diff --git a/core/net/rpl/rpl-conf.h b/core/net/rpl/rpl-conf.h
index 78f032252..c30183934 100644
--- a/core/net/rpl/rpl-conf.h
+++ b/core/net/rpl/rpl-conf.h
@@ -45,12 +45,38 @@
 #define RPL_CONF_STATS 0
 #endif /* RPL_CONF_STATS */
 
-/* 
- * Select routing metric supported at runtime. This must be a valid
- * DAG Metric Container Object Type (see below). Currently, we only 
- * support RPL_DAG_MC_ETX and RPL_DAG_MC_ENERGY.
- * When MRHOF (RFC6719) is used with ETX, no metric container must
- * be used; instead the rank carries ETX directly.
+/*
+ * The objective function (OF) used by a RPL root is configurable through
+ * the RPL_CONF_OF_OCP parameter. This is defined as the objective code
+ * point (OCP) of the OF, RPL_OCP_OF0 or RPL_OCP_MRHOF. This flag is of
+ * no relevance to non-root nodes, which run the OF advertised in the
+ * instance they join.
+ * Make sure the selected of is inRPL_SUPPORTED_OFS.
+ */
+#ifdef RPL_CONF_OF_OCP
+#define RPL_OF_OCP RPL_CONF_OF_OCP
+#else /* RPL_CONF_OF_OCP */
+#define RPL_OF_OCP RPL_OCP_MRHOF
+#endif /* RPL_CONF_OF_OCP */
+
+/*
+ * The set of objective functions supported at runtime. Nodes are only
+ * able to join instances that advertise an OF in this set. To include
+ * both OF0 and MRHOF, use {&rpl_of0, &rpl_mrhof}.
+ */
+#ifdef RPL_CONF_SUPPORTED_OFS
+#define RPL_SUPPORTED_OFS RPL_CONF_SUPPORTED_OFS
+#else /* RPL_CONF_SUPPORTED_OFS */
+#define RPL_SUPPORTED_OFS {&rpl_of0, &rpl_mrhof}
+#endif /* RPL_CONF_SUPPORTED_OFS */
+
+/*
+ * Enable/disable RPL Metric Containers (MC). The actual MC in use
+ * for a given DODAG is decided at runtime, when joining. Note that
+ * OF0 (RFC6552) operates without MC, and so does MRHOF (RFC6719) when
+ * used with ETX as a metric (the rank is the metric). We disable MC
+ * by default, but note it must be enabled to support joining a DODAG
+ * that requires MC (e.g., MRHOF with a metric other than ETX).
  */
 #ifdef RPL_CONF_WITH_MC
 #define RPL_WITH_MC RPL_CONF_WITH_MC
@@ -65,18 +91,6 @@
 #define RPL_DAG_MC RPL_DAG_MC_NONE
 #endif /* RPL_CONF_DAG_MC */
 
-/*
- * The objective function used by RPL is configurable through the 
- * RPL_CONF_OF parameter. This should be defined to be the name of an 
- * rpl_of object linked into the system image, e.g., rpl_of0.
- */
-#ifdef RPL_CONF_OF
-#define RPL_OF RPL_CONF_OF
-#else
-/* ETX is the default objective function. */
-#define RPL_OF rpl_mrhof
-#endif /* RPL_CONF_OF */
-
 /* This value decides which DAG instance we should participate in by default. */
 #ifdef RPL_CONF_DEFAULT_INSTANCE
 #define RPL_DEFAULT_INSTANCE RPL_CONF_DEFAULT_INSTANCE
diff --git a/core/net/rpl/rpl-dag.c b/core/net/rpl/rpl-dag.c
index 6bbc99fab..8435ca207 100644
--- a/core/net/rpl/rpl-dag.c
+++ b/core/net/rpl/rpl-dag.c
@@ -67,8 +67,8 @@ void RPL_CALLBACK_PARENT_SWITCH(rpl_parent_t *old, rpl_parent_t *new);
 #endif /* RPL_CALLBACK_PARENT_SWITCH */
 
 /*---------------------------------------------------------------------------*/
-extern rpl_of_t RPL_OF;
-static rpl_of_t * const objective_functions[] = {&RPL_OF};
+extern rpl_of_t rpl_of0, rpl_mrhof;
+static rpl_of_t * const objective_functions[] = RPL_SUPPORTED_OFS;
 
 /*---------------------------------------------------------------------------*/
 /* RPL definitions. */
@@ -376,7 +376,12 @@ rpl_set_root(uint8_t instance_id, uip_ipaddr_t *dag_id)
   dag->grounded = RPL_GROUNDED;
   dag->preference = RPL_PREFERENCE;
   instance->mop = RPL_MOP_DEFAULT;
-  instance->of = &RPL_OF;
+  instance->of = rpl_find_of(RPL_OF_OCP);
+  if(instance->of == NULL) {
+    PRINTF("RPL: OF with OCP %u not supported\n", RPL_OF_OCP);
+    return NULL;
+  }
+
   rpl_set_preferred_parent(dag, NULL);
 
   memcpy(&dag->dag_id, dag_id, sizeof(dag->dag_id));
diff --git a/core/net/rpl/rpl-icmp6.c b/core/net/rpl/rpl-icmp6.c
index 774e3ba6a..6ea9b3e02 100644
--- a/core/net/rpl/rpl-icmp6.c
+++ b/core/net/rpl/rpl-icmp6.c
@@ -91,8 +91,6 @@ void RPL_DEBUG_DAO_OUTPUT(rpl_parent_t *);
 
 static uint8_t dao_sequence = RPL_LOLLIPOP_INIT;
 
-extern rpl_of_t RPL_OF;
-
 #if RPL_CONF_MULTICAST
 static uip_mcast6_route_t *mcast_group;
 #endif
@@ -302,7 +300,7 @@ dio_input(void)
   dio.dag_redund = RPL_DIO_REDUNDANCY;
   dio.dag_min_hoprankinc = RPL_MIN_HOPRANKINC;
   dio.dag_max_rankinc = RPL_MAX_RANKINC;
-  dio.ocp = RPL_OF.ocp;
+  dio.ocp = RPL_OF_OCP;
   dio.default_lifetime = RPL_DEFAULT_LIFETIME;
   dio.lifetime_unit = RPL_DEFAULT_LIFETIME_UNIT;
 
diff --git a/core/net/rpl/rpl-private.h b/core/net/rpl/rpl-private.h
index 062c4ab86..b127bb9c4 100644
--- a/core/net/rpl/rpl-private.h
+++ b/core/net/rpl/rpl-private.h
@@ -144,11 +144,28 @@
           ((unsigned long)(instance)->lifetime_unit * (lifetime))
 
 #ifndef RPL_CONF_MIN_HOPRANKINC
+/* RFC6550 defines the default MIN_HOPRANKINC as 256.
+ * However, we use MRHOF as a default Objective Function (RFC6719),
+ * which recommends setting MIN_HOPRANKINC with care, in particular
+ * when used with ETX as a metric. ETX is computed as a fixed point
+ * real with a divisor of 128 (RFC6719, RFC6551). We choose to also
+ * use 128 for RPL_MIN_HOPRANKINC, resulting in a rank equal to the
+ * ETX path cost. Larger values may also be desirable, as discussed
+ * in section 6.1 of RFC6719. */
+#if RPL_OF_OCP == RPL_OCP_MRHOF
+#define RPL_MIN_HOPRANKINC          128
+#else /* RPL_OF_OCP == RPL_OCP_MRHOF */
 #define RPL_MIN_HOPRANKINC          256
-#else
+#endif /* RPL_OF_OCP == RPL_OCP_MRHOF */
+#else /* RPL_CONF_MIN_HOPRANKINC */
 #define RPL_MIN_HOPRANKINC          RPL_CONF_MIN_HOPRANKINC
-#endif
+#endif /* RPL_CONF_MIN_HOPRANKINC */
+
+#ifndef RPL_CONF_MAX_RANKINC
 #define RPL_MAX_RANKINC             (7 * RPL_MIN_HOPRANKINC)
+#else /* RPL_CONF_MAX_RANKINC */
+#define RPL_MAX_RANKINC             RPL_CONF_MAX_RANKINC
+#endif /* RPL_CONF_MAX_RANKINC */
 
 #define DAG_RANK(fixpt_rank, instance) \
   ((fixpt_rank) / (instance)->min_hoprankinc)