diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index b825a16b40..7309692c60 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -399,8 +399,9 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u
 bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
                                 uint16_t num_configs)
 {
-#if defined(STM32G4)
-    // not supported yet
+    // only enable filters in AP_Periph. It makes no sense on the flight controller
+#if !defined(HAL_BUILD_AP_PERIPH) || defined(STM32G4)
+    // no filtering
     can_->CCCR &= ~FDCAN_CCCR_INIT; // Leave init mode
     uint32_t while_start_ms = AP_HAL::millis();
     while ((can_->CCCR & FDCAN_CCCR_INIT) == 1) {
@@ -525,7 +526,7 @@ bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
     }
     initialised_ = true;
     return true;
-#endif // defined(STM32G4)
+#endif // AP_Periph, STM32G4
 }
 
 uint16_t CANIface::getNumFilters() const
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 44386b8c73..0a740f0141 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -384,6 +384,11 @@ int16_t CANIface::receive(AP_HAL::CANFrame& out_frame, uint64_t& out_timestamp_u
 bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
                                 uint16_t num_configs)
 {
+#if !defined(HAL_BUILD_AP_PERIPH)
+    // only do filtering for AP_Periph
+    can_->FMR &= ~bxcan::FMR_FINIT;
+    return true;
+#else
     if (mode_ != FilteredMode) {
         return false;
     }
@@ -451,6 +456,7 @@ bool CANIface::configureFilters(const CanFilterConfig* filter_configs,
     }
 
     return false;
+#endif // AP_Periph
 }
 #endif