diff --git a/libraries/AP_HAL_Linux/CAN.h b/libraries/AP_HAL_Linux/CAN.h
index 8d1295ba22..dde0099dfa 100644
--- a/libraries/AP_HAL_Linux/CAN.h
+++ b/libraries/AP_HAL_Linux/CAN.h
@@ -170,14 +170,14 @@ private:
     std::vector<can_filter> _hw_filters_container;
 };
 
-class CANManager: public AP_HAL::CANManager {
+class CANManager: public AP_HAL::CANManager, public uavcan::ICanDriver {
 public:
     static CANManager *from(AP_HAL::CANManager *can)
     {
         return static_cast<CANManager*>(can);
     }
 
-    CANManager() { _ifaces.reserve(uavcan::MaxCanIfaces); }
+    CANManager() : AP_HAL::CANManager(this) { _ifaces.reserve(uavcan::MaxCanIfaces); }
     ~CANManager() { }
 
     void _timer_tick();