diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index 63da701d37..bca2720774 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -320,10 +320,10 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
-#if HAL_WITH_UAVCAN
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     // @Group: CAN_
-    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
-    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+    // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
+    GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
 #endif
 
     // GPS driver
diff --git a/Rover/Parameters.h b/Rover/Parameters.h
index 0d7e838c77..6039134401 100644
--- a/Rover/Parameters.h
+++ b/Rover/Parameters.h
@@ -26,7 +26,7 @@ public:
         //
         k_param_format_version = 0,
         k_param_software_type, // unused
-        k_param_BoardConfig_CAN,
+        k_param_can_mgr,
 
         // Misc
         //
diff --git a/Rover/system.cpp b/Rover/system.cpp
index d29969e05c..fbdeabc12f 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -20,8 +20,8 @@ void Rover::init_ardupilot()
 #endif
 
     BoardConfig.init();
-#if HAL_WITH_UAVCAN
-    BoardConfig_CAN.init();
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+    can_mgr.init();
 #endif
 
     // init gripper