diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index 6be6d77039..6cf3f405b5 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -57,6 +57,7 @@
 #include <AP_ADSB/AP_ADSB.h>
 #include "AP_UAVCAN_DNA_Server.h"
 #include <AP_Logger/AP_Logger.h>
+#include <AP_Notify/AP_Notify.h>
 
 #define LED_DELAY_US 50000
 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
index 1c1d9684ac..d2d03b5bcd 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN_DNA_Server.h
@@ -1,5 +1,6 @@
 #pragma once
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_HAL/Semaphores.h>
 
 #if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include <uavcan/uavcan.hpp>