diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
index 0a2a41ca80..b4c3db9845 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
@@ -21,16 +21,16 @@ AP_Baro_UAVCAN::AP_Baro_UAVCAN(AP_Baro &baro) :
     AP_Baro_Backend(baro)
 {}
 
-void AP_Baro_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
+void AP_Baro_UAVCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
 {
-    if (ap_uavcan == nullptr) {
+    if (ap_dronecan == nullptr) {
         return;
     }
-    if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_pressure, ap_uavcan->get_driver_index()) == nullptr) {
+    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_pressure, ap_dronecan->get_driver_index()) == nullptr) {
         AP_BoardConfig::allocation_error("pressure_sub");
     }
 
-    if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_temperature, ap_uavcan->get_driver_index()) == nullptr) {
+    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_temperature, ap_dronecan->get_driver_index()) == nullptr) {
         AP_BoardConfig::allocation_error("temperature_sub");
     }
 }
@@ -41,31 +41,31 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
 
     AP_Baro_UAVCAN* backend = nullptr;
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
-        if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
+        if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_dronecan != nullptr) {
             backend = new AP_Baro_UAVCAN(baro);
             if (backend == nullptr) {
                 AP::can().log_text(AP_CANManager::LOG_ERROR,
                             LOG_TAG,
                             "Failed register UAVCAN Baro Node %d on Bus %d\n",
                             _detected_modules[i].node_id,
-                            _detected_modules[i].ap_uavcan->get_driver_index());
+                            _detected_modules[i].ap_dronecan->get_driver_index());
             } else {
                 _detected_modules[i].driver = backend;
                 backend->_pressure = 0;
                 backend->_pressure_count = 0;
-                backend->_ap_uavcan = _detected_modules[i].ap_uavcan;
+                backend->_ap_dronecan = _detected_modules[i].ap_dronecan;
                 backend->_node_id = _detected_modules[i].node_id;
 
                 backend->_instance = backend->_frontend.register_sensor();
                 backend->set_bus_id(backend->_instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN,
-                                                                                    _detected_modules[i].ap_uavcan->get_driver_index(),
+                                                                                    _detected_modules[i].ap_dronecan->get_driver_index(),
                                                                                     backend->_node_id, 0));
 
                 AP::can().log_text(AP_CANManager::LOG_INFO,
                             LOG_TAG,
                             "Registered UAVCAN Baro Node %d on Bus %d\n",
                             _detected_modules[i].node_id,
-                            _detected_modules[i].ap_uavcan->get_driver_index());
+                            _detected_modules[i].ap_dronecan->get_driver_index());
             }
             break;
         }
@@ -73,14 +73,14 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
     return backend;
 }
 
-AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new)
+AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new)
 {
-    if (ap_uavcan == nullptr) {
+    if (ap_dronecan == nullptr) {
         return nullptr;
     }
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         if (_detected_modules[i].driver != nullptr &&
-            _detected_modules[i].ap_uavcan == ap_uavcan && 
+            _detected_modules[i].ap_dronecan == ap_dronecan && 
             _detected_modules[i].node_id == node_id) {
             return _detected_modules[i].driver;
         }
@@ -90,7 +90,7 @@ AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t
         bool already_detected = false;
         //Check if there's an empty spot for possible registeration
         for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
-            if (_detected_modules[i].ap_uavcan == ap_uavcan && _detected_modules[i].node_id == node_id) {
+            if (_detected_modules[i].ap_dronecan == ap_dronecan && _detected_modules[i].node_id == node_id) {
                 //Already Detected
                 already_detected = true;
                 break;
@@ -98,8 +98,8 @@ AP_Baro_UAVCAN* AP_Baro_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t
         }
         if (!already_detected) {
             for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
-                if (_detected_modules[i].ap_uavcan == nullptr) {
-                    _detected_modules[i].ap_uavcan = ap_uavcan;
+                if (_detected_modules[i].ap_dronecan == nullptr) {
+                    _detected_modules[i].ap_dronecan = ap_dronecan;
                     _detected_modules[i].node_id = node_id;
                     break;
                 }
@@ -121,12 +121,12 @@ void AP_Baro_UAVCAN::_update_and_wrap_accumulator(float *accum, float val, uint8
     }
 }
 
-void AP_Baro_UAVCAN::handle_pressure(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
+void AP_Baro_UAVCAN::handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg)
 {
     AP_Baro_UAVCAN* driver;
     {
         WITH_SEMAPHORE(_sem_registry);
-        driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id, true);
+        driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, true);
         if (driver == nullptr) {
             return;
         }
@@ -138,12 +138,12 @@ void AP_Baro_UAVCAN::handle_pressure(AP_UAVCAN *ap_uavcan, const CanardRxTransfe
     }
 }
 
-void AP_Baro_UAVCAN::handle_temperature(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
+void AP_Baro_UAVCAN::handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg)
 {
     AP_Baro_UAVCAN* driver;
     {
         WITH_SEMAPHORE(_sem_registry);
-        driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id, false);
+        driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, false);
         if (driver == nullptr) {
             return;
         }
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.h b/libraries/AP_Baro/AP_Baro_UAVCAN.h
index 38c73eb2d8..c3fb700d25 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.h
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.h
@@ -4,7 +4,7 @@
 
 #if AP_BARO_UAVCAN_ENABLED
 
-#include <AP_UAVCAN/AP_UAVCAN.h>
+#include <AP_DroneCAN/AP_DroneCAN.h>
 #if AP_TEST_DRONECAN_DRIVERS
 #include <SITL/SITL.h>
 #endif
@@ -15,12 +15,12 @@ public:
 
     void update() override;
 
-    static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
-    static AP_Baro_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, bool create_new);
+    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static AP_Baro_UAVCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, bool create_new);
     static AP_Baro_Backend* probe(AP_Baro &baro);
 
-    static void handle_pressure(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
-    static void handle_temperature(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg);
+    static void handle_pressure(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticPressure &msg);
+    static void handle_temperature(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_StaticTemperature &msg);
 #if AP_TEST_DRONECAN_DRIVERS
     void update_healthy_flag(uint8_t instance) override { _frontend.sensors[instance].healthy = !AP::sitl()->baro[instance].disable; };
 #endif
@@ -36,12 +36,12 @@ private:
     uint8_t  _pressure_count;
     HAL_Semaphore _sem_baro;
 
-    AP_UAVCAN* _ap_uavcan;
+    AP_DroneCAN* _ap_dronecan;
     uint8_t _node_id;
 
     // Module Detection Registry
     static struct DetectedModules {
-        AP_UAVCAN* ap_uavcan;
+        AP_DroneCAN* ap_dronecan;
         uint8_t node_id;
         AP_Baro_UAVCAN* driver;
     } _detected_modules[BARO_MAX_DRIVERS];