diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 088059e4f1..f6abd52f1e 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -83,6 +83,7 @@
 #include <AP_Notify/AP_Notify.h>          // Notify library
 #include <AP_BattMonitor/AP_BattMonitor.h>     // Battery monitor library
 #include <AP_BoardConfig/AP_BoardConfig.h>     // board configuration library
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_ADSB/AP_ADSB.h>
@@ -317,6 +318,11 @@ private:
     // board specific config
     AP_BoardConfig BoardConfig;
 
+#if HAL_WITH_UAVCAN
+    // board specific config for CAN bus
+    AP_BoardConfig_CAN BoardConfig_CAN;
+#endif
+
     // receiver RSSI
     uint8_t receiver_rssi;
 
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index c48f62f092..53460e71b8 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -738,6 +738,12 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
+#if HAL_WITH_UAVCAN
+    // @Group: CAN_
+    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+#endif
+
 #if SPRAYER == ENABLED
     // @Group: SPRAY_
     // @Path: ../libraries/AC_Sprayer/AC_Sprayer.cpp
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index a464ad9f03..24d4b62fb9 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -55,6 +55,7 @@ public:
         k_param_NavEKF2,
         k_param_g2, // 2nd block of parameters
         k_param_NavEKF3,
+        k_param_BoardConfig_CAN,
 
         // simulation
         k_param_sitl = 10,
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index c8cc390ae7..cbbd94adb9 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -127,6 +127,9 @@ void Copter::init_ardupilot()
     hal.scheduler->register_delay_callback(mavlink_delay_cb_static, 5);
     
     BoardConfig.init();
+#if HAL_WITH_UAVCAN
+    BoardConfig_CAN.init();
+#endif
 
     // init cargo gripper
 #if GRIPPER_ENABLED == ENABLED