diff --git a/cmake/configs/nuttx_av-x-v1_default.cmake b/cmake/configs/nuttx_av-x-v1_default.cmake
index b52f383f146..5e25c5f4743 100644
--- a/cmake/configs/nuttx_av-x-v1_default.cmake
+++ b/cmake/configs/nuttx_av-x-v1_default.cmake
@@ -1,7 +1,7 @@
 
 px4_nuttx_configure(HWCLASS m7 CONFIG nsh ROMFS y ROMFSROOT px4fmu_common)
 
-set(config_uavcan_num_ifaces 2)
+set(config_uavcan_num_ifaces 1)
 
 set(config_module_list
 	#
diff --git a/src/drivers/boards/av-x-v1/board_config.h b/src/drivers/boards/av-x-v1/board_config.h
index 95e9d72a3cf..b5f1fe80f9a 100644
--- a/src/drivers/boards/av-x-v1/board_config.h
+++ b/src/drivers/boards/av-x-v1/board_config.h
@@ -401,6 +401,8 @@
 
 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_TX,                     \
 	}
 
 __BEGIN_DECLS