diff --git a/Tools/ardupilotwaf/uavcangen.py b/Tools/ardupilotwaf/uavcangen.py
index 0784947168..dae23b8e4f 100644
--- a/Tools/ardupilotwaf/uavcangen.py
+++ b/Tools/ardupilotwaf/uavcangen.py
@@ -21,11 +21,10 @@ class uavcangen(Task.Task):
         out = self.env.get_flat('OUTPUT_DIR')
         src = self.env.get_flat('SRC')
         dsdlc = self.env.get_flat("DSDL_COMPILER")
-        input_dir = os.path.dirname(self.inputs[0].abspath())
+
         ret = self.exec_command(['{}'.format(python),
                                  '{}'.format(dsdlc),
-                                 '{}'.format(input_dir),
-                                 '-O{}'.format(out)])
+                                 '-O{}'.format(out)] + [x.abspath() for x in self.inputs])
 
         if ret != 0:
             # ignore if there was a signal to the interpreter rather
diff --git a/wscript b/wscript
index b936f9593a..dcce93df02 100644
--- a/wscript
+++ b/wscript
@@ -512,7 +512,7 @@ def _build_dynamic_sources(bld):
     if bld.get_board().with_uavcan or bld.env.HAL_WITH_UAVCAN==True:
         bld(
             features='uavcangen',
-            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/uavcan/**/*.uavcan'),
+            source=bld.srcnode.ant_glob('modules/uavcan/dsdl/* uavcan_vendor_specific_types/*', dir=True, src=False),
             output_dir='modules/uavcan/libuavcan/include/dsdlc_generated',
             name='uavcan',
             export_includes=[