Compiling modules

Hello, I have downloaded the source code and built and installed freeradius server 3.0.16 on Ubuntu 17. I want to create new modules. I have only found good info on one site "Creating modules for FreeRADIUS v3.0.x". Any pointers to other sites - I have only just started working with Radius. My main question, do I have to full radius compile, build and install again. Is there a way of just compiling the module so that the server will pick it up? For example I want to make a small change in the rlm_pap.c file Many thanks Jonathan