How to replace dhcpd3+radvd with dnsmasq?

Below is my config. I would like to replace the dhcpd and radvd with dnsmasq. From my understanding dnsmasq as included in v1.9.0 can replace radvd. I think dhcp6c is still needed. What part of the config needs to be changed how so that dnsmasq does the job of radvd? Its not obvious from the info in other posts.

interfaces {
    ethernet eth0 {
        address 172.16.0.1/16
        address fd00:172:16::1/64
        description Local
        duplex auto
        speed auto
    }
    ethernet eth1 {
        description "Local, part of switch0"
        duplex auto
        speed auto
    }
    ethernet eth2 {
        description "Local, part of switch0"
        duplex auto
        speed auto
    }
    ethernet eth3 {
        description "Local, part of switch0"
        duplex auto
        speed auto
    }
    ethernet eth4 {
        disable
        duplex auto
        speed auto
    }
    loopback lo {
        description Loopback
    }
    switch switch0 {
        address dhcp
        description Internet
        dhcp-options {
            default-route update
            default-route-distance 210
            name-server no-update
        }
        dhcpv6-pd {
            no-dns
            pd 44048 {
                interface eth0 {
                    host-address ::1
                    service slaac
                }
                prefix-length /64
            }
            prefix-only
            rapid-commit enable
        }
        ipv6 {
            address {
                autoconf
            }
            dup-addr-detect-transmits 1
        }
        mtu 1500
        switch-port {
            interface eth1 {
            }
            interface eth2 {
            }
            interface eth3 {
            }
            vlan-aware disable
        }
    }
}
service {
    dhcp-server {
        disabled false
        hostfile-update disable
        shared-network-name LAN {
            authoritative disable
            subnet 172.16.0.0/16 {
                default-router 172.16.0.1
                dns-server 172.16.0.1
                domain-name ubnt.lan
                lease 43200
                ntp-server 172.16.0.1
                start 172.16.42.42 {
                    stop 172.16.255.255
                }
                subnet-parameters "include "/config/user-data//dhcp.172.16.0.0.16.ubnt.lan.conf";"
            }
        }
        use-dnsmasq disable
    }   
    dns {
        forwarding {
            cache-size 150
            dhcp switch0
            listen-on eth0
            options expand-hosts
            options domain-needed
            options domain=ubnt.lan,172.16.0.0/16,local
        }
    }   
    nat {
        rule 5010 {
            description "masquerade for WAN"
            outbound-interface switch0
            type masquerade
        }
    }
    ssh {
        port 22
        protocol-version v2
    }
}
system {
    domain-name ubnt.lan
    host-name erx
    ip {
        override-hostname-ip 172.16.0.1
    }
    login {
        user ubnt {
            authentication {
                encrypted-password ****************
                plaintext-password ****************
            }
            level admin
        }
    }
    ntp {
        server pool.ntp.org {
        }
    }
    options {
        reboot-on-panic true
    }
    static-host-mapping {
        host-name erx {
            alias erx.ubnt.lan
            inet 172.16.0.1
            inet fd00:172:16::1
        }
    }
    time-zone UTC
}