle void uint8_t'skip_check
 singleton hal.gpio method pinMode void uint8_t'skip_check uint8_t 0 1
 
+singleton hal.analogin depends !defined(HAL_DISABLE_ADC_DRIVER)
 singleton hal.analogin rename analog
 singleton hal.analogin literal
 singleton hal.analogin method channel AP_HAL::AnalogSource ANALOG_INPUT_NONE'literal
@@ -542,6 +563,7 @@ userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field yaw'array AP_MOTO
 userdata AP_MotorsMatrix_Scripting_Dynamic::factor_table field throttle'array AP_MOTORS_MAX_NUM_MOTORS float'skip_check read write
 
 include AP_InertialSensor/AP_InertialSensor.h
+singleton AP_InertialSensor depends AP_INERTIALSENSOR_ENABLED
 singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
@@ -549,12 +571,12 @@ singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1
-singleton CAN depends HAL_MAX_CAN_PROTOCOL_DRIVERS
+singleton CAN depends AP_SCRIPTING_CAN_SENSOR_ENABLED
 
-include AP_Scripting/AP_Scripting_CANSensor.h depends HAL_MAX_CAN_PROTOCOL_DRIVERS
+include AP_Scripting/AP_Scripting_CANSensor.h
 include AP_HAL/AP_HAL.h
 
-userdata AP_HAL::CANFrame depends HAL_MAX_CAN_PROTOCOL_DRIVERS
+userdata AP_HAL::CANFrame depends AP_SCRIPTING_CAN_SENSOR_ENABLED
 userdata AP_HAL::CANFrame rename CANFrame
 userdata AP_HAL::CANFrame field id uint32_t'skip_check read write
 userdata AP_HAL::CANFrame field data'array int(ARRAY_SIZE(ud->data)) uint8_t'skip_check read write
@@ -564,7 +586,7 @@ userdata AP_HAL::CANFrame method isExtended boolean
 userdata AP_HAL::CANFrame method isRemoteTransmissionRequest boolean
 userdata AP_HAL::CANFrame method isErrorFrame boolean
 
-ap_object ScriptingCANBuffer depends HAL_MAX_CAN_PROTOCOL_DRIVERS
+ap_object ScriptingCANBuffer depends AP_SCRIPTING_CAN_SENSOR_ENABLED
 ap_object ScriptingCANBuffer method write_frame boolean AP_HAL::CANFrame uint32_t'skip_check
 ap_object ScriptingCANBuffer method read_frame boolean AP_HAL::CANFrame'Null
 
@@ -645,13 +667,13 @@ singleton AP_Mount method get_location_target boolean uint8_t'skip_check Locatio
 singleton AP_Mount method set_attitude_euler void uint8_t'skip_check float'skip_check float'skip_check float'skip_check
 
 include AP_Camera/AP_Camera.h
-singleton AP_Camera depends AP_CAMERA_SCRIPTING_ENABLED == 1
+singleton AP_Camera depends AP_CAMERA_ENABLED && (AP_CAMERA_SCRIPTING_ENABLED == 1)
 singleton AP_Camera rename camera
 singleton AP_Camera semaphore
 singleton AP_Camera method take_picture void uint8_t'skip_check
 singleton AP_Camera method record_video boolean uint8_t'skip_check boolean
 singleton AP_Camera method set_trigger_distance void uint8_t'skip_check float'skip_check
-userdata AP_Camera::camera_state_t depends (AP_CAMERA_SCRIPTING_ENABLED == 1)
+userdata AP_Camera::camera_state_t depends AP_CAMERA_ENABLED && (AP_CAMERA_SCRIPTING_ENABLED == 1)
 userdata AP_Camera::camera_state_t field take_pic_incr uint16_t'skip_check read
 userdata AP_Camera::camera_state_t field recording_video boolean read
 userdata AP_Camera::camera_state_t field zoom_type uint8_t'skip_check read
@@ -679,6 +701,7 @@ singleton AP_IOMCU method healthy boolean
 
 include AP_Compass/AP_Compass.h
 singleton Compass rename compass
+singleton Compass depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_MAG))
 singleton Compass method healthy boolean uint8_t'skip_check
 
 -- ----EFI Library----
@@ -731,12 +754,13 @@ singleton AP_Logger depends HAL_LOGGING_ENABLED
 singleton AP_Logger rename logger
 singleton AP_Logger manual write AP_Logger_Write 7
 singleton AP_Logger method log_file_content void string
+singleton AP_Logger method log_file_content depends HAL_LOGGER_FILE_CONTENTS_ENABLED
 
 singleton i2c manual get_device lua_get_i2c_device 4
 
 global manual millis lua_millis 0
 global manual micros lua_micros 0
-global manual mission_receive lua_mission_receive 0
+global manual mission_receive lua_mission_receive 0 depends AP_MISSION_ENABLED
 
 userdata uint32_t creation lua_new_uint32_t 1
 userdata uint32_t manual_operator __add uint32_t___add
diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index 9959af32398bd..b414f45546c10 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -368,6 +368,7 @@ struct method_alias {
   int line;
   int num_args;
   enum alias_type type;
+  char *dependency;
 };
 
 struct userdata_field {
@@ -887,6 +888,20 @@ void handle_manual(struct userdata *node, enum alias_type type) {
     }
     alias->num_args = atoi(num_args);
   }
+
+  char *depends_keyword = next_token();
+  if (depends_keyword != NULL) {
+    if (strcmp(depends_keyword, keyword_depends) != 0) {
+      error(ERROR_SINGLETON, "Expected depends keyword for manual method %s %s, got: %s", node->name, name, depends_keyword);
+    } else {
+      char *dependency = strtok(NULL, "");
+      if (dependency == NULL) {
+        error(ERROR_USERDATA, "Expected dependency string for global %s on line", name, state.line_num);
+      }
+      string_copy(&(alias->dependency), dependency);
+    }
+  }
+
   alias->next = node->method_aliases;
   node->method_aliases = alias;
 }
@@ -2132,6 +2147,8 @@ void emit_operators(struct userdata *data) {
 
   assert(data->ud_type == UD_USERDATA);
 
+  start_dependency(source, data->dependency);
+
   for (uint32_t i = 1; i < OP_LAST; i = (i << 1)) {
     const char * op_name = get_name_for_operation((data->operations) & i);
     if (op_name == NULL) {
@@ -2171,6 +2188,8 @@ void emit_operators(struct userdata *data) {
     fprintf(source, "}\n\n");
 
   }
+
+  end_dependency(source, data->dependency);
 }
 
 void emit_methods(struct userdata *node) {
@@ -2410,7 +2429,9 @@ void emit_sandbox(void) {
       if (manual_aliases->type != ALIAS_TYPE_MANUAL) {
         error(ERROR_GLOBALS, "Globals only support manual methods");
       }
+      start_dependency(source, manual_aliases->dependency);
       fprintf(source, "    {\"%s\", %s},\n", manual_aliases->alias, manual_aliases->name);
+      end_dependency(source, manual_aliases->dependency);
       manual_aliases = manual_aliases->next;
     }
   }
@@ -2772,6 +2793,11 @@ void emit_index_helpers(void) {
   fprintf(source, "    return false;\n");
   fprintf(source, "}\n\n");
 
+  // If enough stuff is defined out we can end up with no enums.
+  // Rather than work out which defines we would need, just ignore the unused function error.
+  fprintf(source, "#pragma GCC diagnostic push\n");
+  fprintf(source, "#pragma GCC diagnostic ignored \"-Wunused-function\"\n");
+
   fprintf(source, "static bool load_enum(lua_State *L, const userdata_enum *list, const uint8_t length, const char* name) {\n");
   fprintf(source, "    for (uint8_t i = 0; i < length; i++) {\n");
   fprintf(source, "        if (strcmp(name,list[i].name) == 0) {\n");
@@ -2780,7 +2806,10 @@ void emit_index_helpers(void) {
   fprintf(source, "        }\n");
   fprintf(source, "    }\n");
   fprintf(source, "    return false;\n");
-  fprintf(source, "}\n\n");
+  fprintf(source, "}\n");
+
+  fprintf(source, "#pragma GCC diagnostic pop\n\n");
+
 }
 
 void emit_structs(void) {
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 51d6e519c8eb3..1ff491ed74078 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -215,6 +215,7 @@ int lua_mavlink_block_command(lua_State *L) {
 }
 #endif // HAL_GCS_ENABLED
 
+#if AP_MISSION_ENABLED
 int lua_mission_receive(lua_State *L) {
     binding_argcheck(L, 0);
 
@@ -242,6 +243,7 @@ int lua_mission_receive(lua_State *L) {
 
     return 5;
 }
+#endif // AP_MISSION_ENABLED
 
 #if HAL_LOGGING_ENABLED
 int AP_Logger_Write(lua_State *L) {
@@ -630,7 +632,7 @@ int AP_HAL__I2CDevice_read_registers(lua_State *L) {
     return success;
 }
 
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+#if AP_SCRIPTING_CAN_SENSOR_ENABLED
 int lua_get_CAN_device(lua_State *L) {
 
     // Allow : and . access
@@ -680,7 +682,7 @@ int lua_get_CAN_device2(lua_State *L) {
 
     return 1;
 }
-#endif // HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif // AP_SCRIPTING_CAN_SENSOR_ENABLED
 
 /*
   directory listing, return table of files in a directory
diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index 02ab51d2c2c5e..e4a7568e4c658 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -132,6 +132,7 @@ void lua_scripts::update_stats(const char *name, uint32_t run_time, int total_me
                                             (int)total_mem,
                                             (int)run_mem);
     }
+#if HAL_LOGGING_ENABLED
     if ((_debug_options.get() & uint8_t(DebugLevel::LOG_RUNTIME)) != 0) {
         struct log_Scripting pkt {
             LOG_PACKET_HEADER_INIT(LOG_SCRIPTING_MSG),
@@ -149,6 +150,7 @@ void lua_scripts::update_stats(const char *name, uint32_t run_time, int total_me
         }
         AP::logger().WriteBlock(&pkt, sizeof(pkt));
     }
+#endif // HAL_LOGGING_ENABLED
 }
 
 lua_scripts::script_info *lua_scripts::load_script(lua_State *L, char *filename) {