diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index 56f6b59ece..5f6d2cfefd 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -199,8 +199,9 @@ void AP_CANManager::init()
         }
 
         // Allocate the set type of Driver
+        switch (drv_type[drv_num]) {
 #if HAL_ENABLE_DRONECAN_DRIVERS
-        if (drv_type[drv_num] == AP_CAN::Protocol::DroneCAN) {
+        case AP_CAN::Protocol::DroneCAN:
             _drivers[drv_num] = _drv_param[drv_num]._uavcan = NEW_NOTHROW AP_DroneCAN(drv_num);
 
             if (_drivers[drv_num] == nullptr) {
@@ -209,10 +210,10 @@ void AP_CANManager::init()
             }
 
             AP_Param::load_object_from_eeprom((AP_DroneCAN*)_drivers[drv_num], AP_DroneCAN::var_info);
-        } else
+            break;
 #endif
 #if HAL_PICCOLO_CAN_ENABLE
-         if (drv_type[drv_num] == AP_CAN::Protocol::PiccoloCAN) {
+        case AP_CAN::Protocol::PiccoloCAN:
             _drivers[drv_num] = _drv_param[drv_num]._piccolocan = NEW_NOTHROW AP_PiccoloCAN;
 
             if (_drivers[drv_num] == nullptr) {
@@ -221,9 +222,9 @@ void AP_CANManager::init()
             }
 
             AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
-        } else
+            break;
 #endif
-        {
+        default:
             continue;
         }