diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index ed3ba5e445..5e4c8b228f 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -194,7 +194,7 @@ int UavcanNode::start_fw_server()
 
 	if (_servers == nullptr) {
 
-		rv = UavcanServers::start(2, _node);
+		rv = UavcanServers::start(_node);
 
 		if (rv >= 0) {
 			/*
diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index 1713b282e7..52f0ce9697 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -76,7 +76,7 @@
 UavcanServers *UavcanServers::_instance;
 UavcanServers::UavcanServers(uavcan::INode &main_node) :
 	_subnode_thread(-1),
-	_vdriver(UAVCAN_STM32_NUM_IFACES, uavcan_stm32::SystemClock::instance()),
+	_vdriver(NumIfaces, uavcan_stm32::SystemClock::instance()),
 	_subnode(_vdriver, uavcan_stm32::SystemClock::instance()),
 	_main_node(main_node),
 	_tracer(),
@@ -101,7 +101,7 @@ UavcanServers::~UavcanServers()
 	_main_node.getDispatcher().removeRxFrameListener();
 }
 
-int UavcanServers::stop(void)
+int UavcanServers::stop()
 {
 	UavcanServers *server = instance();
 
@@ -123,7 +123,7 @@ int UavcanServers::stop(void)
 	return 0;
 }
 
-int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
+int UavcanServers::start(uavcan::INode &main_node)
 {
 	if (_instance != nullptr) {
 		warnx("Already started");
@@ -140,7 +140,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
 		return -2;
 	}
 
-	int rv  = _instance->init(num_ifaces);
+	int rv  = _instance->init();
 
 	if (rv < 0) {
 		warnx("Node init failed: %d", rv);
@@ -174,7 +174,7 @@ int UavcanServers::start(unsigned num_ifaces, uavcan::INode &main_node)
 	return rv;
 }
 
-int UavcanServers::init(unsigned num_ifaces)
+int UavcanServers::init()
 {
 	errno = 0;
 
@@ -268,6 +268,7 @@ int UavcanServers::init(unsigned num_ifaces)
 
 	return OK;
 }
+
 __attribute__((optimize("-O0")))
 pthread_addr_t UavcanServers::run(pthread_addr_t)
 {
diff --git a/src/modules/uavcan/uavcan_servers.hpp b/src/modules/uavcan/uavcan_servers.hpp
index 9a68a8cc25..9d21b8f93f 100644
--- a/src/modules/uavcan/uavcan_servers.hpp
+++ b/src/modules/uavcan/uavcan_servers.hpp
@@ -72,9 +72,11 @@
  */
 class UavcanServers
 {
+	static constexpr unsigned NumIfaces = 1;  // UAVCAN_STM32_NUM_IFACES
+
 	static constexpr unsigned MemPoolSize = 64 * uavcan::MemPoolBlockSize;
 
-	static constexpr unsigned MaxCanFramsPerTransfer   =  63;
+	static constexpr unsigned MaxCanFramesPerTransfer   =  63;
 
 	/**
 	 * This number is based on the worst case max number of frames per interface. With
@@ -84,7 +86,7 @@ class UavcanServers
 	 * 1 instead of UAVCAN_STM32_NUM_IFACES into the constructor of the virtual CAN driver.
 	 */
 	static constexpr unsigned QueuePoolSize =
-		(UAVCAN_STM32_NUM_IFACES * uavcan::MemPoolBlockSize *MaxCanFramsPerTransfer);
+		(NumIfaces * uavcan::MemPoolBlockSize * MaxCanFramesPerTransfer);
 
 	static constexpr unsigned StackSize  = 3500;
 	static constexpr unsigned Priority  =  120;
@@ -96,8 +98,8 @@ public:
 
 	virtual		~UavcanServers();
 
-	static int      start(unsigned num_ifaces, uavcan::INode &main_node);
-	static int      stop(void);
+	static int      start(uavcan::INode &main_node);
+	static int      stop();
 
 	SubNode         &get_node() { return _subnode; }
 
@@ -116,8 +118,7 @@ private:
 	pthread_t         _subnode_thread;
 	pthread_mutex_t   _subnode_mutex;
 
-	int		init(unsigned num_ifaces);
-	void            deinit(void);
+	int		init();
 
 	pthread_addr_t	run(pthread_addr_t);