diff --git a/src/drivers/uavcan_v1/Publishers/Publisher.hpp b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
index f31306c521..a33d51682a 100644
--- a/src/drivers/uavcan_v1/Publishers/Publisher.hpp
+++ b/src/drivers/uavcan_v1/Publishers/Publisher.hpp
@@ -94,7 +94,6 @@ public:
 protected:
 	CanardInstance &_canard_instance;
 	UavcanParamManager &_param_manager;
-	CanardRxSubscription _canard_sub;
 	const char *_subject_name;
 	uint8_t _instance {0};
 
diff --git a/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp b/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
index 89ae5431f6..dcd379f720 100644
--- a/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
+++ b/src/drivers/uavcan_v1/Subscribers/DynamicPortSubscriber.hpp
@@ -64,7 +64,7 @@ public:
 
 		while (curSubj != NULL) {
 			char uavcan_param[90];
-			sprintf(uavcan_param, "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
+			snprintf(uavcan_param, sizeof(uavcan_param), "uavcan.sub.%s.%d.id", curSubj->_subject_name, _instance);
 
 			// Set _port_id from _uavcan_param
 			uavcan_register_Value_1_0 value;
diff --git a/src/drivers/uavcan_v1/Uavcan.hpp b/src/drivers/uavcan_v1/Uavcan.hpp
index da01b15427..9a8f960c7f 100644
--- a/src/drivers/uavcan_v1/Uavcan.hpp
+++ b/src/drivers/uavcan_v1/Uavcan.hpp
@@ -185,11 +185,7 @@ private:
 	pthread_mutex_t _node_mutex;
 
 	CanardRxSubscription _heartbeat_subscription;
-	CanardRxSubscription _pnp_v1_subscription;
-	CanardRxSubscription _drone_srv_battery_subscription;
 	CanardRxSubscription _drone_srv_gps_subscription;
-	CanardRxSubscription _register_access_subscription;
-	CanardRxSubscription _register_list_subscription;
 
 	uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};