diff --git a/libraries/AP_HAL_Linux/CANSocketIface.cpp b/libraries/AP_HAL_Linux/CANSocketIface.cpp
index fc51eb95db..03f3be88da 100644
--- a/libraries/AP_HAL_Linux/CANSocketIface.cpp
+++ b/libraries/AP_HAL_Linux/CANSocketIface.cpp
@@ -281,10 +281,10 @@ void CANIface::_pollWrite()
                 stats.tx_success++;
                 stats.last_transmit_us = curr_time;
             } else if (res == 0) {            // Not transmitted, nor is it an error
-                stats.tx_full++;
+                stats.tx_overflow++;
                 break;                        // Leaving the loop, the frame remains enqueued for the next retry
             } else {                          // Transmission error
-                stats.tx_write_fail++;
+                stats.tx_rejected++;
             }
         } else {
             // hal.console->printf("TDEAD: %lu CURRT: %lu DEL: %lu\n", tx.deadline, curr_time, curr_time-tx.deadline);
@@ -592,8 +592,8 @@ bool CANIface::CANSocketEventSource::wait(uint16_t duration_us, AP_HAL::EventHan
 void CANIface::get_stats(ExpandingString &str)
 {
     str.printf("tx_requests:    %u\n"
-               "tx_write_fail:  %u\n"
-               "tx_full:        %u\n"
+               "tx_rejected:    %u\n"
+               "tx_overflow:    %u\n"
                "tx_confirmed:   %u\n"
                "tx_success:     %u\n"
                "tx_timedout:    %u\n"
@@ -606,8 +606,8 @@ void CANIface::get_stats(ExpandingString &str)
                "num_poll_tx_events: %u\n"
                "num_poll_rx_events: %u\n",
                stats.tx_requests,
-               stats.tx_write_fail,
-               stats.tx_full,
+               stats.tx_rejected,
+               stats.tx_overflow,
                stats.tx_confirmed,
                stats.tx_success,
                stats.tx_timedout,
diff --git a/libraries/AP_HAL_Linux/CANSocketIface.h b/libraries/AP_HAL_Linux/CANSocketIface.h
index 583faca14f..a7e85f4575 100644
--- a/libraries/AP_HAL_Linux/CANSocketIface.h
+++ b/libraries/AP_HAL_Linux/CANSocketIface.h
@@ -174,15 +174,8 @@ private:
     std::unordered_multiset<uint32_t> _pending_loopback_ids;
     std::vector<can_filter> _hw_filters_container;
 
-    struct {
-        uint32_t tx_requests;
-        uint32_t tx_full;
+    struct bus_stats : public AP_HAL::CANIface::bus_stats_t {
         uint32_t tx_confirmed;
-        uint32_t tx_write_fail;
-        uint32_t tx_success;
-        uint32_t tx_timedout;
-        uint32_t rx_received;
-        uint32_t rx_errors;
         uint32_t num_downs;
         uint32_t num_rx_poll_req;
         uint32_t num_tx_poll_req;