diff --git a/cmake/configs/nuttx_aerocore2_default.cmake b/cmake/configs/nuttx_aerocore2_default.cmake
index 1c5b975753..a18ae8fbbf 100644
--- a/cmake/configs/nuttx_aerocore2_default.cmake
+++ b/cmake/configs/nuttx_aerocore2_default.cmake
@@ -1,7 +1,7 @@
 
 px4_nuttx_configure(HWCLASS m4 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(config_uavcan_num_ifaces 2)
+set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
 	#
diff --git a/src/drivers/boards/aerocore2/init.c b/src/drivers/boards/aerocore2/init.c
index 6e0427d405..04dfbac895 100644
--- a/src/drivers/boards/aerocore2/init.c
+++ b/src/drivers/boards/aerocore2/init.c
@@ -150,6 +150,9 @@ __EXPORT void board_peripheral_reset(int ms)
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	/* configure LEDs */
+	board_autoled_initialize();
+
 	/* configure ADC pins */
 
 	stm32_configgpio(GPIO_ADC1_IN10);	/* used by battery sense */
@@ -163,11 +166,14 @@ stm32_boardinitialize(void)
 	/* configure spektrum power controller gpio */
 	stm32_configgpio(GPIO_SPEKTRUM_PWR_EN);
 
+	/* configure CAN interface */
+
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+
 	/* configure SPI interfaces */
 	stm32_spiinitialize();
 
-	/* configure LEDs */
-	board_autoled_initialize();
 }
 
 /****************************************************************************