diff --git a/boards/nxp/fmuk66-v3/default-boardconfig b/boards/nxp/fmuk66-v3/default-boardconfig
index 758fd1adfe..9ddc278a7b 100644
--- a/boards/nxp/fmuk66-v3/default-boardconfig
+++ b/boards/nxp/fmuk66-v3/default-boardconfig
@@ -27,6 +27,7 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_UAVCAN_INTERFACES=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake
index c48579705e..0c54d9c283 100644
--- a/boards/nxp/fmuk66-v3/default.cmake
+++ b/boards/nxp/fmuk66-v3/default.cmake
@@ -5,7 +5,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
 	ROMFSROOT px4fmu_common
-	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS4
diff --git a/cmake/kconfig.cmake b/cmake/kconfig.cmake
index 081acb4d82..ef1e07418f 100644
--- a/cmake/kconfig.cmake
+++ b/cmake/kconfig.cmake
@@ -151,5 +151,17 @@ if(EXISTS ${BOARD_DEFCONFIG})
             
             list(APPEND config_module_list examples/${example})
         endif()
+
+		# Find variable name
+		string(REGEX MATCH "^CONFIG_UAVCAN_INTERFACES" UAVCAN_INTERFACES ${NameAndValue})
+
+		# Temporary located here to maintain binary compatibility, have to be removed later
+		if(UAVCAN_INTERFACES)
+			# Find the value
+			string(REPLACE "${Name}=" "" Value ${NameAndValue})
+
+			set(config_uavcan_num_ifaces ${Value} CACHE INTERNAL "UAVCAN interfaces" FORCE)
+		endif()
+
     endforeach()
 endif()
diff --git a/src/drivers/Kconfig b/src/drivers/Kconfig
index d41a6b0070..11d491e83f 100644
--- a/src/drivers/Kconfig
+++ b/src/drivers/Kconfig
@@ -223,6 +223,10 @@ menuconfig DRIVERS_UAVCAN
 	---help---
 		Enable support for uavcan
 		
+if DRIVERS_UAVCAN
+source "src/drivers/uavcan/Kconfig"
+endif #DRIVERS_UAVCAN
+
 menuconfig DRIVERS_UAVCAN_V1
 	bool "UAVCANv1"
 	default n
diff --git a/src/drivers/uavcan/Kconfig b/src/drivers/uavcan/Kconfig
new file mode 100644
index 0000000000..b093b244db
--- /dev/null
+++ b/src/drivers/uavcan/Kconfig
@@ -0,0 +1,5 @@
+menuconfig UAVCAN_INTERFACES
+	int "UAVCANv0 interface count"
+	default 0
+	---help---
+		Interface count for UAVCANv0