diff --git a/Makefile b/Makefile
index 3fed0ae854..5c4bb6308a 100644
--- a/Makefile
+++ b/Makefile
@@ -497,14 +497,13 @@ px4_sitl_default-clang:
 # - Test code (allowed looser style)
 # - Example code (educational, not production)
 # - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers that depend on platform headers unavailable in SITL builds
-#   (MCP GPIO, SMBus/I2C)
+# - NuttX-only drivers excluded at CMake level (mcp_common, smbus); GPIO excluded here
 # - Emscripten failsafe web build (requires emscripten SDK not present in container)
 #
 # To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
 # Submodules are automatically excluded - no action needed when adding new ones.
 CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/mcp_common|src/drivers/gpio|src/lib/drivers/smbus|src/modules/commander/failsafe/emscripten
+CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/drivers/gpio|src/modules/commander/failsafe/emscripten
 CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
 
 clang-tidy: px4_sitl_default-clang
diff --git a/src/lib/drivers/CMakeLists.txt b/src/lib/drivers/CMakeLists.txt
index 1511d19332..6ece18c65e 100644
--- a/src/lib/drivers/CMakeLists.txt
+++ b/src/lib/drivers/CMakeLists.txt
@@ -36,7 +36,10 @@ add_subdirectory(device)
 add_subdirectory(gyroscope)
 add_subdirectory(led)
 add_subdirectory(magnetometer)
-add_subdirectory(mcp_common)
 add_subdirectory(rangefinder)
-add_subdirectory(smbus)
-add_subdirectory(smbus_sbs)
+
+if (${PX4_PLATFORM} STREQUAL "nuttx")
+	add_subdirectory(mcp_common)
+	add_subdirectory(smbus)
+	add_subdirectory(smbus_sbs)
+endif()