diff --git a/boards/cuav/nora/init/rc.board_defaults b/boards/cuav/nora/init/rc.board_defaults
index fd4216c0ba..874baaa4f6 100644
--- a/boards/cuav/nora/init/rc.board_defaults
+++ b/boards/cuav/nora/init/rc.board_defaults
@@ -39,6 +39,8 @@ then
 
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/cuav/x7pro/init/rc.board_defaults b/boards/cuav/x7pro/init/rc.board_defaults
index eb343ee1bb..263c45531f 100644
--- a/boards/cuav/x7pro/init/rc.board_defaults
+++ b/boards/cuav/x7pro/init/rc.board_defaults
@@ -39,6 +39,8 @@ then
 
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/cubepilot/cubeorange/init/rc.board_defaults b/boards/cubepilot/cubeorange/init/rc.board_defaults
index 6718800b44..39012e2794 100644
--- a/boards/cubepilot/cubeorange/init/rc.board_defaults
+++ b/boards/cubepilot/cubeorange/init/rc.board_defaults
@@ -39,6 +39,8 @@ then
 
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/cubepilot/cubeyellow/init/rc.board_defaults b/boards/cubepilot/cubeyellow/init/rc.board_defaults
index 81a31e3040..4ced42e12a 100644
--- a/boards/cubepilot/cubeyellow/init/rc.board_defaults
+++ b/boards/cubepilot/cubeyellow/init/rc.board_defaults
@@ -20,6 +20,8 @@ then
 
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/holybro/durandal-v1/init/rc.board_defaults b/boards/holybro/durandal-v1/init/rc.board_defaults
index 3ab7262970..cbd3a50b4d 100644
--- a/boards/holybro/durandal-v1/init/rc.board_defaults
+++ b/boards/holybro/durandal-v1/init/rc.board_defaults
@@ -32,6 +32,8 @@ then
 
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/holybro/pix32v5/init/rc.board_defaults b/boards/holybro/pix32v5/init/rc.board_defaults
index 13c6667d22..c6a14b7b37 100644
--- a/boards/holybro/pix32v5/init/rc.board_defaults
+++ b/boards/holybro/pix32v5/init/rc.board_defaults
@@ -11,6 +11,8 @@ then
 	param set SENS_IMU_MODE 0
 	param set EKF2_MULTI_MAG 2
 	param set SENS_MAG_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/modalai/fc-v1/init/rc.board_defaults b/boards/modalai/fc-v1/init/rc.board_defaults
index 0d912abdc9..575c03ec00 100644
--- a/boards/modalai/fc-v1/init/rc.board_defaults
+++ b/boards/modalai/fc-v1/init/rc.board_defaults
@@ -30,6 +30,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 #
diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_defaults b/boards/mro/ctrl-zero-f7/init/rc.board_defaults
index 4027942d80..73371f9d92 100644
--- a/boards/mro/ctrl-zero-f7/init/rc.board_defaults
+++ b/boards/mro/ctrl-zero-f7/init/rc.board_defaults
@@ -9,6 +9,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/mro/pixracerpro/init/rc.board_defaults b/boards/mro/pixracerpro/init/rc.board_defaults
index 1c9f030d78..43fdb46c71 100644
--- a/boards/mro/pixracerpro/init/rc.board_defaults
+++ b/boards/mro/pixracerpro/init/rc.board_defaults
@@ -35,6 +35,8 @@ then
 	param set EKF2_MULTI_MAG 3
 	param set SENS_MAG_MODE 0
 
+	param set UAVCAN_ENABLE 2
+
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/mro/x21-777/init/rc.board_defaults b/boards/mro/x21-777/init/rc.board_defaults
index c1b208f3ef..940c54f4e2 100644
--- a/boards/mro/x21-777/init/rc.board_defaults
+++ b/boards/mro/x21-777/init/rc.board_defaults
@@ -11,6 +11,8 @@ then
 	param set SENS_IMU_MODE 0
 	param set EKF2_MULTI_MAG 2
 	param set SENS_MAG_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v4pro/init/rc.board_defaults b/boards/px4/fmu-v4pro/init/rc.board_defaults
index 703f414aa8..59cc1971f2 100644
--- a/boards/px4/fmu-v4pro/init/rc.board_defaults
+++ b/boards/px4/fmu-v4pro/init/rc.board_defaults
@@ -9,6 +9,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v5/init/rc.board_defaults b/boards/px4/fmu-v5/init/rc.board_defaults
index ddb8953c51..62ffc65687 100644
--- a/boards/px4/fmu-v5/init/rc.board_defaults
+++ b/boards/px4/fmu-v5/init/rc.board_defaults
@@ -19,6 +19,8 @@ then
 		param set EKF2_MULTI_MAG 2
 		param set SENS_MAG_MODE 0
 	fi
+
+	param set UAVCAN_ENABLE 2
 fi
 
 # disable px4io on HolyBro mini (V540) and CUAV V5nano (V560)
diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults
index 4c4b84511e..fdf4758886 100644
--- a/boards/px4/fmu-v5x/init/rc.board_defaults
+++ b/boards/px4/fmu-v5x/init/rc.board_defaults
@@ -9,6 +9,8 @@ then
 	# Multi-EKF
 	param set EKF2_MULTI_IMU 3
 	param set SENS_IMU_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64
diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults
index 60582cd59f..9835622635 100644
--- a/boards/px4/fmu-v6x/init/rc.board_defaults
+++ b/boards/px4/fmu-v6x/init/rc.board_defaults
@@ -11,6 +11,8 @@ then
 	param set SENS_IMU_MODE 0
 	param set EKF2_MULTI_MAG 3
 	param set SENS_MAG_MODE 0
+
+	param set UAVCAN_ENABLE 2
 fi
 
 set LOGGER_BUF 64