diff --git a/libraries/AP_HAL_PX4/CAN.cpp b/libraries/AP_HAL_PX4/CAN.cpp
index 3a56c8e103..3407b57f75 100644
--- a/libraries/AP_HAL_PX4/CAN.cpp
+++ b/libraries/AP_HAL_PX4/CAN.cpp
@@ -820,7 +820,7 @@ int32_t PX4CAN::tx_pending()
  */
 
 PX4CANManager::PX4CANManager() :
-    update_event_(*this), if0_(bxcan::Can[0], nullptr, 0, CAN_STM32_RX_QUEUE_SIZE), if1_(
+    AP_HAL::CANManager(this), update_event_(*this), if0_(bxcan::Can[0], nullptr, 0, CAN_STM32_RX_QUEUE_SIZE), if1_(
     bxcan::Can[1], nullptr, 1, CAN_STM32_RX_QUEUE_SIZE), initialized_(false), p_uavcan(nullptr)
 {
     uavcan::StaticAssert<(CAN_STM32_RX_QUEUE_SIZE <= PX4CAN::MaxRxQueueCapacity)>::check();
diff --git a/libraries/AP_HAL_PX4/CAN.h b/libraries/AP_HAL_PX4/CAN.h
index 09922ab378..02609ad1cf 100644
--- a/libraries/AP_HAL_PX4/CAN.h
+++ b/libraries/AP_HAL_PX4/CAN.h
@@ -255,7 +255,7 @@ public:
     bool is_initialized() override;
 };
 
-class PX4CANManager: public AP_HAL::CANManager {
+class PX4CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
     BusEvent update_event_;
     PX4CAN if0_;
     PX4CAN if1_;