diff --git a/libraries/AP_DroneCAN/AP_Canard_iface.cpp b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
index ebece89626..8be4b0a4c2 100644
--- a/libraries/AP_DroneCAN/AP_Canard_iface.cpp
+++ b/libraries/AP_DroneCAN/AP_Canard_iface.cpp
@@ -30,7 +30,7 @@ HAL_Semaphore test_iface_sem;
 
 void canard_allocate_sem_take(CanardPoolAllocator *allocator) {
     if (allocator->semaphore == nullptr) {
-        allocator->semaphore = new HAL_Semaphore;
+        allocator->semaphore = NEW_NOTHROW HAL_Semaphore;
         if (allocator->semaphore == nullptr) {
             // out of memory
             CANARD_ASSERT(0);
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index 67c629b241..986f0f7600 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -343,7 +343,7 @@ void AP_DroneCAN::init(uint8_t driver_index, bool enable_filters)
     uint8_t uid_len = sizeof(uavcan_protocol_HardwareVersion::unique_id);
     uint8_t unique_id[sizeof(uavcan_protocol_HardwareVersion::unique_id)];
 
-    mem_pool = new uint32_t[_pool_size/sizeof(uint32_t)];
+    mem_pool = NEW_NOTHROW uint32_t[_pool_size/sizeof(uint32_t)];
     if (mem_pool == nullptr) {
         debug_dronecan(AP_CANManager::LOG_ERROR, "DroneCAN: Failed to allocate memory pool\n\r");
         return;
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
index 4eb488117d..56102a4d30 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_serial.cpp
@@ -52,7 +52,7 @@ void AP_DroneCAN_Serial::init(AP_DroneCAN *_dronecan)
         if (Canard::allocate_sub_arg_callback(dronecan, &handle_tunnel_targetted, dronecan->get_driver_index()) == nullptr) {
             AP_BoardConfig::allocation_error("serial_tunnel_sub");
         }
-        targetted = new Canard::Publisher<uavcan_tunnel_Targetted>(dronecan->get_canard_iface());
+        targetted = NEW_NOTHROW Canard::Publisher<uavcan_tunnel_Targetted>(dronecan->get_canard_iface());
         if (targetted == nullptr) {
             AP_BoardConfig::allocation_error("serial_tunnel_pub");
         }
@@ -194,12 +194,12 @@ bool AP_DroneCAN_Serial::Port::init_buffers(const uint32_t size_rx, const uint32
     }
     WITH_SEMAPHORE(sem);
     if (readbuffer == nullptr) {
-        readbuffer = new ByteBuffer(size_rx);
+        readbuffer = NEW_NOTHROW ByteBuffer(size_rx);
     } else {
         readbuffer->set_size_best(size_rx);
     }
     if (writebuffer == nullptr) {
-        writebuffer = new ByteBuffer(size_tx);
+        writebuffer = NEW_NOTHROW ByteBuffer(size_tx);
     } else {
         writebuffer->set_size_best(size_tx);
     }