diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index 21b9e434bd..db9c3feaf3 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -6,4 +6,4 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/pwm_input
 MODULES		+= drivers/px4io
-MODULES		+= modules/uavcan
+
diff --git a/mk/PX4/config_px4fmu-v3_APM.mk b/mk/PX4/config_px4fmu-v3_APM.mk
index 35c5ef5319..93c7366854 100644
--- a/mk/PX4/config_px4fmu-v3_APM.mk
+++ b/mk/PX4/config_px4fmu-v3_APM.mk
@@ -5,6 +5,5 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
 
 MODULES		+= drivers/boards/px4fmu-v2
 MODULES		+= drivers/pwm_input
-MODULES     += modules/uavcan
 MODULES		+= drivers/px4io
 MODULES		+= drivers/oreoled
diff --git a/mk/PX4/config_px4fmu-v4_APM.mk b/mk/PX4/config_px4fmu-v4_APM.mk
index 4b711cc927..6d8d879e24 100644
--- a/mk/PX4/config_px4fmu-v4_APM.mk
+++ b/mk/PX4/config_px4fmu-v4_APM.mk
@@ -5,5 +5,3 @@ include $(SKETCHBOOK)/mk/PX4/px4_common.mk
 
 MODULES		+= drivers/boards/px4fmu-v4
 MODULES		+= drivers/pwm_input
-MODULES     += modules/uavcan
-
diff --git a/mk/apm.mk b/mk/apm.mk
index 35d6d605ba..58ac0f0658 100644
--- a/mk/apm.mk
+++ b/mk/apm.mk
@@ -22,6 +22,7 @@ include $(MK_DIR)/help.mk
 # common makefile components
 include $(MK_DIR)/targets.mk
 include $(MK_DIR)/sketch_sources.mk
+include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
 
 ifneq ($(MAKECMDGOALS),clean)
 
diff --git a/mk/board_native.mk b/mk/board_native.mk
index a71e8660b1..a979ca379a 100644
--- a/mk/board_native.mk
+++ b/mk/board_native.mk
@@ -2,10 +2,21 @@ TOOLCHAIN = NATIVE
 
 include $(MK_DIR)/find_tools.mk
 
+UAVCAN_DIRECTORY ?= $(SKETCHBOOK)/modules/uavcan
+UAVCAN_DIR=$(shell cd $(UAVCAN_DIRECTORY) && pwd)/
+
 # Hardcoded libraries/AP_Common/missing/cmath defines in "make" to retain the current behavior
 EXTRAFLAGS += -DHAVE_CMATH_ISFINITE -DNEED_CMATH_ISFINITE_STD_NAMESPACE
 
 EXTRAFLAGS += -DHAVE_ENDIAN_H -DHAVE_BYTESWAP_H
+
+# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+EXTRAFLAGS += -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr
+
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
+
 #
 # Tool options
 #
@@ -133,7 +144,7 @@ $(SKETCHELF): $(SKETCHOBJS) $(LIBOBJS)
 	@echo "Firmware is in $(BUILDELF)"
 endif
 
-SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES)
-SLIB_INCLUDES	=	-I$(dir $<)/utility $(SKETCHLIBINCLUDES)
+SKETCH_INCLUDES	=	$(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
+SLIB_INCLUDES	=	-I$(dir $<)/utility $(SKETCHLIBINCLUDES) -I$(UAVCAN_DIRECTORY)/libuavcan/include -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
 
 include $(MK_DIR)/build_rules.mk
diff --git a/mk/build_rules.mk b/mk/build_rules.mk
index 52a51ae837..090734973d 100644
--- a/mk/build_rules.mk
+++ b/mk/build_rules.mk
@@ -3,15 +3,15 @@
 # Build sketch objects
 #
 
-$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
+$(BUILDROOT)/%.o: $(BUILDROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
 
-$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
+$(BUILDROOT)/%.o: $(BUILDROOT)/make.flags $(SRCROOT)/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $*.cpp $(SKETCH_INCLUDES)
 
-$(BUILDROOT)/%.o: $(SRCROOT)/%.c
+$(BUILDROOT)/%.o: $(SRCROOT)/%.c $(UAVCAN_HEADERS)
 	$(RULEHDR)
 	$(v)$(CC) $(CFLAGS) -c -o $@ $< $(SKETCH_INCLUDES)
 
@@ -23,7 +23,7 @@ $(BUILDROOT)/%.o: $(SRCROOT)/%.S
 # Build library objects from sources in the sketchbook
 #
 
-$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS)
+$(BUILDROOT)/libraries/%.o: $(SKETCHBOOK)/libraries/%.cpp $(GENERATE_TARGETS) $(MAVLINK_HEADERS) $(UAVCAN_HEADERS)
 	$(RULEHDR)
 	$(v)$(CXX) $(CXXFLAGS) -c -o $@ $< $(SLIB_INCLUDES)
 
diff --git a/mk/make.inc b/mk/make.inc
index 001b74e97f..e22a8c161b 100644
--- a/mk/make.inc
+++ b/mk/make.inc
@@ -4,3 +4,4 @@ LIBRARIES += AP_Button
 LIBRARIES += AP_ICEngine
 LIBRARIES += AP_FlashStorage
 LIBRARIES += SRV_Channel
+LIBRARIES += AP_UAVCAN
diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index 8bd334acd4..91140dc70d 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -8,9 +8,9 @@ ifneq ($(NUTTX_SRC),)
 $(error NUTTX_SRC found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
 endif
 
-ifneq ($(UAVCAN_DIR),)
-$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
-endif
+#ifneq ($(UAVCAN_DIR),)
+#$(error UAVCAN_DIR found in config.mk - Please see http://dev.ardupilot.org/wiki/git-submodules/)
+#endif
 
 # these can be overridden in developer.mk
 PX4FIRMWARE_DIRECTORY ?= $(SKETCHBOOK)/modules/PX4Firmware
@@ -37,6 +37,8 @@ EXTRAFLAGS += -DHAVE_BYTESWAP_H=0
 EXTRAFLAGS += -DHAVE_OCLOEXEC=0
 
 EXTRAFLAGS += -I$(BUILDROOT)/libraries/GCS_MAVLink/include/mavlink
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include
+EXTRAFLAGS += -I$(UAVCAN_DIRECTORY)/libuavcan/include/dsdlc_generated
 
 # we have different config files for V1 and V2
 PX4_V1_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v1_APM.mk
@@ -44,7 +46,9 @@ PX4_V2_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v2_APM.mk
 PX4_V3_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v3_APM.mk
 PX4_V4_CONFIG_FILE=$(MK_DIR)/PX4/config_px4fmu-v4_APM.mk
 
-SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
+# Since actual compiler mode is C++11, the library will default to UAVCAN_CPP11, but it will fail to compile
+# because this platform lacks most of the standard library and STL. Hence we need to force C++03 mode.
+SKETCHFLAGS=$(SKETCHLIBINCLUDES) -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_NO_ASSERTIONS -DUAVCAN_NULLPTR=nullptr -DARDUPILOT_BUILD -DTESTS_MATHLIB_DISABLE -DCONFIG_HAL_BOARD=HAL_BOARD_PX4 -DSKETCHNAME="\\\"$(SKETCH)\\\"" -DSKETCH_MAIN=ArduPilot_main -DAPM_BUILD_DIRECTORY=APM_BUILD_$(SKETCH)
 
 WARNFLAGS = -Wall -Wextra -Wlogical-op -Werror -Wno-unknown-pragmas -Wno-redundant-decls -Wno-psabi -Wno-packed -Wno-error=double-promotion -Wno-error=unused-variable -Wno-error=reorder -Wno-error=float-equal -Wno-error=pmf-conversions -Wno-error=missing-declarations -Wno-error=unused-function
 OPTFLAGS = -fsingle-precision-constant
@@ -74,13 +78,13 @@ module_mk:
 	$(RULEHDR)
 	$(v) echo "# Auto-generated file - do not edit" > $(SKETCHBOOK)/module.mk.new
 	$(v) echo "MODULE_COMMAND = ArduPilot" >> $(SKETCHBOOK)/module.mk.new
-	$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE)" >> $(SKETCHBOOK)/module.mk.new
+	$(v) echo "SRCS = $(wildcard $(SRCROOT)/*.cpp) $(SKETCHLIBSRCSRELATIVE) $(LIBUAVCAN_SRC)" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "MODULE_STACKSIZE = 4096" >> $(SKETCHBOOK)/module.mk.new
 	$(v) echo "EXTRACXXFLAGS = -Wframe-larger-than=1300" >> $(SKETCHBOOK)/module.mk.new
 	$(v) cmp $(SKETCHBOOK)/module.mk $(SKETCHBOOK)/module.mk.new 2>/dev/null || mv $(SKETCHBOOK)/module.mk.new $(SKETCHBOOK)/module.mk
 	$(v) rm -f $(SKETCHBOOK)/module.mk.new
 
-px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
+px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v1.export $(SKETCHCPP) module_mk px4-io-v1
 	$(v) echo Building px4-v1
 	$(RULEHDR)
 	$(v) cp $(PX4_V1_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@@ -90,7 +94,7 @@ px4-v1: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v1.px4" "$(SKETCH)-v1.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v1.px4"
 
-px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
+px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v2.export $(SKETCHCPP) module_mk px4-io-v2
 	$(v) echo Building px4-v2
 	$(RULEHDR)
 	$(v) cp $(PX4_V2_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@@ -100,7 +104,7 @@ px4-v2: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v2.px4" "$(SKETCH)-v2.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v2.px4"
 
-px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
+px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v3.export $(SKETCHCPP) module_mk px4-io-v2
 	$(v) echo Building px4-v3
 	$(RULEHDR)
 	$(v) cp $(PX4_V3_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
@@ -110,7 +114,7 @@ px4-v3: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Arc
 	$(v) $(SKETCHBOOK)/Tools/scripts/add_git_hashes.py $(HASHADDER_FLAGS) "$(SKETCH)-v3.px4" "$(SKETCH)-v3.px4"
 	$(v) echo "PX4 $(SKETCH) Firmware is in $(SKETCH)-v3.px4"
 
-px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
+px4-v4: $(BUILDROOT)/make.flags CHECK_MODULES $(MAVLINK_HEADERS) $(UAVCAN_HEADERS) $(PX4_ROOT)/Archives/px4fmu-v4.export $(SKETCHCPP) module_mk
 	$(v) echo Building px4-v4
 	$(RULEHDR)
 	$(v) cp $(PX4_V4_CONFIG_FILE) $(PX4_ROOT)/makefiles/nuttx/
diff --git a/mk/targets.mk b/mk/targets.mk
index 1f19e8b020..d50ae1c57c 100644
--- a/mk/targets.mk
+++ b/mk/targets.mk
@@ -158,4 +158,5 @@ clean:
 	@rm -fr $(BUILDROOT)
 
 include $(MK_DIR)/modules.mk
+include $(MK_DIR)/uavcangen.mk
 include $(MK_DIR)/mavgen.mk
diff --git a/mk/uavcangen.mk b/mk/uavcangen.mk
new file mode 100644
index 0000000000..9237eedd09
--- /dev/null
+++ b/mk/uavcangen.mk
@@ -0,0 +1,21 @@
+#
+#include $(SKETCHBOOK)/modules/uavcan/libuavcan/include.mk
+
+ifeq ($(UAVCAN_DIRECTORY),)
+UAVCAN_DIRECTORY := $(SKETCHBOOK)/modules/uavcan
+endif
+
+UAVCAN_GEN     := $(UAVCAN_DIRECTORY)/libuavcan/include/#$(BUILDROOT)/modules/uavcan/
+UAVCAN_GEN_INC := $(UAVCAN_GEN)dsdlc_generated/
+UAVCAN_HEADERS := $(UAVCAN_GEN_INC)/uavcan/Timestamp.hpp $(wildcard $(UAVCAN_GEN_INC),*.hpp)
+UAVCAN_DSDL_MESSAGE_DEFINITIONS := $(wildcard $(UAVCAN_DIRECTORY)/dsdl/uavcan/,*.uavcan) # $(UAVCAN_DIRECTORY)/dsdl/uavcan/Timestamp.uavcan 
+
+UAVCANgen: $(UAVCAN_HEADERS)
+
+$(UAVCAN_HEADERS): $(UAVCAN_DSDL_MESSAGE_DEFINITIONS)
+	@echo "Generating UAVCAN headers..."
+
+#	PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py build
+#	PYTHONPATH=$(UAVCAN_DIR)libuavcan/dsdl_compiler/ python $(UAVCAN_DIR)libuavcan/dsdl_compiler/setup.py install
+
+	PYTHONPATH=$(UAVCAN_DIRECTORY)/libuavcan/ python $(UAVCAN_DIRECTORY)/libuavcan/dsdl_compiler/libuavcan_dsdlc "$(UAVCAN_DIRECTORY)/dsdl/uavcan" -O"$(UAVCAN_GEN_INC)"