diff --git a/makefiles/nuttx.mk b/makefiles/nuttx.mk
index d283096b25..bf07441408 100644
--- a/makefiles/nuttx.mk
+++ b/makefiles/nuttx.mk
@@ -64,6 +64,7 @@ LDSCRIPT		+= $(NUTTX_EXPORT_DIR)build/ld.script
 # Add directories from the NuttX export to the relevant search paths
 #
 INCLUDE_DIRS		+= $(NUTTX_EXPORT_DIR)include \
+			   $(NUTTX_EXPORT_DIR)include/cxx \
 			   $(NUTTX_EXPORT_DIR)arch/chip \
 			   $(NUTTX_EXPORT_DIR)arch/common
 
diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index 5caa8d401a..6974de8ca0 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -48,8 +48,7 @@ SRCS += uavcan_main.cpp \
 #
 include $(UAVCAN_DIR)/libuavcan/include.mk
 SRCS += $(LIBUAVCAN_SRC)
-# TODO fix include path
-INCLUDE_DIRS += $(LIBUAVCAN_INC) /media/storage/px4/Firmware/Build/px4fmu-v2_default.build/nuttx-export/include/cxx/
+INCLUDE_DIRS += $(LIBUAVCAN_INC)
 EXTRADEFINES += -DUAVCAN_MEM_POOL_BLOCK_SIZE=56 \
                 -DUAVCAN_TOSTRING=0 \
                 -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 \
@@ -61,7 +60,8 @@ EXTRADEFINES += -DUAVCAN_MEM_POOL_BLOCK_SIZE=56 \
 include $(UAVCAN_DIR)/libuavcan_drivers/stm32/driver/include.mk
 SRCS += $(LIBUAVCAN_STM32_SRC)
 INCLUDE_DIRS += $(LIBUAVCAN_STM32_INC)
-EXTRADEFINES += -DUAVCAN_STM32_NUTTX -DUAVCAN_STM32_NUM_IFACES=1
+EXTRADEFINES += -DUAVCAN_STM32_NUTTX \
+                -DUAVCAN_STM32_NUM_IFACES=1
 
 #
 # Invoke DSDL compiler