diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index fa7276f76e..137aca8bb1 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -18,6 +18,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 2b69bbd3b8..3293cc2b81 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -1116,6 +1116,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		break;
 
 	case vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT: {
+#ifdef CONFIG_FIGURE_OF_EIGHT
 
 			if (!((_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) || (_vehicle_status.is_vtol))) {
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
@@ -1142,6 +1143,11 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 				mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command rejected, Only available in fixed wing mode.");
 			}
+
+#else
+			cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
+			mavlink_log_critical(&_mavlink_log_pub, "Figure 8 command not supported.");
+#endif // CONFIG_FIGURE_OF_EIGHT
 		}
 		break;
 
diff --git a/src/modules/fw_pos_control/CMakeLists.txt b/src/modules/fw_pos_control/CMakeLists.txt
index c488d967c2..5da7f5618c 100644
--- a/src/modules/fw_pos_control/CMakeLists.txt
+++ b/src/modules/fw_pos_control/CMakeLists.txt
@@ -33,7 +33,25 @@
 
 add_subdirectory(launchdetection)
 add_subdirectory(runway_takeoff)
-add_subdirectory(figure_eight)
+
+set(POSCONTROL_DEPENDENCIES
+	launchdetection
+	npfg
+	runway_takeoff
+	SlewRate
+	tecs
+	motion_planning
+)
+
+if(CONFIG_FIGURE_OF_EIGHT)
+	add_subdirectory(figure_eight)
+	set(POSCONTROL_DEPENDENCIES
+		${POSCONTROL_DEPENDENCIES}
+		figure_eight
+	)
+endif()
+
+
 
 px4_add_module(
 	MODULE modules__fw_pos_control
@@ -42,11 +60,5 @@ px4_add_module(
 		FixedwingPositionControl.cpp
 		FixedwingPositionControl.hpp
 	DEPENDS
-		figure_eight
-		launchdetection
-		npfg
-		runway_takeoff
-		SlewRate
-		tecs
-		motion_planning
+		${POSCONTROL_DEPENDENCIES}
 	)
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
index 773dbaf9a3..3211ef69de 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp
@@ -53,7 +53,9 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
 	_attitude_sp_pub(vtol ? ORB_ID(fw_virtual_attitude_setpoint) : ORB_ID(vehicle_attitude_setpoint)),
 	_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
+#ifdef CONFIG_FIGURE_OF_EIGHT
 	_figure_eight(_npfg, _wind_vel, _eas2tas),
+#endif // CONFIG_FIGURE_OF_EIGHT
 	_launchDetector(this),
 	_runway_takeoff(this)
 {
@@ -896,10 +898,14 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 
 	if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER
 	    || current_sp.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
+#ifdef CONFIG_FIGURE_OF_EIGHT
+
 		if (current_sp.loiter_pattern == position_setpoint_s::LOITER_TYPE_FIGUREEIGHT) {
 			publishFigureEightStatus(current_sp);
 
-		} else {
+		} else
+#endif // CONFIG_FIGURE_OF_EIGHT
+		{
 			publishOrbitStatus(current_sp);
 		}
 	}
@@ -920,10 +926,13 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 		break;
 
 	case position_setpoint_s::SETPOINT_TYPE_LOITER:
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		if (current_sp.loiter_pattern == position_setpoint_s::LOITER_TYPE_FIGUREEIGHT) {
 			controlAutoFigureEight(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp);
 
-		} else {
+		} else
+#endif // CONFIG_FIGURE_OF_EIGHT
+		{
 			control_auto_loiter(control_interval, curr_pos, ground_speed, pos_sp_prev, current_sp, pos_sp_next);
 
 		}
@@ -931,6 +940,8 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 		break;
 	}
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
+
 	/* reset loiter state */
 	if ((position_sp_type != position_setpoint_s::SETPOINT_TYPE_LOITER) ||
 	    ((position_sp_type == position_setpoint_s::SETPOINT_TYPE_LOITER) &&
@@ -938,6 +949,8 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
 		_figure_eight.resetPattern();
 	}
 
+#endif // CONFIG_FIGURE_OF_EIGHT
+
 	/* Copy thrust output for publication, handle special cases */
 	if (position_sp_type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
 
@@ -1307,6 +1320,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
 				   _param_climbrate_target.get());
 }
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
 void
 FixedwingPositionControl::controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
@@ -1363,6 +1377,7 @@ FixedwingPositionControl::controlAutoFigureEight(const float control_interval, c
 	// Yaw
 	_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 }
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 void
 FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const float control_interval,
@@ -2911,6 +2926,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
 	_orbit_status_pub.publish(orbit_status);
 }
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
 void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_s pos_sp)
 {
 	figure_eight_status_s figure_eight_status{};
@@ -2925,6 +2941,7 @@ void FixedwingPositionControl::publishFigureEightStatus(const position_setpoint_
 
 	_figure_eight_status_pub.publish(figure_eight_status);
 }
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 void FixedwingPositionControl::navigateWaypoints(const Vector2f &start_waypoint, const Vector2f &end_waypoint,
 		const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp
index ff04c5aafd..004e90ea05 100644
--- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp
@@ -47,7 +47,6 @@
 #ifndef FIXEDWINGPOSITIONCONTROL_HPP_
 #define FIXEDWINGPOSITIONCONTROL_HPP_
 
-#include "figure_eight/FigureEight.hpp"
 #include "launchdetection/LaunchDetector.h"
 #include "runway_takeoff/RunwayTakeoff.h"
 
@@ -95,9 +94,15 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/wind.h>
 #include <uORB/topics/orbit_status.h>
+#ifdef CONFIG_FIGURE_OF_EIGHT
 #include <uORB/topics/figure_eight_status.h>
+#endif // CONFIG_FIGURE_OF_EIGHT
 #include <uORB/uORB.h>
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
+#include "figure_eight/FigureEight.hpp"
+#endif // CONFIG_FIGURE_OF_EIGHT
+
 using namespace launchdetection;
 using namespace runwaytakeoff;
 using namespace time_literals;
@@ -215,8 +220,10 @@ private:
 	uORB::Publication<tecs_status_s> _tecs_status_pub{ORB_ID(tecs_status)};
 	uORB::Publication<launch_detection_status_s> _launch_detection_status_pub{ORB_ID(launch_detection_status)};
 	uORB::PublicationMulti<orbit_status_s> _orbit_status_pub{ORB_ID(orbit_status)};
-	uORB::Publication<figure_eight_status_s> _figure_eight_status_pub{ORB_ID(figure_eight_status)};
-	uORB::Publication<landing_gear_s> _landing_gear_pub{ORB_ID(landing_gear)};
+#ifdef CONFIG_FIGURE_OF_EIGHT
+	uORB::Publication<figure_eight_status_s> _figure_eight_status_pub {ORB_ID(figure_eight_status)};
+#endif // CONFIG_FIGURE_OF_EIGHT
+	uORB::Publication<landing_gear_s> _landing_gear_pub {ORB_ID(landing_gear)};
 	uORB::Publication<normalized_unsigned_setpoint_s> _flaps_setpoint_pub{ORB_ID(flaps_setpoint)};
 	uORB::Publication<normalized_unsigned_setpoint_s> _spoilers_setpoint_pub{ORB_ID(spoilers_setpoint)};
 
@@ -274,8 +281,10 @@ private:
 
 	bool _landed{true};
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
 	/* Loitering */
 	FigureEight _figure_eight;
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 	// indicates whether the plane was in the air in the previous interation
 	bool _was_in_air{false};
@@ -590,6 +599,7 @@ private:
 	void control_auto_loiter(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
 				 const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
 
+#ifdef CONFIG_FIGURE_OF_EIGHT
 	/**
 	 * Vehicle control for the autonomous figure 8 mode.
 	 *
@@ -601,6 +611,7 @@ private:
 	 */
 	void controlAutoFigureEight(const float control_interval, const Vector2d &curr_pos, const Vector2f &ground_speed,
 				    const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 	/**
 	 * @brief Controls a desired airspeed, bearing, and height rate.
@@ -718,7 +729,9 @@ private:
 				    float airspeed_sp);
 
 	void publishOrbitStatus(const position_setpoint_s pos_sp);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 	void publishFigureEightStatus(const position_setpoint_s pos_sp);
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 	SlewRate<float> _airspeed_slew_rate_controller;
 
diff --git a/src/modules/fw_pos_control/Kconfig b/src/modules/fw_pos_control/Kconfig
index be700fb191..128b117b7c 100644
--- a/src/modules/fw_pos_control/Kconfig
+++ b/src/modules/fw_pos_control/Kconfig
@@ -10,3 +10,11 @@ menuconfig USER_FW_POS_CONTROL
 	depends on BOARD_PROTECTED && MODULES_FW_POS_CONTROL
 	---help---
 		Put fw_pos_control in userspace memory
+
+menuconfig FIGURE_OF_EIGHT
+	bool "fw_pos_control figure of eight loiter support"
+	default n
+	depends on MODULES_FW_POS_CONTROL
+	---help---
+		Enable support for the figure of eight loitering pattern in fixed wing.
+		NOTE: this needs the development mavlink dialect.
diff --git a/src/modules/fw_pos_control/figure_eight/FigureEight.cpp b/src/modules/fw_pos_control/figure_eight/FigureEight.cpp
index 8ec3aae217..5bb339c980 100644
--- a/src/modules/fw_pos_control/figure_eight/FigureEight.cpp
+++ b/src/modules/fw_pos_control/figure_eight/FigureEight.cpp
@@ -325,6 +325,7 @@ void FigureEight::applyCircle(bool loiter_direction_counter_clockwise, const mat
 	const float dist_to_center = vector_center_to_vehicle.norm();
 
 	Vector2f unit_vec_center_to_closest_pt = vector_center_to_vehicle.normalized();
+
 	if (dist_to_center < 0.1f) {
 		// the logic breaks down at the circle center, employ some mitigation strategies
 		// until we exit this region
@@ -372,7 +373,8 @@ void FigureEight::applyLine(const matrix::Vector2f &normalized_line_start_offset
 	_target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0));
 	const Vector2f vector_A_to_vehicle = curr_pos_local - line_segment_start_position;
 	_closest_point_on_path = line_segment_start_position + vector_A_to_vehicle.dot(unit_path_tangent) * unit_path_tangent;
-	_npfg.guideToPath(curr_pos_local, ground_speed, _wind_vel, path_tangent.normalized(), line_segment_start_position, 0.0f);
+	_npfg.guideToPath(curr_pos_local, ground_speed, _wind_vel, path_tangent.normalized(), line_segment_start_position,
+			  0.0f);
 	_roll_setpoint = _npfg.getRollSetpoint();
 	_indicated_airspeed_setpoint = _npfg.getAirspeedRef() / _eas2tas;
 }
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 25736269a5..606f76e2be 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -1444,7 +1444,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
 		configure_stream_local("LINK_NODE_STATUS", 1.0f);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f);
+#endif // CONFIG_FIGURE_OF_EIGHT
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1510,7 +1512,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_VECT", 10.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 10.0f);
 		configure_stream_local("LINK_NODE_STATUS", 1.0f);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f);
+#endif // CONFIG_FIGURE_OF_EIGHT
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1572,7 +1576,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
 		configure_stream_local("LINK_NODE_STATUS", 1.0f);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 2.0f);
+#endif // CONFIG_FIGURE_OF_EIGHT
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1666,7 +1672,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_VECT", 50.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 50.0f);
 		configure_stream_local("LINK_NODE_STATUS", 1.0f);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f);
+#endif // CONFIG_FIGURE_OF_EIGHT
 #endif // !CONSTRAINED_FLASH
 
 		break;
@@ -1744,7 +1752,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("DEBUG_FLOAT_ARRAY", 1.0f);
 		configure_stream_local("DEBUG_VECT", 1.0f);
 		configure_stream_local("NAMED_VALUE_FLOAT", 1.0f);
+#ifdef CONFIG_FIGURE_OF_EIGHT
 		configure_stream_local("FIGURE_EIGHT_EXECUTION_STATUS", 5.0f);
+#endif // CONFIG_FIGURE_OF_EIGHT
 #endif // !CONSTRAINED_FLASH
 		break;
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index a7effb4915..e9112083d1 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -120,7 +120,9 @@
 #include "streams/VFR_HUD.hpp"
 #include "streams/VIBRATION.hpp"
 #include "streams/WIND_COV.hpp"
+#ifdef CONFIG_FIGURE_OF_EIGHT
 #include "streams/FIGURE_EIGHT_EXECUTION_STATUS.hpp"
+#endif // CONFIG_FIGURE_OF_EIGHT
 
 #if !defined(CONSTRAINED_FLASH)
 # include "streams/ADSB_VEHICLE.hpp"
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 044c17c7cd..d2609a3821 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -556,6 +556,7 @@ void Navigator::run()
 
 			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT &&
 				   get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
+#ifdef CONFIG_FIGURE_OF_EIGHT
 				// Only valid for fixed wing mode
 
 				bool orbit_location_valid = true;
@@ -606,6 +607,8 @@ void Navigator::run()
 					mavlink_log_critical(&_mavlink_log_pub, "Figure 8 is outside geofence");
 				}
 
+#endif // CONFIG_FIGURE_OF_EIGHT
+
 			} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {
 				position_setpoint_triplet_s *rep = get_takeoff_triplet();