diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 2777f10857..7388c31cd6 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -27,7 +27,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #include <AP_Vehicle/AP_Vehicle_Type.h>
 
 #include "AP_Baro_SITL.h"
@@ -43,7 +43,7 @@
 #include "AP_Baro_DPS280.h"
 #include "AP_Baro_BMP388.h"
 #include "AP_Baro_Dummy.h"
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_Baro_UAVCAN.h"
 #endif
 
@@ -510,7 +510,7 @@ void AP_Baro::init(void)
         return;
     }
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     // Detect UAVCAN Modules, try as many times as there are driver slots
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
diff --git a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
index 6d02ce0f23..50f883a9a3 100644
--- a/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_UAVCAN.cpp
@@ -1,10 +1,10 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include "AP_Baro_UAVCAN.h"
 
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 #include <uavcan/equipment/air_data/StaticPressure.hpp>
@@ -12,7 +12,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_baro_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
+#define LOG_TAG "Baro"
 
 //UAVCAN Frontend Registry Binder
 UC_REGISTRY_BINDER(PressureCb, uavcan::equipment::air_data::StaticPressure);
@@ -64,11 +64,11 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
         if (_detected_modules[i].driver == nullptr && _detected_modules[i].ap_uavcan != nullptr) {
             backend = new AP_Baro_UAVCAN(baro);
             if (backend == nullptr) {
-                debug_baro_uavcan(2,
-                                  _detected_modules[i].ap_uavcan->get_driver_index(),
-                                  "Failed register UAVCAN Baro Node %d on Bus %d\n",
-                                  _detected_modules[i].node_id,
-                                  _detected_modules[i].ap_uavcan->get_driver_index());
+                AP::can().log_text(AP_CANManager::LOG_ERROR,
+                            LOG_TAG,
+                            "Failed register UAVCAN Baro Node %d on Bus %d\n",
+                            _detected_modules[i].node_id,
+                            _detected_modules[i].ap_uavcan->get_driver_index());
             } else {
                 _detected_modules[i].driver = backend;
                 backend->_pressure = 0;
@@ -81,11 +81,11 @@ AP_Baro_Backend* AP_Baro_UAVCAN::probe(AP_Baro &baro)
                                                                                     _detected_modules[i].ap_uavcan->get_driver_index(),
                                                                                     backend->_node_id, 0));
 
-                debug_baro_uavcan(2,
-                                  _detected_modules[i].ap_uavcan->get_driver_index(),
-                                  "Registered UAVCAN Baro Node %d on Bus %d\n",
-                                  _detected_modules[i].node_id,
-                                  _detected_modules[i].ap_uavcan->get_driver_index());
+                AP::can().log_text(AP_CANManager::LOG_INFO,
+                            LOG_TAG,
+                            "Registered UAVCAN Baro Node %d on Bus %d\n",
+                            _detected_modules[i].node_id,
+                            _detected_modules[i].ap_uavcan->get_driver_index());
             }
             break;
         }
@@ -194,5 +194,5 @@ void AP_Baro_UAVCAN::update(void)
     }
 }
 
-#endif // HAL_WITH_UAVCAN
+#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS