diff --git a/boards/cuav/can-gps-v1/default.cmake b/boards/cuav/can-gps-v1/default.cmake
index 3d49dec74d..5f8bb52f85 100644
--- a/boards/cuav/can-gps-v1/default.cmake
+++ b/boards/cuav/can-gps-v1/default.cmake
@@ -27,8 +27,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS1
 	DRIVERS
 		barometer/ms5611
 		bootloaders
@@ -38,30 +36,13 @@ px4_add_board(
 		tone_alarm
 		uavcannode
 	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-		#temperature_compensation
+		load_mon
 	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		#dumpfile
-		#esc_calib
-		#hardfault_log
-		#i2cdetect
+		i2cdetect
 		led_control
-		#mft
-		#mixer
-		#motor_ramp
-		#motor_test
-		#mtd
-		#nshterm
 		param
 		perf
 		reboot
-		#reflect
-		#sd_bench
-		#shutdown
 		top
 		topic_listener
 		tune_control
diff --git a/boards/cuav/can-gps-v1/init/rc.board_sensors b/boards/cuav/can-gps-v1/init/rc.board_sensors
index 1ea20eca6d..6ffc127623 100644
--- a/boards/cuav/can-gps-v1/init/rc.board_sensors
+++ b/boards/cuav/can-gps-v1/init/rc.board_sensors
@@ -3,7 +3,7 @@
 # board sensors init
 #------------------------------------------------------------------------------
 
-#board_adc start
+gps start -d /dev/ttyS1 -g 38400 -p ubx
 
 # Internal SPI
 ms5611 -s start
diff --git a/src/drivers/uavcannode/UavcanNode.cpp b/src/drivers/uavcannode/UavcanNode.cpp
index dbbc443798..4d6001d704 100644
--- a/src/drivers/uavcannode/UavcanNode.cpp
+++ b/src/drivers/uavcannode/UavcanNode.cpp
@@ -306,10 +306,10 @@ void UavcanNode::Run()
 			dist.registerCallback();
 		}
 
-		_sensor_baro_sub.registerCallback();
-		_sensor_mag_sub.registerCallback();
 		_optical_flow_sub.registerCallback();
-		_vehicle_gps_position_sub.registerCallback();
+		_sensor_baro_sub.registerCallback();
+		_sensor_gps_sub.registerCallback();
+		_sensor_mag_sub.registerCallback();
 
 		_initialized = true;
 	}
@@ -462,11 +462,11 @@ void UavcanNode::Run()
 		}
 	}
 
-	// vehicle_gps_position -> uavcan::equipment::gnss::Fix2
-	if (_vehicle_gps_position_sub.updated()) {
-		vehicle_gps_position_s gps;
+	// sensor_gps -> uavcan::equipment::gnss::Fix2
+	if (_sensor_gps_sub.updated()) {
+		sensor_gps_s gps;
 
-		if (_vehicle_gps_position_sub.copy(&gps)) {
+		if (_sensor_gps_sub.copy(&gps)) {
 			uavcan::equipment::gnss::Fix2 fix2{};
 
 			fix2.gnss_time_standard = fix2.GNSS_TIME_STANDARD_UTC;
diff --git a/src/drivers/uavcannode/UavcanNode.hpp b/src/drivers/uavcannode/UavcanNode.hpp
index fae0a5c38d..aa54b21665 100644
--- a/src/drivers/uavcannode/UavcanNode.hpp
+++ b/src/drivers/uavcannode/UavcanNode.hpp
@@ -79,7 +79,7 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/sensor_baro.h>
 #include <uORB/topics/sensor_mag.h>
-#include <uORB/topics/vehicle_gps_position.h>
+#include <uORB/topics/sensor_gps.h>
 
 using namespace time_literals;
 
@@ -198,7 +198,7 @@ private:
 	uORB::SubscriptionCallbackWorkItem _optical_flow_sub{this, ORB_ID(optical_flow)};
 	uORB::SubscriptionCallbackWorkItem _sensor_baro_sub{this, ORB_ID(sensor_baro)};
 	uORB::SubscriptionCallbackWorkItem _sensor_mag_sub{this, ORB_ID(sensor_mag)};
-	uORB::SubscriptionCallbackWorkItem _vehicle_gps_position_sub{this, ORB_ID(vehicle_gps_position)};
+	uORB::SubscriptionCallbackWorkItem _sensor_gps_sub{this, ORB_ID(sensor_gps)};
 
 	perf_counter_t _cycle_perf;
 	perf_counter_t _interval_perf;