diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index 87f3110cac7d..5d3ac60b62e2 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -705,11 +705,12 @@ UavcanNode::Run()
 
 		if (can_init_res < 0) {
 			PX4_ERR("CAN driver init failed %i", can_init_res);
-		}
 
-		_instance->init(node_id, can->driver.updateEvent());
+		} else {
+			_instance->init(node_id, can->driver.updateEvent());
 
-		_node_init = true;
+			_node_init = true;
+		}
 	}
 
 	pthread_mutex_lock(&_node_mutex);