diff --git a/ROMFS/px4fmu_common/init.d/rc.uavcan b/ROMFS/px4fmu_common/init.d/rc.uavcan
index 37e6893bd1..ebecea2de4 100644
--- a/ROMFS/px4fmu_common/init.d/rc.uavcan
+++ b/ROMFS/px4fmu_common/init.d/rc.uavcan
@@ -3,26 +3,10 @@
 # UAVCAN initialization script.
 #
 
-#
-# Mirriring the UAVCAN_ENABLE param value to an eponymous environment variable.
-# TODO there should be a smarter way.
-#
-set UAVCAN_ENABLE 0
-if param compare UAVCAN_ENABLE 1
-then
-	set UAVCAN_ENABLE 1
-fi
-if param compare UAVCAN_ENABLE 2
-then
-	set UAVCAN_ENABLE 2
-fi
-
-echo "[i] UAVCAN_ENABLE is $UAVCAN_ENABLE"
-
 #
 # Starting stuff according to UAVCAN_ENABLE value
 #
-if [ $UAVCAN_ENABLE -ge 1 ]
+if param greater UAVCAN_ENABLE 0
 then
 	if uavcan start
 	then
@@ -33,7 +17,7 @@ then
 	fi
 fi
 
-if [ $UAVCAN_ENABLE -ge 2 ]
+if param greater UAVCAN_ENABLE 1
 then
 	if uavcan start fw
 	then
@@ -43,10 +27,3 @@ then
 		tone_alarm $TUNE_ERR
 	fi
 fi
-
-if [ $UAVCAN_ENABLE -ge 1 ]
-then
-	# First sensor publisher to initialize takes lowest instance ID
-	# This delay ensures that UAVCAN-interfaced sensors will be allocated on lowest instance IDs
-	sleep 8
-fi