diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
index 90f33cac5d..736196f63b 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.cpp
@@ -21,15 +21,11 @@ AP_EFI_DroneCAN::AP_EFI_DroneCAN(AP_EFI &_frontend) :
 }
 
 // links the DroneCAN message to this backend
-void AP_EFI_DroneCAN::subscribe_msgs(AP_DroneCAN *ap_dronecan)
+bool AP_EFI_DroneCAN::subscribe_msgs(AP_DroneCAN *ap_dronecan)
 {
-    if (ap_dronecan == nullptr) {
-        return;
-    }
+    const auto driver_index = ap_dronecan->get_driver_index();
 
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &trampoline_status, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("status_sub");
-    }
+    return (Canard::allocate_sub_arg_callback(ap_dronecan, &trampoline_status, driver_index) != nullptr);
 }
 
 // Called from frontend to update with the readings received by handler
diff --git a/libraries/AP_EFI/AP_EFI_DroneCAN.h b/libraries/AP_EFI/AP_EFI_DroneCAN.h
index 0512d8ea1f..2d067554ac 100644
--- a/libraries/AP_EFI/AP_EFI_DroneCAN.h
+++ b/libraries/AP_EFI/AP_EFI_DroneCAN.h
@@ -13,7 +13,7 @@ public:
 
     void update() override;
 
-    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
     static void trampoline_status(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_ice_reciprocating_Status &msg);
 
 private: