diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
index 4f0225c65b..9d9618286c 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.cpp
@@ -32,26 +32,14 @@ const AP_Param::GroupInfo AP_Proximity_MR72_CAN::var_info[] = {
     AP_GROUPEND
 };
 
-MR72_MultiCAN *AP_Proximity_MR72_CAN::multican;
-
 AP_Proximity_MR72_CAN::AP_Proximity_MR72_CAN(AP_Proximity &_frontend,
                                      AP_Proximity::Proximity_State &_state,
                                      AP_Proximity_Params& _params):
     AP_Proximity_Backend(_frontend, _state, _params)
 {
-    if (multican == nullptr) {
-        multican = new MR72_MultiCAN();
-        if (multican == nullptr) {
-            AP_BoardConfig::allocation_error("MR72_CAN");
-        }
-    }
-
-    {
-        // add to linked list of drivers
-        WITH_SEMAPHORE(multican->sem);
-        auto *prev = multican->drivers;
-        next = prev;
-        multican->drivers = this;
+    multican_MR72 = new MultiCAN{FUNCTOR_BIND_MEMBER(&AP_Proximity_MR72_CAN::handle_frame, bool, AP_HAL::CANFrame &), AP_CAN::Protocol::NanoRadar, "MR72 MultiCAN"};
+    if (multican_MR72 == nullptr) {
+        AP_BoardConfig::allocation_error("Failed to create proximity multican");
     }
 
     AP_Param::setup_object_defaults(this, var_info);
@@ -132,15 +120,4 @@ bool AP_Proximity_MR72_CAN::parse_distance_message(AP_HAL::CANFrame &frame)
     return true;
 }
 
-// handle frames from CANSensor, passing to the drivers
-void MR72_MultiCAN::handle_frame(AP_HAL::CANFrame &frame)
-{
-    WITH_SEMAPHORE(sem);
-    for (auto *d = drivers; d; d=d->next) {
-        if (d->handle_frame(frame)) {
-            break;
-        }
-    }
-}
-
 #endif // HAL_PROXIMITY_ENABLED
diff --git a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
index e2a3dcbb9d..210e8036b0 100644
--- a/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
+++ b/libraries/AP_Proximity/AP_Proximity_MR72_CAN.h
@@ -45,24 +45,7 @@ private:
 
     AP_Int32 receive_id;                // ID of the sensor
 
-    static MR72_MultiCAN *multican;     // linked list
-    AP_Proximity_MR72_CAN *next;
-};
-
-// a class to allow for multiple MR_72 backends with one
-// CANSensor driver
-class MR72_MultiCAN : public CANSensor {
-public:
-    MR72_MultiCAN() : CANSensor("MR72") {
-        register_driver(AP_CAN::Protocol::MR72);
-    }
-
-    // handler for incoming frames
-    void handle_frame(AP_HAL::CANFrame &frame) override;
-
-    HAL_Semaphore sem;
-    AP_Proximity_MR72_CAN *drivers;
-
+    MultiCAN* multican_MR72;            // Allows for multiple CAN rangefinders on a single bus
 };
 
 #endif // HAL_PROXIMITY_ENABLED