diff --git a/src/modules/uavcan/CMakeLists.txt b/src/modules/uavcan/CMakeLists.txt
index 7197c45418..596e09c9b7 100644
--- a/src/modules/uavcan/CMakeLists.txt
+++ b/src/modules/uavcan/CMakeLists.txt
@@ -83,7 +83,9 @@ px4_add_module(
 
 	DEPENDS
 		git_uavcan
-		platforms__common
+
+		# within libuavcan
+		libuavcan_dsdlc
 		uavcan
 		uavcan_stm32_driver
 	)
diff --git a/src/modules/uavcanesc/CMakeLists.txt b/src/modules/uavcanesc/CMakeLists.txt
index e9e0efff3c..a151b6ad7c 100644
--- a/src/modules/uavcanesc/CMakeLists.txt
+++ b/src/modules/uavcanesc/CMakeLists.txt
@@ -80,8 +80,12 @@ px4_add_module(
 		${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashparams.c
 		${PX4_SOURCE_DIR}/src/modules/systemlib/flashparams/flashfs.c
 	DEPENDS
-		platforms__common
+		git_uavcan
+
+		# within libuavcan
+		libuavcan_dsdlc
 		uavcan
+		uavcan_stm32_driver
 	)
 
 target_link_libraries(modules__uavcanesc uavcan uavcan_stm32_driver)
diff --git a/src/modules/uavcannode/CMakeLists.txt b/src/modules/uavcannode/CMakeLists.txt
index 933a23fb80..044849cde0 100644
--- a/src/modules/uavcannode/CMakeLists.txt
+++ b/src/modules/uavcannode/CMakeLists.txt
@@ -79,8 +79,12 @@ px4_add_module(
 		uavcannode_params.c
 
 	DEPENDS
-		prebuild_targets
+		git_uavcan
+
+		# within libuavcan
+		libuavcan_dsdlc
 		uavcan
+		uavcan_stm32_driver
 	)
 
 target_link_libraries(modules__uavcannode PUBLIC uavcan uavcan_stm32_driver)