diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index cfe19fe2c7..d48fb6d3a5 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -38,6 +38,7 @@
 #include "GPS_Backend.h"
 
 #if HAL_WITH_UAVCAN
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include "AP_GPS_UAVCAN.h"
 #endif
@@ -417,23 +418,29 @@ void AP_GPS::detect_instance(uint8_t instance)
 
 #if HAL_WITH_UAVCAN
     // user has to explicitly set the UAVCAN type, do not use AUTO
-    // do not try to detect the UAVCAN type, assume it's there
     case GPS_TYPE_UAVCAN:
         dstate->auto_detected_baud = false; // specified, not detected
-        if (AP_BoardConfig::get_can_enable() >= 1) {
-            new_gps = new AP_GPS_UAVCAN(*this, state[instance], nullptr);
+        if (AP_BoardConfig_CAN::get_can_num_ifaces() >= 1) {
+            for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
+                if (hal.can_mgr[i] != nullptr) {
+                    AP_UAVCAN *uavcan = hal.can_mgr[i]->get_UAVCAN();
 
-            // register new listener at first empty node
-            if (hal.can_mgr != nullptr) {
-                AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
-                if (ap_uavcan != nullptr) {
-                    ap_uavcan->register_gps_listener(new_gps, 0);
+                    if (uavcan != nullptr) {
+                        uint8_t gps_node = uavcan->find_gps_without_listener();
 
-                    if (AP_BoardConfig::get_can_debug() >= 2) {
-                        hal.console->printf("AP_GPS_UAVCAN registered\n\r");
+                        if (gps_node != UINT8_MAX) {
+                            new_gps = new AP_GPS_UAVCAN(*this, state[instance], nullptr);
+                            ((AP_GPS_UAVCAN*) new_gps)->set_uavcan_manager(i);
+                            if (uavcan->register_gps_listener_to_node(new_gps, gps_node)) {
+                                if (AP_BoardConfig_CAN::get_can_debug() >= 2) {
+                                    printf("AP_GPS_UAVCAN registered\n\r");
+                                }
+                                goto found_gps;
+                            } else {
+                                delete new_gps;
+                            }
+                        }
                     }
-
-                    goto found_gps;
                 }
             }
         }
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
index aa849d5d90..6fe1b8b41b 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -22,10 +22,11 @@
 #if HAL_WITH_UAVCAN
 #include <AP_UAVCAN/AP_UAVCAN.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_gps_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig::get_can_debug()) { hal.console->printf(fmt, ##args); }} while (0)
+#define debug_gps_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
 
 AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
     AP_GPS_Backend(_gps, _state, _port)
@@ -37,8 +38,8 @@ AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UA
 // For each instance we need to deregister from AP_UAVCAN class
 AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
 {
-    if (hal.can_mgr != nullptr) {
-        AP_UAVCAN *ap_uavcan = hal.can_mgr->get_UAVCAN();
+    if (hal.can_mgr[_manager] != nullptr) {
+        AP_UAVCAN *ap_uavcan = hal.can_mgr[_manager]->get_UAVCAN();
         if (ap_uavcan != nullptr) {
             ap_uavcan->remove_gps_listener(this);
 
@@ -47,6 +48,11 @@ AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
     }
 }
 
+void AP_GPS_UAVCAN::set_uavcan_manager(uint8_t mgr)
+{
+    _manager = mgr;
+}
+
 // Consume new data and mark it received
 bool AP_GPS_UAVCAN::read(void)
 {
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.h b/libraries/AP_GPS/AP_GPS_UAVCAN.h
index 7449a73d51..9a5750ce6d 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.h
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.h
@@ -30,6 +30,7 @@ public:
     ~AP_GPS_UAVCAN() override;
 
     bool read() override;
+    void set_uavcan_manager(uint8_t mgr);
 
     // This method is called from UAVCAN thread
     void handle_gnss_msg(const AP_GPS::GPS_State &msg) override;
@@ -38,6 +39,7 @@ public:
 
 private:
     bool _new_data;
+    uint8_t _manager;
 
     AP_GPS::GPS_State _interm_state;
     AP_HAL::Semaphore *_sem_gnss;