diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 4b51f97cdb..6a807e86ae 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -418,25 +418,26 @@ void AP_GPS::detect_instance(uint8_t instance)
     switch (_type[instance]) {
     // user has to explicitly set the MAV type, do not use AUTO
     // do not try to detect the MAV type, assume it's there
-    case GPS_TYPE_MAV:
+    case GPS_TYPE_MAV: {
         dstate->auto_detected_baud = false; // specified, not detected
         new_gps = new AP_GPS_MAV(*this, state[instance], nullptr);
         goto found_gps;
         break;
+    }
 
-#if HAL_WITH_UAVCAN
     // user has to explicitly set the UAVCAN type, do not use AUTO
-    case GPS_TYPE_UAVCAN:
+    case GPS_TYPE_UAVCAN: {
+#if HAL_WITH_UAVCAN
         dstate->auto_detected_baud = false; // specified, not detected
-        if (AP_BoardConfig_CAN::get_can_num_ifaces() == 0) {
-            return;
-        }
-        for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
+
+        uint8_t can_num_drivers = AP::can().get_num_drivers();
+
+        for (uint8_t i = 0; i < can_num_drivers; i++) {
             AP_UAVCAN *ap_uavcan = AP_UAVCAN::get_uavcan(i);
             if (ap_uavcan == nullptr) {
                 continue;
             }
-            
+
             uint8_t gps_node = ap_uavcan->find_gps_without_listener();
             if (gps_node == UINT8_MAX) {
                 continue;
@@ -445,7 +446,7 @@ void AP_GPS::detect_instance(uint8_t instance)
             new_gps = new AP_GPS_UAVCAN(*this, state[instance], nullptr);
             ((AP_GPS_UAVCAN*) new_gps)->set_uavcan_manager(i);
             if (ap_uavcan->register_gps_listener_to_node(new_gps, gps_node)) {
-                if (AP_BoardConfig_CAN::get_can_debug() >= 2) {
+                if (AP::can().get_debug_level_driver(i) >= 2) {
                     printf("AP_GPS_UAVCAN registered\n\r");
                 }
                 goto found_gps;
@@ -453,8 +454,9 @@ void AP_GPS::detect_instance(uint8_t instance)
                 delete new_gps;
             }
         }
-        return;
 #endif
+        return;
+    }
 
     default:
         break;
diff --git a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
index 363271d9a1..6e0c727a3f 100644
--- a/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
+++ b/libraries/AP_GPS/AP_GPS_UAVCAN.cpp
@@ -21,12 +21,12 @@
 
 #if HAL_WITH_UAVCAN
 #include <AP_UAVCAN/AP_UAVCAN.h>
-#include <AP_BoardConfig/AP_BoardConfig.h>
+
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_gps_uavcan(level, fmt, args...) do { if ((level) <= AP_BoardConfig_CAN::get_can_debug()) { printf(fmt, ##args); }} while (0)
+#define debug_gps_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
 
 AP_GPS_UAVCAN::AP_GPS_UAVCAN(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port) :
     AP_GPS_Backend(_gps, _state, _port)
@@ -41,11 +41,11 @@ AP_GPS_UAVCAN::~AP_GPS_UAVCAN()
     if (ap_uavcan == nullptr) {
         return;
     }
-    
+
     ap_uavcan->remove_gps_listener(this);
     delete _sem_gnss;
-    
-    debug_gps_uavcan(2, "AP_GPS_UAVCAN destructed\n\r");
+
+    debug_gps_uavcan(2, _manager, "AP_GPS_UAVCAN destructed\n\r");
 }
 
 void AP_GPS_UAVCAN::set_uavcan_manager(uint8_t mgr)