diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
index a173258bbc..449aa21ee8 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
@@ -153,7 +153,7 @@ void AP_BoardConfig_CAN::px4_setup_canbus(void)
             hal.scheduler->create_uavcan_thread();
 
             // Delay for magnetometer and barometer discovery
-            hal.scheduler->delay(2000);
+            hal.scheduler->delay(5000);
         }
     }
 }