diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index f60d25abd8..a8b71176b0 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1088,6 +1088,12 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
+#if HAL_WITH_UAVCAN
+    // @Group: CAN_
+    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+#endif
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     // @Group: SIM_
     // @Path: ../libraries/SITL/SITL.cpp
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index 70874fe020..11306d17ab 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -53,6 +53,7 @@ public:
         k_param_avoidance_adsb,
         k_param_landing,
         k_param_NavEKF3,
+        k_param_BoardConfig_CAN,
 
         // Misc
         //
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 25b351ab93..5f6b5abf3b 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -82,6 +82,7 @@
 
 #include <AP_Arming/AP_Arming.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 #include <AP_Frsky_Telem/AP_Frsky_Telem.h>
 #include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
 
@@ -172,6 +173,11 @@ private:
     // board specific config
     AP_BoardConfig BoardConfig;
 
+    // board specific config for CAN bus
+#if HAL_WITH_UAVCAN
+    AP_BoardConfig_CAN BoardConfig_CAN;
+#endif
+
     // primary input channels
     RC_Channel *channel_roll;
     RC_Channel *channel_pitch;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 221d2b65d8..10248db22a 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -140,6 +140,9 @@ void Plane::init_ardupilot()
 
     // setup any board specific drivers
     BoardConfig.init();
+#if HAL_WITH_UAVCAN
+    BoardConfig_CAN.init();
+#endif
 
     relay.init();