diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index bf39ed7bc4..6333444d5b 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -448,6 +448,7 @@ class Board:
                 UAVCAN_NO_ASSERTIONS = 1,
                 UAVCAN_NULLPTR = 'nullptr',
                 DRONECAN_CXX_WRAPPERS = 1,
+                USE_USER_HELPERS = 1,
                 CANARD_ENABLE_DEADLINE = 1,
             )
 
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index c9b4d8a54e..68c30fa683 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -458,6 +458,7 @@ def setup_canmgr_build(cfg):
     if not env.AP_PERIPH:
         env.DEFINES += [
             'DRONECAN_CXX_WRAPPERS=1',
+            'USE_USER_HELPERS=1',
             'CANARD_ENABLE_DEADLINE=1',
             'CANARD_MULTI_IFACE=1'
             ]
diff --git a/wscript b/wscript
index 263c096349..58ec32bbc7 100644
--- a/wscript
+++ b/wscript
@@ -695,6 +695,7 @@ def _build_dynamic_sources(bld):
                 export_includes=[
                     bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
                     bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
+                    bld.srcnode.find_dir('libraries/AP_UAVCAN/canard/').abspath(),
                 ]
             )
     elif bld.env.AP_PERIPH: