diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
index 24bb0b69f5..d505dcc20d 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.cpp
@@ -42,23 +42,14 @@ AP_BattMonitor_DroneCAN::AP_BattMonitor_DroneCAN(AP_BattMonitor &mon, AP_BattMon
     _state.healthy = false;
 }
 
-void AP_BattMonitor_DroneCAN::subscribe_msgs(AP_DroneCAN* ap_dronecan)
+bool AP_BattMonitor_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, &handle_battery_info_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("battinfo_sub");
-    }
-
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_battery_info_aux_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("battinfo_aux_sub");
-    }
-
-    if (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_mppt_stream_trampoline, ap_dronecan->get_driver_index()) == nullptr) {
-        AP_BoardConfig::allocation_error("mppt_stream_sub");
-    }
+    return (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_battery_info_trampoline, driver_index) != nullptr)
+        && (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_battery_info_aux_trampoline, driver_index) != nullptr)
+        && (Canard::allocate_sub_arg_callback(ap_dronecan, &handle_mppt_stream_trampoline, driver_index) != nullptr)
+    ;
 }
 
 /*
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
index a25ef96678..7d34b91acf 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
+++ b/libraries/AP_BattMonitor/AP_BattMonitor_DroneCAN.h
@@ -47,7 +47,7 @@ public:
     // return mavlink fault bitmask (see MAV_BATTERY_FAULT enum)
     uint32_t get_mavlink_fault_bitmask() const override;
 
-    static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
+    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);
     static AP_BattMonitor_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id, uint8_t battery_id);
     static void handle_battery_info_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_power_BatteryInfo &msg);
     static void handle_battery_info_aux_trampoline(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const ardupilot_equipment_power_BatteryInfoAux &msg);