diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index f0674e4d47..2e29a59d26 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -15,6 +15,10 @@
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
+#if !HAL_MINIMIZE_FEATURES
+  #include <uavcan/transport/can_acceptance_filter_configurator.hpp>
+#endif
+
 // Zubax GPS and other GPS, baro, magnetic sensors
 #include <uavcan/equipment/gnss/Fix.hpp>
 #include <uavcan/equipment/gnss/Auxiliary.hpp>
@@ -571,6 +575,10 @@ void AP_UAVCAN::init(uint8_t driver_index)
 
     _led_conf.devices_count = 0;
 
+#if !HAL_MINIMIZE_FEATURES
+    configureCanAcceptanceFilters(*_node);
+#endif
+
     /*
      * Informing other nodes that we're ready to work.
      * Default mode is INITIALIZING.