diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index 441f64835e..fb69532dca 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -24,6 +24,9 @@
 #include <math.h>
 
 #include "platform.h"
+
+#ifdef USE_PWM_OUTPUT
+
 #include "drivers/time.h"
 
 #include "drivers/io.h"
@@ -682,7 +685,7 @@ FAST_CODE uint16_t prepareDshotPacket(motorDmaOutput_t *const motor)
 
     return packet;
 }
-#endif
+#endif // USE_DSHOT
 
 #ifdef USE_SERVOS
 void pwmWriteServo(uint8_t index, float value)
@@ -723,7 +726,7 @@ void servoDevInit(const servoDevConfig_t *servoConfig)
     }
 }
 
-#endif
+#endif // USE_SERVOS
 
 #ifdef USE_BEEPER
 void pwmWriteBeeper(bool onoffBeep)
@@ -766,4 +769,5 @@ void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
         beeperPwm.enabled = false;
     }
 }
+#endif // USE_BEEPER
 #endif
diff --git a/src/main/drivers/sound_beeper.c b/src/main/drivers/sound_beeper.c
index e57d7d9f3c..4e0d077754 100644
--- a/src/main/drivers/sound_beeper.c
+++ b/src/main/drivers/sound_beeper.c
@@ -41,9 +41,12 @@ void systemBeep(bool onoff)
 #ifdef USE_BEEPER
     if (beeperFrequency == 0) {
         IOWrite(beeperIO, beeperInverted ? onoff : !onoff);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         pwmWriteBeeper(onoff);
     }
+#endif
 #else
     UNUSED(onoff);
 #endif
@@ -54,10 +57,13 @@ void systemBeepToggle(void)
 #ifdef USE_BEEPER
     if (beeperFrequency == 0) {
         IOToggle(beeperIO);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         pwmToggleBeeper();
     }
 #endif
+#endif
 }
 
 void beeperInit(const beeperDevConfig_t *config)
@@ -72,10 +78,13 @@ void beeperInit(const beeperDevConfig_t *config)
             IOConfigGPIO(beeperIO, config->isOpenDrain ? IOCFG_OUT_OD : IOCFG_OUT_PP);
         }
         systemBeep(false);
-    } else {
+    }
+#ifdef USE_PWM_OUTPUT
+    else {
         const ioTag_t beeperTag = config->ioTag;
         beeperPwmInit(beeperTag, beeperFrequency);
     }
+#endif
 #else
     UNUSED(config);
 #endif
diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index f4bd394116..7011fbcf7a 100644
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -419,9 +419,11 @@ static void validateAndFixConfig(void)
 #endif
 
 #if defined(USE_BEEPER)
+#ifdef USE_TIMER
     if (beeperDevConfig()->frequency && !timerGetByTag(beeperDevConfig()->ioTag)) {
         beeperDevConfigMutable()->frequency = 0;
     }
+#endif
 
     if (beeperConfig()->beeper_off_flags & ~BEEPER_ALLOWED_MODES) {
         beeperConfigMutable()->beeper_off_flags = 0;
diff --git a/src/main/fc/init.c b/src/main/fc/init.c
index f5936e92c7..656b4f75e1 100644
--- a/src/main/fc/init.c
+++ b/src/main/fc/init.c
@@ -391,11 +391,15 @@ void init(void)
     if (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_BRUSHED) {
         idlePulse = 0; // brushed motors
     }
+#ifdef USE_PWM_OUTPUT
     /* Motors needs to be initialized soon as posible because hardware initialization
      * may send spurious pulses to esc's causing their early initialization. Also ppm
      * receiver may share timer with motors so motors MUST be initialized here. */
     motorDevInit(&motorConfig()->dev, idlePulse, getMotorCount());
     systemState |= SYSTEM_STATE_MOTORS_READY;
+#else
+    UNUSED(idlePulse);
+#endif
 
     if (0) {}
 #if defined(USE_PPM)
@@ -776,7 +780,9 @@ void init(void)
     rcdeviceInit();
 #endif // USE_RCDEVICE
 
+#ifdef USE_PWM_OUTPUT
     pwmEnableMotors();
+#endif
 
     setArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 5762cd3b5c..2d6bbd3789 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -516,6 +516,7 @@ void mixerResetDisarmedMotors(void)
 
 void writeMotors(void)
 {
+#ifdef USE_PWM_OUTPUT
     if (pwmAreMotorsEnabled()) {
 #if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
         if (!pwmStartMotorUpdate(motorCount)) {
@@ -527,6 +528,7 @@ void writeMotors(void)
         }
         pwmCompleteMotorUpdate(motorCount);
     }
+#endif
 }
 
 static void writeAllMotors(int16_t mc)
@@ -546,8 +548,10 @@ void stopMotors(void)
 
 void stopPwmAllMotors(void)
 {
+#ifdef USE_PWM_OUTPUT
     pwmShutdownPulsesForAllMotors(motorCount);
     delayMicroseconds(1500);
+#endif
 }
 
 static FAST_RAM_ZERO_INIT float throttle = 0;
diff --git a/src/main/msp/msp.c b/src/main/msp/msp.c
index 0bf68f9d0c..a27b02a23b 100644
--- a/src/main/msp/msp.c
+++ b/src/main/msp/msp.c
@@ -935,13 +935,18 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
 
     case MSP_MOTOR:
         for (unsigned i = 0; i < 8; i++) {
+#ifdef USE_PWM_OUTPUT
             if (i >= MAX_SUPPORTED_MOTORS || !pwmGetMotors()[i].enabled) {
                 sbufWriteU16(dst, 0);
                 continue;
             }
 
             sbufWriteU16(dst, convertMotorToExternal(motor[i]));
+#else
+            sbufWriteU16(dst, 0);
+#endif
         }
+
         break;
 
     case MSP_RC:
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 293592b373..947840fc13 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -140,6 +140,8 @@
 
 #define USE_BRUSHED_ESC_AUTODETECT  // Detect if brushed motors are connected and set defaults appropriately to avoid motors spinning on boot
 
+#define USE_PWM_OUTPUT
+
 #define USE_CLI
 #define USE_SERIAL_PASSTHROUGH
 #define USE_TASK_STATISTICS