diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h
index a9560e014f..d98c36f27d 100644
--- a/libraries/AP_HAL/AP_HAL_Boards.h
+++ b/libraries/AP_HAL/AP_HAL_Boards.h
@@ -282,6 +282,10 @@
 // plus one static notch with one harmonic
 #define HAL_HNF_MAX_FILTERS 18
 #endif
+#endif // HAL_HNF_MAX_FILTERS
+
+#ifndef HAL_CANFD_SUPPORTED
+#define HAL_CANFD_SUPPORTED 0
 #endif
 
 #ifndef __RAMFUNC__
diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index fa3e48511e..34b5726af2 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -128,3 +128,9 @@
 #ifndef HAL_BOARD_STORAGE_DIRECTORY
 #define HAL_BOARD_STORAGE_DIRECTORY "/APM"
 #endif
+
+#if defined(STM32H7XX) || defined(STM32G4)
+#define HAL_CANFD_SUPPORTED 1
+# else
+#define HAL_CANFD_SUPPORTED 0
+#endif