diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.cpp
index 879344e323..80b7cf9fdc 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.cpp
@@ -14,15 +14,11 @@ extern const AP_HAL::HAL& hal;
 AP_RCProtocol_DroneCAN::Registry AP_RCProtocol_DroneCAN::registry;
 AP_RCProtocol_DroneCAN *AP_RCProtocol_DroneCAN::_singleton;
 
-void AP_RCProtocol_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+bool AP_RCProtocol_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
 {
-    if (ap_dronecan == nullptr) {
-        return;
-    }
+    const auto driver_index = ap_dronecan->get_driver_index();
 
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_rcinput, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("rc_sub");
-    }
+    return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_rcinput, driver_index) != nullptr);
 }
 
 AP_RCProtocol_DroneCAN* AP_RCProtocol_DroneCAN::get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id)
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h b/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h
index d2c81025d7..aa4693020d 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h
@@ -18,7 +18,7 @@ public:
         _singleton = this;
     }
 
-    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
 
     void update() override;