diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index cce819e0ef..0077e1df59 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -176,7 +176,7 @@ uint32_t UavcanEscController::get_failures(uint8_t esc_index)
 	uint32_t failures = 0;
 
 	// Update device vendor/model information from device_information topic
-	device_information_s device_information;
+	device_information_s device_information{};
 
 	char esc_name[80] {};
 
@@ -202,7 +202,7 @@ uint32_t UavcanEscController::get_failures(uint8_t esc_index)
 		}
 	}
 
-	if (esc_report.esc_address < UAVCAN_NODE_ID_MAX && (node_health == dronecan_node_status_s::HEALTH_OK ||
+	if (esc_report.esc_address <= uavcan::NodeID::Max && (node_health == dronecan_node_status_s::HEALTH_OK ||
 			node_health == dronecan_node_status_s::HEALTH_WARNING)) {
 		failures = 0;
 
diff --git a/src/drivers/uavcan/actuators/esc.hpp b/src/drivers/uavcan/actuators/esc.hpp
index 8cf2b39bfc..71eb2e6fe3 100644
--- a/src/drivers/uavcan/actuators/esc.hpp
+++ b/src/drivers/uavcan/actuators/esc.hpp
@@ -49,17 +49,12 @@
 #include <uavcan/equipment/esc/RawCommand.hpp>
 #include <uavcan/equipment/esc/Status.hpp>
 #include <uavcan/equipment/esc/StatusExtended.hpp>
-#include <lib/perf/perf_counter.h>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionMultiArray.hpp>
-#include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/esc_status.h>
 #include <uORB/topics/esc_report.h>
 #include <uORB/topics/dronecan_node_status.h>
-#include <uORB/topics/device_information.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/uavcan/node_info.hpp>
 #include "../node_info.hpp"
 
 class UavcanEscController
@@ -67,7 +62,6 @@ class UavcanEscController
 public:
 	static constexpr int MAX_ACTUATORS = esc_status_s::CONNECTED_ESC_MAX;
 	static constexpr unsigned MAX_RATE_HZ = 400;
-	static constexpr int16_t UAVCAN_NODE_ID_MAX = 128; // UAVCAN supports up to 128 nodes (0-127)
 
 	static_assert(uavcan::equipment::esc::RawCommand::FieldTypes::cmd::MaxSize >= MAX_ACTUATORS, "Too many actuators");