diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 2a16f2675c..ef39507cc3 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -616,7 +616,7 @@ void AP_Baro::init(void)
 #if AP_BARO_DRONECAN_ENABLED
     // Detect UAVCAN Modules, try as many times as there are driver slots
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
-        ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
+        ADD_BACKEND(AP_Baro_DroneCAN::probe(*this));
     }
 #endif
 
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index d61a43b9b1..ba76b23419 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -28,7 +28,7 @@ class AP_Baro
 {
     friend class AP_Baro_Backend;
     friend class AP_Baro_SITL; // for access to sensors[]
-    friend class AP_Baro_UAVCAN; // for access to sensors[]
+    friend class AP_Baro_DroneCAN; // for access to sensors[]
 
 public:
     AP_Baro();
diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
index a5ce108db6..eb0cdecce9 100644
--- a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
@@ -11,17 +11,17 @@ extern const AP_HAL::HAL& hal;
 
 #define LOG_TAG "Baro"
 
-AP_Baro_UAVCAN::DetectedModules AP_Baro_UAVCAN::_detected_modules[];
-HAL_Semaphore AP_Baro_UAVCAN::_sem_registry;
+AP_Baro_DroneCAN::DetectedModules AP_Baro_DroneCAN::_detected_modules[];
+HAL_Semaphore AP_Baro_DroneCAN::_sem_registry;
 
 /*
   constructor - registers instance at top Baro driver
  */
-AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
+AP_Baro_DroneCAN::AP_Baro_DroneCAN(AP_Baro &baro) :
     AP_Baro_Backend(baro)
 {}
 
-void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+void AP_Baro_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
 {
     if (ap_dronecan == nullptr) {
         return;
@@ -35,14 +35,14 @@ void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
     }
 }
 
-AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
+AP_Baro_Backend* AP_Baro_DroneCAN::probe(AP_Baro &baro)
 {
     WITH_SEMAPHORE(_sem_registry);
 
-    AP_Baro_UAVCAN* backend = nullptr;
+    AP_Baro_DroneCAN* backend = nullptr;
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
-            backend = new AP_Baro_UAVCAN(baro);
+            backend = new AP_Baro_DroneCAN(baro);
             if (backend == nullptr) {
                 AP::can().log_text(AP_CANManager::LOG_ERROR,
                             LOG_TAG,
@@ -73,7 +73,7 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
     return backend;
 }
 
-AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
+AP_Baro_DroneCAN* AP_Baro_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
 {
     if (ap_dronecan == nullptr) {
         return nullptr;
@@ -111,7 +111,7 @@ AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uin
 }
 
 
-void AP_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
+void AP_Baro_DroneCAN::_update_and_wrap_accumulator(float *accum, float val, uint8_t *count, const uint8_t max_count)
 {
     *accum += val;
     *count += 1;
@@ -121,9 +121,9 @@ void AP_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8
     }
 }
 
-void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
+void AP_Baro_DroneCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
 {
-    AP_Baro_UAVCAN* driver;
+    AP_Baro_DroneCAN* driver;
     {
         WITH_SEMAPHORE(_sem_registry);
         driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, true);
@@ -138,9 +138,9 @@ void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTra
     }
 }
 
-void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
+void AP_Baro_DroneCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
 {
-    AP_Baro_UAVCAN* driver;
+    AP_Baro_DroneCAN* driver;
     {
         WITH_SEMAPHORE(_sem_registry);
         driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, false);
@@ -155,7 +155,7 @@ void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRx
 }
 
 // Read the sensor
-void AP_Baro_UAVCAN::update(void)
+void AP_Baro_DroneCAN::update(void)
 {
     float pressure = 0;
 
diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.h b/libraries/AP_Baro/AP_Baro_DroneCAN.h
index fdf6c53568..19278c28e7 100644
--- a/libraries/AP_Baro/AP_Baro_DroneCAN.h
+++ b/libraries/AP_Baro/AP_Baro_DroneCAN.h
@@ -9,14 +9,14 @@
 #include <SITL/SITL.h>
 #endif
 
-class AP_Baro_UAVCAN : public AP_Baro_Backend {
+class AP_Baro_DroneCAN : public AP_Baro_Backend {
 public:
-    AP_Baro_UAVCAN(AP_Baro &baro);
+    AP_Baro_DroneCAN(AP_Baro &baro);
 
     void update() override;
 
     static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
-    static AP_Baro_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
+    static AP_Baro_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
     static AP_Baro_Backend* probe(AP_Baro &baro);
 
     static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
@@ -43,7 +43,7 @@ private:
     static struct DetectedModules {
         AP_DroneCAN* ap_dronecan;
         uint8_t node_id;
-        AP_Baro_UAVCAN* driver;
+        AP_Baro_DroneCAN* driver;
     } _detected_modules[BARO_MAX_DRIVERS];
 
     static HAL_Semaphore _sem_registry;
diff --git a/libraries/AP_Baro/AP_Baro_config.h b/libraries/AP_Baro/AP_Baro_config.h
index 83d85a8ead..981baf6684 100644
--- a/libraries/AP_Baro/AP_Baro_config.h
+++ b/libraries/AP_Baro/AP_Baro_config.h
@@ -78,5 +78,5 @@
 #endif
 
 #ifndef AP_BARO_DRONECAN_ENABLED
-#define AP_BARO_DRONECAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#define AP_BARO_DRONECAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_DRONECAN_DRIVERS)
 #endif