diff --git a/mk/px4_targets.mk b/mk/px4_targets.mk
index 6087f46725..a1f48104c7 100644
--- a/mk/px4_targets.mk
+++ b/mk/px4_targets.mk
@@ -107,6 +107,7 @@ px4-clean: clean CHECK_MODULES px4-archives-clean px4-cleandep
 
 px4-cleandep: clean
 	$(v) find $(PX4_ROOT)/Build -type f -name '*.d' | xargs rm -f
+	$(v) find $(UAVCAN_DIRECTORY) -type f -name '*.d' | xargs rm -f
 	$(v) find $(SKETCHBOOK)/$(SKETCH) -type f -name '*.d' | xargs rm -f
 
 px4-v1-upload: px4-v1