diff --git a/src/lib/uavcan b/src/lib/uavcan
index 3ae5400aa5..50dc08663a 160000
--- a/src/lib/uavcan
+++ b/src/lib/uavcan
@@ -1 +1 @@
-Subproject commit 3ae5400aa5ead18139106d30f730114d5e9b65dd
+Subproject commit 50dc08663af2d9b55eae0ccf5f07c63db0ee8907
diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index da62e55634..f846fd27bc 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -44,8 +44,7 @@ WFRAME_LARGER_THAN = 1400
 
 # Main
 SRCS += uavcan_main.cpp              \
-	uavcan_servers.cpp           \
-        uavcan_clock.cpp             \
+				uavcan_servers.cpp           \
         uavcan_params.c
 
 # Actuators
@@ -70,7 +69,8 @@ override EXTRADEFINES := $(EXTRADEFINES) \
 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
 -DUAVCAN_NO_ASSERTIONS \
 -DUAVCAN_MEM_POOL_BLOCK_SIZE=48 \
--DUAVCAN_MAX_NETWORK_SIZE_HINT=16
+-DUAVCAN_MAX_NETWORK_SIZE_HINT=16 \
+-DUAVCAN_STM32_TIMER_NUMBER=2
 
 #
 # libuavcan drivers for STM32
diff --git a/src/modules/uavcan/uavcan_clock.cpp b/src/modules/uavcan/uavcan_clock.cpp
deleted file mode 100644
index fe8ba406a5..0000000000
--- a/src/modules/uavcan/uavcan_clock.cpp
+++ /dev/null
@@ -1,81 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <uavcan_stm32/uavcan_stm32.hpp>
-#include <drivers/drv_hrt.h>
-
-/**
- * @file uavcan_clock.cpp
- *
- * Implements a clock for the CAN node.
- *
- * @author Pavel Kirienko <pavel.kirienko@gmail.com>
- */
-
-namespace uavcan_stm32
-{
-namespace clock
-{
-
-uavcan::MonotonicTime getMonotonic()
-{
-	return uavcan::MonotonicTime::fromUSec(hrt_absolute_time());
-}
-
-uavcan::UtcTime getUtc()
-{
-	return uavcan::UtcTime();
-}
-
-void adjustUtc(uavcan::UtcDuration adjustment)
-{
-	(void)adjustment;
-}
-
-uavcan::uint64_t getUtcUSecFromCanInterrupt();
-
-uavcan::uint64_t getUtcUSecFromCanInterrupt()
-{
-	return 0;
-}
-
-} // namespace clock
-
-SystemClock &SystemClock::instance()
-{
-	static SystemClock inst;
-	return inst;
-}
-
-}
-