diff --git a/Tools/AP_Periph/can.cpp b/Tools/AP_Periph/can.cpp
index 9ef8110208..f0caa9b3d0 100644
--- a/Tools/AP_Periph/can.cpp
+++ b/Tools/AP_Periph/can.cpp
@@ -1562,7 +1562,7 @@ void AP_Periph_FW::esc_telem_update()
         }
         int16_t temperature;
         if (esc_telem.get_temperature(i, temperature)) {
-            pkt.temperature = temperature*0.01 + C_TO_KELVIN;
+            pkt.temperature = C_TO_KELVIN(temperature*0.01);
         } else {
             pkt.temperature = nan;
         }
@@ -1736,8 +1736,8 @@ void AP_Periph_FW::can_battery_update(void)
         float temperature;
         if (battery.lib.get_temperature(temperature, i)) {
             // Battery lib reports temperature in Celsius.
-            // Convert Celsius to Kelvin for tranmission on CAN.
-            pkt.temperature = temperature + C_TO_KELVIN;
+            // Convert Celsius to Kelvin for transmission on CAN.
+            pkt.temperature = C_TO_KELVIN(temperature);
         }
 
         pkt.state_of_health_pct = UAVCAN_EQUIPMENT_POWER_BATTERYINFO_STATE_OF_HEALTH_UNKNOWN;
@@ -2097,7 +2097,7 @@ void AP_Periph_FW::can_baro_update(void)
 
     {
         uavcan_equipment_air_data_StaticTemperature pkt {};
-        pkt.static_temperature = temp + C_TO_KELVIN;
+        pkt.static_temperature = C_TO_KELVIN(temp);
         pkt.static_temperature_variance = 0; // should we make this a parameter?
 
         uint8_t buffer[UAVCAN_EQUIPMENT_AIR_DATA_STATICTEMPERATURE_MAX_SIZE] {};
@@ -2148,7 +2148,7 @@ void AP_Periph_FW::can_airspeed_update(void)
     if (!airspeed.get_temperature(temp)) {
         temp = nanf("");
     } else {
-        temp += C_TO_KELVIN;
+        temp = C_TO_KELVIN(temp);
     }
 
     uavcan_equipment_air_data_RawAirData pkt {};