diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index 394306b1482..2a16f2675cf 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -613,7 +613,7 @@ void AP_Baro::init(void)
 #endif
 #endif
 
-#if AP_BARO_UAVCAN_ENABLED
+#if AP_BARO_DRONECAN_ENABLED
     // Detect UAVCAN Modules, try as many times as there are driver slots
     for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
         ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
index 48bd565e875..a5ce108db68 100644
--- a/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
+++ b/libraries/AP_Baro/AP_Baro_DroneCAN.cpp
@@ -1,6 +1,6 @@
 #include "AP_Baro_DroneCAN.h"
 
-#if AP_BARO_UAVCAN_ENABLED
+#if AP_BARO_DRONECAN_ENABLED
 
 #include <AP_CANManager/AP_CANManager.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
@@ -174,4 +174,4 @@ void AP_Baro_UAVCAN::update(void)
     }
 }
 
-#endif // AP_BARO_UAVCAN_ENABLED
+#endif // AP_BARO_DRONECAN_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_DroneCAN.h b/libraries/AP_Baro/AP_Baro_DroneCAN.h
index c3fb700d252..fdf6c535688 100644
--- a/libraries/AP_Baro/AP_Baro_DroneCAN.h
+++ b/libraries/AP_Baro/AP_Baro_DroneCAN.h
@@ -2,7 +2,7 @@
 
 #include "AP_Baro_Backend.h"
 
-#if AP_BARO_UAVCAN_ENABLED
+#if AP_BARO_DRONECAN_ENABLED
 
 #include <AP_DroneCAN/AP_DroneCAN.h>
 #if AP_TEST_DRONECAN_DRIVERS
@@ -49,4 +49,4 @@ private:
     static HAL_Semaphore _sem_registry;
 };
 
-#endif  // AP_BARO_UAVCAN_ENABLED
+#endif  // AP_BARO_DRONECAN_ENABLED
diff --git a/libraries/AP_Baro/AP_Baro_config.h b/libraries/AP_Baro/AP_Baro_config.h
index 87df55266b0..83d85a8ead8 100644
--- a/libraries/AP_Baro/AP_Baro_config.h
+++ b/libraries/AP_Baro/AP_Baro_config.h
@@ -77,6 +77,6 @@
 #define AP_BARO_SPL06_ENABLED AP_BARO_BACKEND_DEFAULT_ENABLED
 #endif
 
-#ifndef AP_BARO_UAVCAN_ENABLED
-#define AP_BARO_UAVCAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
+#ifndef AP_BARO_DRONECAN_ENABLED
+#define AP_BARO_DRONECAN_ENABLED (AP_BARO_BACKEND_DEFAULT_ENABLED && HAL_ENABLE_LIBUAVCAN_DRIVERS)
 #endif