diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
index 5074653313..0081181189 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.cpp
@@ -119,7 +119,7 @@ inline void handleInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t line_in
 } // namespace
 
 uint32_t CanIface::FDCANMessageRAMOffset_ = 0;
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
 SLCANRouter CanIface::_slcan_router;
 #endif
 
@@ -695,7 +695,7 @@ bool CanIface::readRxFIFO(uavcan::uint8_t fifo_index)
      * Store with timeout into the FIFO buffer and signal update event
      */
     rx_queue_.push(frame, utc_usec, 0);
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
 #endif
     return true;
diff --git a/libraries/AP_HAL_ChibiOS/CANFDIface.h b/libraries/AP_HAL_ChibiOS/CANFDIface.h
index 7ac695c8cd..869eec3026 100644
--- a/libraries/AP_HAL_ChibiOS/CANFDIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANFDIface.h
@@ -85,7 +85,7 @@ struct CanRxItem {
  */
 class CanIface : public uavcan::ICanIface, uavcan::Noncopyable
 {
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     friend class ::SLCANRouter;
     static SLCANRouter _slcan_router;
 #endif
@@ -279,7 +279,7 @@ public:
         return can_;
     }
 
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     static SLCANRouter &slcan_router() { return _slcan_router; }
 #endif
 };
diff --git a/libraries/AP_HAL_ChibiOS/CANIface.h b/libraries/AP_HAL_ChibiOS/CANIface.h
index cb3f795490..abcd502ab6 100644
--- a/libraries/AP_HAL_ChibiOS/CANIface.h
+++ b/libraries/AP_HAL_ChibiOS/CANIface.h
@@ -87,7 +87,7 @@ struct CanRxItem {
  */
 class CanIface : public uavcan::ICanIface, uavcan::Noncopyable {
 
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     friend class ::SLCANRouter;
     static SLCANRouter _slcan_router;
 #endif
@@ -285,7 +285,7 @@ public:
     {
         return uavcan::uint8_t(peak_tx_mailbox_index_ + 1);
     }
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     static SLCANRouter &slcan_router() { return _slcan_router; }
 #endif
 };
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
index 87694e56ea..12e6a1d1c4 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.cpp
@@ -17,7 +17,7 @@
 
 #include "CANSerialRouter.h"
 
-#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <AP_BoardConfig/AP_BoardConfig_CAN.h>
 
diff --git a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
index b65ef2d98e..0c39113ecf 100644
--- a/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
+++ b/libraries/AP_HAL_ChibiOS/CANSerialRouter.h
@@ -19,7 +19,7 @@
 
 #include "AP_HAL_ChibiOS.h"
 
-#if HAL_WITH_UAVCAN && !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
 #include "CAN.h"
 #include <AP_UAVCAN/AP_UAVCAN_SLCAN.h>
 
@@ -65,4 +65,5 @@ public:
 
 };
 
-#endif
+#endif // AP_UAVCAN_SLCAN_ENABLED
+
diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 7175100ab5..9d5feae1c8 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -138,7 +138,7 @@ inline void handleRxInterrupt(uavcan::uint8_t iface_index, uavcan::uint8_t fifo_
 }
 
 } // namespace
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
 SLCANRouter CanIface::_slcan_router;
 #endif
 /*
@@ -763,7 +763,7 @@ void CanIface::handleRxInterrupt(uavcan::uint8_t fifo_index, uavcan::uint64_t ut
      * Store with timeout into the FIFO buffer and signal update event
      */
     rx_queue_.push(frame, utc_usec, 0);
-#if !HAL_MINIMIZE_FEATURES
+#if AP_UAVCAN_SLCAN_ENABLED
     _slcan_router.route_frame_to_slcan(this, frame, utc_usec);
 #endif
     had_activity_ = true;