diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index f805ec097d..19364bd969 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -24,7 +24,7 @@
 #include "AP_Compass_LIS3MDL.h"
 #include "AP_Compass_AK09916.h"
 #include "AP_Compass_QMC5883L.h"
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
 #include "AP_Compass_DroneCAN.h"
 #endif
 #include "AP_Compass_MMC3416.h"
@@ -1449,7 +1449,7 @@ void Compass::_detect_backends(void)
 #endif
 
 
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
     if (_driver_enabled(DRIVER_UAVCAN)) {
         for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
             AP_Compass_Backend* _uavcan_backend = AP_Compass_UAVCAN::probe(i);
@@ -1519,7 +1519,7 @@ void Compass::_detect_backends(void)
         }
 #endif  // #if COMPASS_MAX_UNREG_DEV > 0
     }
-#endif  // AP_COMPASS_UAVCAN_ENABLED
+#endif  // AP_COMPASS_DRONECAN_ENABLED
 
     if (_backend_count == 0 ||
         _compass_count == 0) {
@@ -1608,7 +1608,7 @@ void Compass::_reset_compass_id()
 void
 Compass::_detect_runtime(void)
 {
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
     if (!available()) {
         return;
     }
@@ -1632,7 +1632,7 @@ Compass::_detect_runtime(void)
             CHECK_UNREG_LIMIT_RETURN;
         }
     }
-#endif  // AP_COMPASS_UAVCAN_ENABLED
+#endif  // AP_COMPASS_DRONECAN_ENABLED
 }
 
 bool
diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
index cae86595ca..53d760404d 100644
--- a/libraries/AP_Compass/AP_Compass.h
+++ b/libraries/AP_Compass/AP_Compass.h
@@ -453,7 +453,7 @@ private:
 #if AP_COMPASS_MMC3416_ENABLED
         DRIVER_MMC3416  =9,
 #endif
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
         DRIVER_UAVCAN   =11,
 #endif
 #if AP_COMPASS_QMC5883L_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
index d034ea8799..8103332e77 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.cpp
@@ -15,7 +15,7 @@
 
 #include "AP_Compass_DroneCAN.h"
 
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 
@@ -205,4 +205,4 @@ void AP_Compass_UAVCAN::read(void)
 {
     drain_accumulated_samples(_instance);
 }
-#endif  // AP_COMPASS_UAVCAN_ENABLED
+#endif  // AP_COMPASS_DRONECAN_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_DroneCAN.h b/libraries/AP_Compass/AP_Compass_DroneCAN.h
index 32f66768ba..e068fb4f2f 100644
--- a/libraries/AP_Compass/AP_Compass_DroneCAN.h
+++ b/libraries/AP_Compass/AP_Compass_DroneCAN.h
@@ -2,7 +2,7 @@
 
 #include "AP_Compass.h"
 
-#if AP_COMPASS_UAVCAN_ENABLED
+#if AP_COMPASS_DRONECAN_ENABLED
 
 #include "AP_Compass_Backend.h"
 
@@ -47,4 +47,4 @@ private:
     static HAL_Semaphore _sem_registry;
 };
 
-#endif  // AP_COMPASS_UAVCAN_ENABLED
+#endif  // AP_COMPASS_DRONECAN_ENABLED
diff --git a/libraries/AP_Compass/AP_Compass_config.h b/libraries/AP_Compass/AP_Compass_config.h
index 58d1bf95e4..830b84c81e 100644
--- a/libraries/AP_Compass/AP_Compass_config.h
+++ b/libraries/AP_Compass/AP_Compass_config.h
@@ -25,8 +25,8 @@
 #define AP_COMPASS_SITL_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && AP_SIM_ENABLED)
 #endif
 
-#ifndef AP_COMPASS_UAVCAN_ENABLED
-#define AP_COMPASS_UAVCAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#ifndef AP_COMPASS_DRONECAN_ENABLED
+#define AP_COMPASS_DRONECAN_ENABLED (AP_COMPASS_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
 #endif
 
 // i2c-based compasses: