diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
index caa2b03f07..430890fda1 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
@@ -32,15 +32,11 @@ ObjectBuffer_TS<AP_Proximity_DroneCAN::ObstacleItem> AP_Proximity_DroneCAN::item
 
 
 //links the Proximity DroneCAN message to this backend
-void AP_Proximity_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+bool AP_Proximity_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_measurement, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("measurement_sub");
-    }
+    return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, driver_index) != nullptr);
 }
 
 //Method to find the backend relating to the node id
diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
index 4ccda3610d..db9f06094e 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
@@ -23,7 +23,7 @@ public:
 
     static AP_Proximity_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
 
-    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
 
     static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);