diff --git a/src/modules/uavcan/libuavcan b/src/modules/uavcan/libuavcan
index c044630390..6f7f592a4d 160000
--- a/src/modules/uavcan/libuavcan
+++ b/src/modules/uavcan/libuavcan
@@ -1 +1 @@
-Subproject commit c044630390370d800a22e7746cd949ddd3c59bb1
+Subproject commit 6f7f592a4d1b10c978b1cc7a33ce6bdb1c2fb53c
diff --git a/src/modules/uavcan/uavcan_driver.hpp b/src/modules/uavcan/uavcan_driver.hpp
new file mode 100644
index 0000000000..bd0d34b6be
--- /dev/null
+++ b/src/modules/uavcan/uavcan_driver.hpp
@@ -0,0 +1,45 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 20158 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author David Sidrane <david_s5@nscdgg.com>
+ */
+
+#pragma once
+#if defined(UAVCAN_KINETIS_NUTTX)
+#  include <uavcan_kinetis/uavcan_kinetis.hpp>
+#elif defined(UAVCAN_STM32_NUTTX)
+#  include <uavcan_stm32/uavcan_stm32.hpp>
+#else
+#  error "Unsupported driver"
+#endif
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index 0b5a3ba095..2df7b6a825 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -44,7 +44,7 @@
 
 #include <px4_config.h>
 
-#include <uavcan_stm32/uavcan_stm32.hpp>
+#include "uavcan_driver.hpp"
 #include <uavcan/helpers/heap_based_pool_allocator.hpp>
 #include <uavcan/protocol/global_time_sync_master.hpp>
 #include <uavcan/protocol/global_time_sync_slave.hpp>
diff --git a/src/modules/uavcan/uavcan_servers.hpp b/src/modules/uavcan/uavcan_servers.hpp
index 9aabed8a2c..ec01ea5010 100644
--- a/src/modules/uavcan/uavcan_servers.hpp
+++ b/src/modules/uavcan/uavcan_servers.hpp
@@ -33,9 +33,8 @@
 
 #pragma once
 
-#include <nuttx/config.h>
-
-#include <uavcan_stm32/uavcan_stm32.hpp>
+#include <px4_config.h>
+#include "uavcan_driver.hpp"
 #include <drivers/device/device.h>
 #include <perf/perf_counter.h>