diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 1ba08b6228..ee66b5bf4a 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -226,8 +226,9 @@ void AP_Proximity::init()
             drivers[instance] = NEW_NOTHROW AP_Proximity_Scripting(*this, state[instance], params[instance]);
         break;
 #endif
-#if AP_PROXIMITY_MR72_ENABLED
+#if AP_PROXIMITY_MR72_ENABLED || AP_PROXIMITY_HEXSOONRADAR_ENABLED
         case Type::MR72:
+        case Type::Hexsoon_Radar:
             state[instance].instance = instance;
             drivers[instance] = NEW_NOTHROW AP_Proximity_MR72_CAN(*this, state[instance], params[instance]);
             break;
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index 61a52e0270..548766b73c 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -89,6 +89,9 @@ public:
 #endif
 #if AP_PROXIMITY_MR72_ENABLED
         MR72 = 17,
+#endif
+#if AP_PROXIMITY_HEXSOONRADAR_ENABLED
+        Hexsoon_Radar = 18,
 #endif
     };
 
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
index 2f762be1c8..964f677c1f 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
@@ -14,7 +14,7 @@
  */
 #include "AP_Proximity_config.h"
 
-#if AP_PROXIMITY_MR72_ENABLED
+#if AP_PROXIMITY_MR72_ENABLED || AP_PROXIMITY_HEXSOONRADAR_ENABLED
 
 #include <AP_HAL/AP_HAL.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
@@ -37,7 +37,7 @@ AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend,
                                      AP_Proximity_Params& _params):
     AP_Proximity_Backend(_frontend, _state, _params)
 {
-    multican_MR72 = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"};
+    multican_MR72 = NEW_NOTHROW MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::RadarCAN, "MR72 MultiCAN"};
     if (multican_MR72 == nullptr) {
         AP_BoardConfig::allocation_error("Failed to create proximity multican");
     }
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
index 210e8036b0..14d9f14941 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
@@ -1,7 +1,7 @@
 #pragma once
 #include "AP_Proximity_config.h"
 
-#if AP_PROXIMITY_MR72_ENABLED
+#if AP_PROXIMITY_MR72_ENABLED || AP_PROXIMITY_HEXSOONRADAR_ENABLED
 
 #include "AP_Proximity.h"
 #include "AP_Proximity_Backend.h"
diff --git a/libraries/AP_Proximity/AP_Proximity_Params.cpp b/libraries/AP_Proximity/AP_Proximity_Params.cpp
index ffee3e4c21..d6a83b65d6 100644
--- a/libraries/AP_Proximity/AP_Proximity_Params.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Params.cpp
@@ -9,7 +9,7 @@ const AP_Param::GroupInfo AP_Proximity_Params::var_info[] = {
     // @DisplayName: Proximity type
     // @Description: What type of proximity sensor is connected
     // @SortValues: AlphabeticalZeroAtTop
-    // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17: MR72_CAN
+    // @Values: 0:None,7:LightwareSF40c,2:MAVLink,3:TeraRangerTower,4:RangeFinder,5:RPLidarA2,6:TeraRangerTowerEvo,8:LightwareSF45B,10:SITL,12:AirSimSITL,13:CygbotD1, 14:DroneCAN, 15:Scripting, 16:LD06, 17:MR72_CAN, 18:HexsoonRadar
     // @RebootRequired: True
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE",   1, AP_Proximity_Params, type, 0, AP_PARAM_FLAG_ENABLE),
diff --git a/libraries/AP_Proximity/AP_Proximity_config.h b/libraries/AP_Proximity/AP_Proximity_config.h
index a05e94b653..f44d1ccbff 100644
--- a/libraries/AP_Proximity/AP_Proximity_config.h
+++ b/libraries/AP_Proximity/AP_Proximity_config.h
@@ -73,3 +73,7 @@
 #ifndef AP_PROXIMITY_LD06_ENABLED
 #define AP_PROXIMITY_LD06_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED
 #endif
+
+#ifndef AP_PROXIMITY_HEXSOONRADAR_ENABLED
+#define AP_PROXIMITY_HEXSOONRADAR_ENABLED AP_PROXIMITY_BACKEND_DEFAULT_ENABLED && HAL_MAX_CAN_PROTOCOL_DRIVERS
+#endif