diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
index 80456962bd..a12a075c5c 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.cpp
@@ -19,7 +19,7 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_CANManager/AP_CANManager.h>
-#include <AP_UAVCAN/AP_UAVCAN.h>
+#include <AP_DroneCAN/AP_DroneCAN.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS.h>
 
@@ -32,21 +32,21 @@ 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_UAVCAN* ap_uavcan)
+void AP_Proximity_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
 {
-    if (ap_uavcan == nullptr) {
+    if (ap_dronecan == nullptr) {
         return;
     }
 
-    if (Canard::allocate_sub_arg_callback(ap_uavcan, &handle_measurement, ap_uavcan->get_driver_index()) == nullptr) {
+    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_measurement, ap_dronecan->get_driver_index()) == nullptr) {
         AP_BoardConfig::allocation_error("measurement_sub");
     }
 }
 
 //Method to find the backend relating to the node id
-AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new)
+AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new)
 {
-    if (ap_uavcan == nullptr) {
+    if (ap_dronecan == nullptr) {
         return nullptr;
     }
 
@@ -64,7 +64,7 @@ AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_u
         }
         //Double check if the driver was initialised as DroneCAN Type
         if (driver != nullptr && (driver->_backend_type == AP_Proximity::Type::DroneCAN)) {
-            if (driver->_ap_uavcan == ap_uavcan &&
+            if (driver->_ap_dronecan == ap_dronecan &&
                 driver->_node_id == node_id) {
                 return driver;
             } else {
@@ -99,8 +99,8 @@ AP_Proximity_DroneCAN* AP_Proximity_DroneCAN::get_uavcan_backend(AP_UAVCAN* ap_u
                                 unsigned(i), unsigned(i));
                 }
                 //Assign node id and respective dronecan driver, for identification
-                if (driver->_ap_uavcan == nullptr) {
-                    driver->_ap_uavcan = ap_uavcan;
+                if (driver->_ap_dronecan == nullptr) {
+                    driver->_ap_dronecan = ap_dronecan;
                     driver->_node_id = node_id;
                     break;
                 }
@@ -154,10 +154,10 @@ float AP_Proximity_DroneCAN::distance_min() const
 }
 
 //Proximity message handler
-void AP_Proximity_DroneCAN::handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg)
+void AP_Proximity_DroneCAN::handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg)
 {
     //fetch the matching DroneCAN driver, node id and sensor id backend instance
-    AP_Proximity_DroneCAN* driver = get_uavcan_backend(ap_uavcan, transfer.source_node_id, msg.sensor_id, true);
+    AP_Proximity_DroneCAN* driver = get_uavcan_backend(ap_dronecan, transfer.source_node_id, msg.sensor_id, true);
     if (driver == nullptr) {
         return;
     }
diff --git a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
index 00844c18a6..aa85f7169b 100644
--- a/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_DroneCAN.h
@@ -2,7 +2,7 @@
 
 #include "AP_Proximity_Backend.h"
 
-#include <AP_UAVCAN/AP_UAVCAN.h>
+#include <AP_DroneCAN/AP_DroneCAN.h>
 
 #ifndef AP_PROXIMITY_DRONECAN_ENABLED
 #define AP_PROXIMITY_DRONECAN_ENABLED (HAL_ENABLE_LIBUAVCAN_DRIVERS && HAL_PROXIMITY_ENABLED)
@@ -24,18 +24,18 @@ public:
     float distance_min() const override;
 
 
-   static AP_Proximity_DroneCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t address, bool create_new);
+   static AP_Proximity_DroneCAN* get_uavcan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t address, bool create_new);
 
 
-    static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
+    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
 
-    static void handle_measurement(AP_UAVCAN *ap_uavcan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);
+    static void handle_measurement(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_proximity_sensor_Proximity &msg);
 
 private:
 
     uint32_t _last_update_ms;   // system time of last message received
 
-    AP_UAVCAN* _ap_uavcan;
+    AP_DroneCAN* _ap_dronecan;
     uint8_t _node_id;
 
     struct ObstacleItem {