diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
index 77f98b356c..da57ada8c4 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat
@@ -59,10 +59,12 @@ PB0 EXTERN_GPIO1 OUTPUT GPIO(1)
 PB1 EXTERN_GPIO2 OUTPUT GPIO(2)
 PB2 BOOT1 INPUT
 PB3 FMU_SW0 INPUT
+PB6 CAN2_TX CAN2
 PB8 I2C1_SCL I2C1
 PB9 I2C1_SDA I2C1
 PB10 I2C2_SCL I2C2
 PB11 I2C2_SDA I2C2
+PB12 CAN2_RX CAN2
 PB13 SPI2_SCK SPI2
 PB14 SPI2_MISO SPI2
 PB15 SPI2_MOSI SPI2
@@ -86,8 +88,8 @@ PC13 GYRO_EXT_CS CS
 PC14 BARO_EXT_CS CS
 PC15 ACCEL_EXT_CS CS
 
-# PD0 CAN1_RX
-# PD1 CAN1_TX
+PD0 CAN1_RX CAN1
+PD1 CAN1_TX CAN1
 PD2 SDIO_CMD SDIO
 # USART2 serial2 telem1
 PD3 USART2_CTS USART2
@@ -176,3 +178,6 @@ define AP_FEATURE_RTSCTS 1
 
 # enable SBUS_OUT on IOMCU
 define AP_FEATURE_SBUS_OUT 1
+
+# enable UAVCAN
+define HAL_WITH_UAVCAN 1