diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index e7d3644b61..03c8a949ec 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -518,7 +518,6 @@ void PX4RCOutput::_send_outputs(void)
                 }
             }
         }
-        
         perf_end(_perf_rcout);
         _last_output = now;
     }
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index ab1a4324f7..668d141c81 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -105,10 +105,7 @@ void PX4Scheduler::create_uavcan_thread()
     pthread_attr_setschedpolicy(&thread_attr, SCHED_FIFO);
 
     for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_DRIVERS; i++) {
-        if (hal.can_mgr[i] == nullptr) {
-            continue;
-        }
-        if (hal.can_mgr[i]->get_UAVCAN() == nullptr) {
+        if (AP_UAVCAN::get_uavcan(i) == nullptr) {
             continue;
         }
         _uavcan_thread_arg *arg = new _uavcan_thread_arg;