diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
index 76cbb05e32..a4a7876022 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.cpp
@@ -19,7 +19,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+#if AP_UAVCAN_SLCAN_ENABLED
 
 #include "AP_UAVCAN_SLCAN.h"
 #include <AP_SerialManager/AP_SerialManager.h>
@@ -568,4 +568,5 @@ void SLCAN::CANManager::reader_trampoline(void)
     }
 }
 
-#endif //HAL_WITH_UAVCAN
+#endif // AP_UAVCAN_SLCAN_ENABLED
+
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h
index 30f682c3d4..b486bdc098 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_SLCAN.h
@@ -2,7 +2,8 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#if HAL_WITH_UAVCAN && CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
+
+#if AP_UAVCAN_SLCAN_ENABLED
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include "AP_HAL/utility/RingBuffer.h"
@@ -235,4 +236,5 @@ public:
 }
 #include <AP_HAL_ChibiOS/CANSerialRouter.h>
 
-#endif //#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
+#endif // AP_UAVCAN_SLCAN_ENABLED
+