diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index d785c6161b82d6..bb73c9878cac2a 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -441,21 +441,17 @@ def configure_env(self, cfg, env):
         if self.with_can:
             # for both AP_Perip and main fw enable deadlines
             env.DEFINES.update(CANARD_ENABLE_DEADLINE = 1)
-
-            if not cfg.env.AP_PERIPH:
-                env.AP_LIBRARIES += [
-                    'AP_DroneCAN',
-                    'modules/DroneCAN/libcanard/*.c',
-                    ]
-                if cfg.options.enable_dronecan_tests:
-                    env.DEFINES.update(AP_TEST_DRONECAN_DRIVERS = 1)
-
-                env.DEFINES.update(
-                    DRONECAN_CXX_WRAPPERS = 1,
-                    USE_USER_HELPERS = 1,
-                    CANARD_ALLOCATE_SEM=1
-                )
-
+            env.DEFINES.update(
+                DRONECAN_CXX_WRAPPERS = 1,
+                USE_USER_HELPERS = 1,
+                CANARD_ALLOCATE_SEM=1
+            )
+            env.AP_LIBRARIES += [
+                'AP_DroneCAN',
+                'modules/DroneCAN/libcanard/*.c',
+                ]
+            if cfg.options.enable_dronecan_tests:
+                env.DEFINES.update(AP_TEST_DRONECAN_DRIVERS = 1)
 
 
         if cfg.options.build_dates:
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index dbc6c9b18779e8..55d47ce1154779 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -452,14 +452,13 @@ def setup_canmgr_build(cfg):
         ]
     env.CFLAGS += ['-DHAL_CAN_IFACES=2']
 
-    if not env.AP_PERIPH:
-        env.DEFINES += [
-            'DRONECAN_CXX_WRAPPERS=1',
-            'USE_USER_HELPERS=1',
-            'CANARD_ENABLE_DEADLINE=1',
-            'CANARD_MULTI_IFACE=1',
-            'CANARD_ALLOCATE_SEM=1'
-            ]
+    env.DEFINES += [
+        'DRONECAN_CXX_WRAPPERS=1',
+        'USE_USER_HELPERS=1',
+        'CANARD_ENABLE_DEADLINE=1',
+        'CANARD_MULTI_IFACE=1',
+        'CANARD_ALLOCATE_SEM=1'
+        ]
 
     if cfg.env.HAL_CANFD_SUPPORTED:
         env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
@@ -471,9 +470,17 @@ def setup_canmgr_build(cfg):
 def setup_canperiph_build(cfg):
     '''enable CAN build for peripherals'''
     env = cfg.env
+    env.AP_LIBRARIES += [
+        'AP_DroneCAN',
+        'modules/DroneCAN/libcanard/*.c',
+        ]
     env.DEFINES += [
+        'DRONECAN_CXX_WRAPPERS=1',
+        'USE_USER_HELPERS=1',
         'CANARD_ENABLE_DEADLINE=1',
-        ]
+        'CANARD_MULTI_IFACE=1',
+        'CANARD_ALLOCATE_SEM=1'
+    ]
 
     if cfg.env.HAL_CANFD_SUPPORTED:
         env.DEFINES += ['UAVCAN_SUPPORT_CANFD=1']
diff --git a/wscript b/wscript
index 19630462ecdd70..4868cabe2d8ccd 100644
--- a/wscript
+++ b/wscript
@@ -687,12 +687,11 @@ def _build_dynamic_sources(bld):
             # this below is not ideal, mavgen tool should set this, but that's not
             # currently possible
             export_includes=[
-            bld.bldnode.make_node('libraries').abspath(),
-            bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
-            ],
+                bld.bldnode.make_node('libraries').abspath(),
+                bld.bldnode.make_node('libraries/GCS_MAVLink').abspath(),
+                ],
             )
-
-    if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES) and not bld.env.AP_PERIPH:
+    if (bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES or bld.env.AP_PERIPH):
         bld(
             features='dronecangen',
             source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
@@ -704,17 +703,6 @@ def _build_dynamic_sources(bld):
                 bld.srcnode.find_dir('libraries/AP_DroneCAN/canard/').abspath(),
                 ]
             )
-    elif bld.env.AP_PERIPH:
-        bld(
-            features='dronecangen',
-            source=bld.srcnode.ant_glob('modules/DroneCAN/DSDL/* libraries/AP_DroneCAN/dsdl/*', dir=True, src=False),
-            output_dir='modules/DroneCAN/libcanard/dsdlc_generated/',
-            name='dronecan',
-            export_includes=[
-                bld.bldnode.make_node('modules/DroneCAN/libcanard/dsdlc_generated/include').abspath(),
-                bld.srcnode.find_dir('modules/DroneCAN/libcanard/').abspath(),
-            ]
-        )
 
     if bld.env.ENABLE_DDS:
         bld.recurse("libraries/AP_DDS")