diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index a71c545846ade..02679c96601bc 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -121,6 +121,8 @@ def __init__(self,
     Feature('ESC', 'PICCOLOCAN', 'HAL_PICCOLO_CAN_ENABLE', 'Enable PiccoloCAN', 0, None),
     Feature('ESC', 'TORQEEDO', 'HAL_TORQEEDO_ENABLED', 'Enable Torqeedo Motors', 0, None),
 
+    Feature('ESC', 'ESC_EXTENDED_TELM', 'AP_EXTENDED_ESC_TELEM_ENABLED', 'Enable Extended ESC Telem', 0, 'DroneCAN'),
+
     Feature('AP_Periph', 'LONG_TEXT', 'HAL_PERIPH_SUPPORT_LONG_CAN_PRINTF', 'Enable extended length text strings', 0, None),
 
     Feature('Camera', 'Camera', 'AP_CAMERA_ENABLED', 'Enable Camera Trigger support', 0, None),
diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py
index 659b2a1a9468b..2c713ffaa673f 100755
--- a/Tools/scripts/extract_features.py
+++ b/Tools/scripts/extract_features.py
@@ -62,6 +62,8 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
             ('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',),
             ('AP_EFI_{type}_ENABLED', 'AP_EFI_(?P<type>.*)::update',),
 
+            ('AP_EXTENDED_ESC_TELEM_ENABLED', 'AP_Extended_Telem::get_input_duty',),
+
             ('AP_TEMPERATURE_SENSOR_ENABLED', 'AP_TemperatureSensor::AP_TemperatureSensor',),
             ('AP_TEMPERATURE_SENSOR_{type}_ENABLED', 'AP_TemperatureSensor_(?P<type>.*)::update',),
 
diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index cd9dab25655eb..42b5b594d5f56 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -188,6 +188,10 @@
 #define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
 #endif
 
+#ifndef AP_EXTENDED_ESC_TELEM_ENABLED
+#define AP_EXTENDED_ESC_TELEM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
+#endif
+
 // this is used as a general mechanism to make a 'small' build by
 // dropping little used features. We use this to allow us to keep
 // FMUv2 going for as long as possible