diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
index e80c54cd07..cfbad962ee 100644
--- a/libraries/AP_Compass/AP_Compass.cpp
+++ b/libraries/AP_Compass/AP_Compass.cpp
@@ -20,7 +20,7 @@
 #include "AP_Compass_LIS3MDL.h"
 #include "AP_Compass_AK09916.h"
 #include "AP_Compass_QMC5883L.h"
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_Compass_UAVCAN.h"
 #endif
 #include "AP_Compass_MMC3416.h"
@@ -1272,7 +1272,7 @@ void Compass::_detect_backends(void)
 #endif
 
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     if (_driver_enabled(DRIVER_UAVCAN)) {
         for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
             AP_Compass_Backend* _uavcan_backend = AP_Compass_UAVCAN::probe(i);
@@ -1427,7 +1427,7 @@ void Compass::_reset_compass_id()
 void
 Compass::_detect_runtime(void)
 {
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     //Don't try to add device while armed
     if (hal.util->get_soft_armed()) {
         return;
diff --git a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
index e06c41551b..e80f48a75d 100644
--- a/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
+++ b/libraries/AP_Compass/AP_Compass_UAVCAN.cpp
@@ -15,11 +15,11 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include "AP_Compass_UAVCAN.h"
 
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 #include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
@@ -27,9 +27,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_mag_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { printf(fmt, ##args); }} while (0)
-
-
+#define LOG_TAG "COMPASS"
 // Frontend Registry Binders
 UC_REGISTRY_BINDER(MagCb, uavcan::equipment::ahrs::MagneticFieldStrength);
 UC_REGISTRY_BINDER(Mag2Cb, uavcan::equipment::ahrs::MagneticFieldStrength2);
@@ -83,8 +81,8 @@ AP_Compass_Backend* AP_Compass_UAVCAN::probe(uint8_t index)
                 return nullptr;
             }
             _detected_modules[index].driver = driver;
-            debug_mag_uavcan(2,
-                                _detected_modules[index].ap_uavcan->get_driver_index(),
+            AP::can().log_text(AP_CANManager::LOG_INFO,
+                                LOG_TAG,
                                 "Found Mag Node %d on Bus %d Sensor ID %d\n",
                                 _detected_modules[index].node_id,
                                 _detected_modules[index].ap_uavcan->get_driver_index(),
@@ -104,7 +102,7 @@ bool AP_Compass_UAVCAN::init()
     set_dev_id(_instance, _devid);
     set_external(_instance, true);
 
-    debug_mag_uavcan(2, _ap_uavcan->get_driver_index(),  "AP_Compass_UAVCAN loaded\n\r");
+    AP::can().log_text(AP_CANManager::LOG_INFO, LOG_TAG,  "AP_Compass_UAVCAN loaded\n\r");
     return true;
 }