diff --git a/wscript b/wscript
index 58ec32bbc7..2a54205555 100644
--- a/wscript
+++ b/wscript
@@ -481,7 +481,6 @@ def configure(cfg):
     if cfg.options.board in cfg.ap_periph_boards():
         cfg.load('dronecangen')
     else:
-        cfg.load('uavcangen')
         if cfg.options.force_32bit or (cfg.options.board != 'sitl' and cfg.options.board != 'linux'):
             cfg.load('dronecangen')
 
@@ -670,16 +669,6 @@ def _build_dynamic_sources(bld):
             )
 
     if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
-        bld(
-            features='uavcangen',
-            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
-            output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
-            name='uavcan',
-            export_includes=[
-                bld.bldnode.make_node('modules/uavcan/libuavcan/include/dsdlc_generated').abspath(),
-                bld.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath()
-            ]
-        )
         if (not bld.env.FORCE32BIT) and (bld.env.BOARD == 'sitl' or bld.env.BOARD == 'linux'):
             # remove generated files
             dronecan_dir = bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/').abspath()