diff --git a/libraries/AP_Notify/AP_Notify.cpp b/libraries/AP_Notify/AP_Notify.cpp
index 5a799ce3d8..a79bd5b606 100644
--- a/libraries/AP_Notify/AP_Notify.cpp
+++ b/libraries/AP_Notify/AP_Notify.cpp
@@ -283,9 +283,9 @@ void AP_Notify::add_backends(void)
 #endif
                 break;
             case Notify_LED_UAVCAN:
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
                 ADD_BACKEND(new UAVCAN_RGB_LED(0));
-#endif // HAL_WITH_UAVCAN
+#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
                 break;
 
         }
diff --git a/libraries/AP_Notify/MMLPlayer.cpp b/libraries/AP_Notify/MMLPlayer.cpp
index 76cfb5d711..de179363d0 100644
--- a/libraries/AP_Notify/MMLPlayer.cpp
+++ b/libraries/AP_Notify/MMLPlayer.cpp
@@ -6,9 +6,9 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Notify/AP_Notify.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include <AP_UAVCAN/AP_UAVCAN.h>
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #endif
 
 extern const AP_HAL::HAL& hal;
@@ -64,7 +64,7 @@ void MMLPlayer::start_note(float duration, float frequency, float volume)
     _note_duration_us = duration*1e6;
     hal.util->toneAlarm_set_buzzer_tone(frequency, volume, _note_duration_us/1000U);
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     // support CAN buzzers too
     uint8_t can_num_drivers = AP::can().get_num_drivers();
 
diff --git a/libraries/AP_Notify/UAVCAN_RGB_LED.cpp b/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
index 7fe5794b6a..20db73dbaf 100644
--- a/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
+++ b/libraries/AP_Notify/UAVCAN_RGB_LED.cpp
@@ -17,12 +17,12 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/system.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "UAVCAN_RGB_LED.h"
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 
 #define LED_OFF 0
 #define LED_FULL_BRIGHT 255