diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp
index 76f18a5588..027382ff9c 100644
--- a/libraries/AP_CANManager/AP_CANDriver.cpp
+++ b/libraries/AP_CANManager/AP_CANDriver.cpp
@@ -32,8 +32,8 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
     // @Param: PROTOCOL
     // @DisplayName: Enable use of specific protocol over virtual driver
     // @Description: Enabling this option starts selected protocol that will use this virtual driver
-    // @Values{Copter,Plane,Sub,Rover}: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN
-    // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN,9:PacketDigital
+    // @Values{Copter,Plane,Sub,Rover}: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,8:KDECAN,9:PacketDigitalCAN,11:Benewake
+    // @Values: 0:Disabled,1:UAVCAN,3:ToshibaCAN,4:PiccoloCAN,5:CANTester,6:EFI_NWPMU,7:USD1,8:KDECAN,9:PacketDigital,11:Benewake
     // @User: Advanced
     // @RebootRequired: True
     AP_GROUPINFO("PROTOCOL", 1, AP_CANManager::CANDriver_Params, _driver_type, AP_CANManager::Driver_Type_UAVCAN),
diff --git a/libraries/AP_CANManager/AP_CANManager.h b/libraries/AP_CANManager/AP_CANManager.h
index 1a75a26cbb..3972f21ccd 100644
--- a/libraries/AP_CANManager/AP_CANManager.h
+++ b/libraries/AP_CANManager/AP_CANManager.h
@@ -61,6 +61,7 @@ public:
         Driver_Type_USD1 = 7,
         Driver_Type_KDECAN = 8,
         Driver_Type_MPPT_PacketDigital = 9,
+        Driver_Type_Benewake = 11,
     };
 
     void init(void);
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
index 2d4b76fccf..42468bce5f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.cpp
@@ -27,7 +27,7 @@ const AP_Param::GroupInfo AP_RangeFinder_Benewake_CAN::var_info[] = {
   constructor
  */
 AP_RangeFinder_Benewake_CAN::AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    CANSensor("Benewake", 3072),
+    CANSensor("Benewake"),
     AP_RangeFinder_Backend(_state, _params)
 {
     AP_Param::setup_object_defaults(this, var_info);
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
index a769b772a0..40bcacecfc 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_CAN.h
@@ -5,7 +5,7 @@
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
 
-class AP_RangeFinder_Benewake_CAN : public CANSensor, public AP_RangeFinder_Backend {
+class AP_RangeFinder_Benewake_CAN : public AP_RangeFinder_Backend, public CANSensor {
 public:
     AP_RangeFinder_Benewake_CAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);