diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 474739bd66..ca92d09ecb 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -398,8 +398,8 @@ int UavcanNode::run()
 			    (_poll_fds[_actuator_direct_poll_fd_num].revents & POLLIN) &&
 			    orb_copy(ORB_ID(actuator_direct), _actuator_direct_sub, &_actuator_direct) == OK &&
 			    !_test_in_progress) {
-				if (_actuator_direct.nvalues > NUM_ACTUATOR_OUTPUTS) {
-					_actuator_direct.nvalues = NUM_ACTUATOR_OUTPUTS;
+				if (_actuator_direct.nvalues > actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
+					_actuator_direct.nvalues = actuator_outputs_s::NUM_ACTUATOR_OUTPUTS;
 				}
 				memcpy(&_outputs.output[0], &_actuator_direct.values[0],
 				       _actuator_direct.nvalues*sizeof(float));
@@ -410,7 +410,7 @@ int UavcanNode::run()
 			// can we mix?
 			if (_test_in_progress) {
 				memset(&_outputs, 0, sizeof(_outputs));
-				if (_test_motor.motor_number < NUM_ACTUATOR_OUTPUTS) {
+				if (_test_motor.motor_number < actuator_outputs_s::NUM_ACTUATOR_OUTPUTS) {
 					_outputs.output[_test_motor.motor_number] = _test_motor.value*2.0f-1.0f;
 					_outputs.noutputs = _test_motor.motor_number+1;
 				}