diff --git a/libraries/AP_DroneCAN/canard/canard_helpers_user.h b/libraries/AP_DroneCAN/canard/canard_helpers_user.h
index ff4e1d6c98..22d8de6b82 100644
--- a/libraries/AP_DroneCAN/canard/canard_helpers_user.h
+++ b/libraries/AP_DroneCAN/canard/canard_helpers_user.h
@@ -3,3 +3,6 @@
 namespace Canard {
 typedef ::HAL_Semaphore Semaphore;
 }
+
+#define CANARD_MALLOC malloc
+#define CANARD_FREE free