diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 78ca6aab34..4ef709a990 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -325,6 +325,9 @@ def ap_stlib(bld, **kw):
     for l in kw['ap_libraries']:
         bld.ap_library(l, kw['ap_vehicle'])
 
+    if 'dynamic_source' not in kw:
+        kw['dynamic_source'] = 'modules/DroneCAN/libcanard/dsdlc_generated/src/**.c'
+
     kw['features'] = kw.get('features', []) + ['cxx', 'cxxstlib']
     kw['target'] = kw['name']
     kw['source'] = []
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index f39c31e3fa..0ed397d2d1 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -429,15 +429,26 @@ class Board:
             ]
 
         if self.with_can and not cfg.env.AP_PERIPH:
-            env.AP_LIBRARIES += [
-                'AP_UAVCAN',
-                'modules/uavcan/libuavcan/src/**/*.cpp'
-                ]
+            if not cfg.env.SITL32BIT and cfg.env.BOARD == 'sitl':
+                env.DEFINES.update(
+                    HAL_ENABLE_LIBUAVCAN_DRIVERS = 0
+                )
+            else:
+                env.AP_LIBRARIES += [
+                    'AP_UAVCAN',
+                    'modules/DroneCAN/libcanard/*.c',
+                    ]
+            if cfg.options.enable_dronecan_tests:
+                env.DEFINES.update(
+                    AP_TEST_DRONECAN_DRIVERS = 1
+                )
 
             env.DEFINES.update(
                 UAVCAN_CPP_VERSION = 'UAVCAN_CPP03',
                 UAVCAN_NO_ASSERTIONS = 1,
-                UAVCAN_NULLPTR = 'nullptr'
+                UAVCAN_NULLPTR = 'nullptr',
+                DRONECAN_CXX_WRAPPERS = 1,
+                CANARD_ENABLE_DEADLINE = 1,
             )
 
 
@@ -638,6 +649,9 @@ class sitl(Board):
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             cfg.define('UAVCAN_EXCEPTIONS', 0)
             cfg.define('UAVCAN_SUPPORT_CANFD', 1)
+            env.DEFINES.update(CANARD_MULTI_IFACE=1,
+                               CANARD_IFACE_ALL = 0x3,
+                                CANARD_ENABLE_CANFD = 1)
 
         env.CXXFLAGS += [
             '-Werror=float-equal'
@@ -1069,16 +1083,13 @@ class chibios(Board):
             ('10','2','1'),
         ]
 
-        if cfg.env.AP_PERIPH:
-            if cfg.env.HAL_CANFD_SUPPORTED:
-                env.DEFINES.update(CANARD_ENABLE_CANFD=1)
-            else:
-                env.DEFINES.update(CANARD_ENABLE_TAO_OPTION=1)
-            if not cfg.options.bootloader:
-                if int(cfg.env.HAL_NUM_CAN_IFACES) > 1:
-                    env.DEFINES.update(CANARD_MULTI_IFACE=1)
-                else:
-                    env.DEFINES.update(CANARD_MULTI_IFACE=0)
+        if cfg.env.HAL_CANFD_SUPPORTED:
+            env.DEFINES.update(CANARD_ENABLE_CANFD=1)
+        else:
+            env.DEFINES.update(CANARD_ENABLE_TAO_OPTION=1)
+        if not cfg.options.bootloader and cfg.env.HAL_NUM_CAN_IFACES:
+            if int(cfg.env.HAL_NUM_CAN_IFACES) >= 1:
+                env.DEFINES.update(CANARD_IFACE_ALL=(1<<int(cfg.env.HAL_NUM_CAN_IFACES))-1)
         if cfg.options.Werror or cfg.env.CC_VERSION in gcc_whitelist:
             cfg.msg("Enabling -Werror", "yes")
             if '-Werror' not in env.CXXFLAGS:
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 04d93eb872..c9b4d8a54e 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -443,9 +443,11 @@ def setup_canmgr_build(cfg):
     env = cfg.env
     env.AP_LIBRARIES += [
         'AP_UAVCAN',
-        'modules/uavcan/libuavcan/src/**/*.cpp',
+        'modules/DroneCAN/libcanard/*.c',
+        ]
+    env.INCLUDES += [
+        cfg.srcnode.find_dir('modules/DroneCAN/libcanard').abspath(),
         ]
-
     env.CFLAGS += ['-DHAL_CAN_IFACES=2']
 
     env.DEFINES += [
@@ -453,6 +455,12 @@ def setup_canmgr_build(cfg):
         'UAVCAN_NO_ASSERTIONS=1',
         'UAVCAN_NULLPTR=nullptr'
         ]
+    if not env.AP_PERIPH:
+        env.DEFINES += [
+            'DRONECAN_CXX_WRAPPERS=1',
+            'CANARD_ENABLE_DEADLINE=1',
+            'CANARD_MULTI_IFACE=1'
+            ]
 
     if cfg.env.HAL_CANFD_SUPPORTED:
         env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
diff --git a/Tools/ardupilotwaf/dronecangen.py b/Tools/ardupilotwaf/dronecangen.py
index dd1d4fcd65..d4101be9ec 100644
--- a/Tools/ardupilotwaf/dronecangen.py
+++ b/Tools/ardupilotwaf/dronecangen.py
@@ -19,7 +19,7 @@ class dronecangen(Task.Task):
         python = self.env.get_flat('PYTHON')
         out = self.env.get_flat('OUTPUT_DIR')
         src = self.env.get_flat('SRC')
-        dsdlc = self.env.get_flat("DSDL_COMPILER")
+        dsdlc = self.env.get_flat("DC_DSDL_COMPILER")
 
         ret = self.exec_command(['{}'.format(python),
                                  '{}'.format(dsdlc),
@@ -70,6 +70,6 @@ def configure(cfg):
     cfg.check_python_version(minver=(2,7,0))
 
     env = cfg.env
-    env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/').abspath()
-    env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/dronecan_dsdlc.py'
-    cfg.msg('DSDL compiler', env.DSDL_COMPILER)
+    env.DC_DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/DroneCAN/dronecan_dsdlc/').abspath()
+    env.DC_DSDL_COMPILER = env.DC_DSDL_COMPILER_DIR + '/dronecan_dsdlc.py'
+    cfg.msg('DC_DSDL compiler', env.DC_DSDL_COMPILER)
diff --git a/Tools/ardupilotwaf/uavcangen.py b/Tools/ardupilotwaf/uavcangen.py
index 0ca74c947b..7ee2d7e01f 100644
--- a/Tools/ardupilotwaf/uavcangen.py
+++ b/Tools/ardupilotwaf/uavcangen.py
@@ -19,7 +19,7 @@ class uavcangen(Task.Task):
         python = self.env.get_flat('PYTHON')
         out = self.env.get_flat('OUTPUT_DIR')
         src = self.env.get_flat('SRC')
-        dsdlc = self.env.get_flat("DSDL_COMPILER")
+        dsdlc = self.env.get_flat("UC_DSDL_COMPILER")
 
         ret = self.exec_command(['{}'.format(python),
                                  '{}'.format(dsdlc),
@@ -71,6 +71,6 @@ def configure(cfg):
     cfg.check_python_version(minver=(2,7,0))
 
     env = cfg.env
-    env.DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
-    env.DSDL_COMPILER = env.DSDL_COMPILER_DIR + '/libuavcan_dsdlc'
-    cfg.msg('DSDL compiler', env.DSDL_COMPILER)
+    env.UC_DSDL_COMPILER_DIR = cfg.srcnode.make_node('modules/uavcan/libuavcan/dsdl_compiler').abspath()
+    env.UC_DSDL_COMPILER = env.UC_DSDL_COMPILER_DIR + '/libuavcan_dsdlc'
+    cfg.msg('UC_DSDL compiler', env.UC_DSDL_COMPILER)
diff --git a/wscript b/wscript
index 8c4e40d221..7a5d5e2c6c 100644
--- a/wscript
+++ b/wscript
@@ -13,6 +13,7 @@ sys.path.insert(0, 'Tools/ardupilotwaf/')
 
 import ardupilotwaf
 import boards
+import shutil
 
 from waflib import Build, ConfigSet, Configure, Context, Utils
 from waflib.Configure import conf
@@ -255,6 +256,9 @@ submodules at specific revisions.
                  help="Enable the dds client to connect with ROS2/DDS"
     )
 
+    g.add_option('--enable-dronecan-tests', action='store_true',
+                 default=False,
+                 help="Enables DroneCAN tests in sitl")
     g = opt.ap_groups['linux']
 
     linux_options = ('--prefix', '--destdir', '--bindir', '--libdir')
@@ -478,6 +482,8 @@ def configure(cfg):
         cfg.load('dronecangen')
     else:
         cfg.load('uavcangen')
+        if not (cfg.options.sitl_32bit and cfg.options.board != 'sitl'):
+            cfg.load('dronecangen')
 
     cfg.env.SUBMODULE_UPDATE = cfg.options.submodule_update
 
@@ -674,6 +680,23 @@ def _build_dynamic_sources(bld):
                 bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
             ]
         )
+        if (not bld.env.SITL32BIT) and bld.env.BOARD == 'sitl':
+            # remove generated files
+            dronecan_dir = bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/').abspath()
+            if os.path.exists(dronecan_dir):
+                print("Removing DroneCAN generated files")
+                shutil.rmtree(dronecan_dir)
+        else:
+            bld(
+                features='dronecangen',
+                source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
+                output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
+                name='dronecan',
+                export_includes=[
+                    bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
+                    bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
+                ]
+            )
     elif bld.env.AP_PERIPH:
         bld(
             features='dronecangen',
@@ -812,8 +835,6 @@ def build(bld):
     _load_pre_build(bld)
 
     if bld.get_board().with_can:
-        bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']
-    if bld.env.AP_PERIPH:
         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['dronecan']
 
     _build_cmd_tweaks(bld)