diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index d34fadcd5c..1e552cdfa8 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -26,6 +26,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_BattMonitor',
     'AP_BoardConfig',
     'AP_Camera',
+    'AP_CANManager',
     'AP_Common',
     'AP_Compass',
     'AP_Declination',
diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 8a42bf2312..069a474e97 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -32,7 +32,7 @@ class Board:
     abstract = True
 
     def __init__(self):
-        self.with_uavcan = False
+        self.with_can = False
 
     def configure(self, cfg):
         cfg.env.TOOLCHAIN = cfg.options.toolchain or self.toolchain
@@ -61,7 +61,7 @@ class Board:
                 ]
 
         else:
-            cfg.options.disable_scripting = True;
+            cfg.options.disable_scripting = True
 
         d = env.get_merged_dict()
         # Always prepend so that arguments passed in the command line get
@@ -278,7 +278,7 @@ class Board:
                 '-Wl,--gc-sections',
             ]
 
-        if self.with_uavcan:
+        if self.with_can:
             env.AP_LIBRARIES += [
                 'AP_UAVCAN',
                 'modules/uavcan/libuavcan/src/**/*.cpp'
@@ -381,15 +381,26 @@ Please use a replacement build as follows:
 # be worthy to keep board definitions in files of their own.
 
 class sitl(Board):
+
+    def __init__(self):
+        if Utils.unversioned_sys_platform().startswith("linux"):
+            self.with_can = True
+        else:
+            self.with_can = False
+
     def configure_env(self, cfg, env):
         super(sitl, self).configure_env(cfg, env)
-
         env.DEFINES.update(
             CONFIG_HAL_BOARD = 'HAL_BOARD_SITL',
             CONFIG_HAL_BOARD_SUBTYPE = 'HAL_BOARD_SUBTYPE_NONE',
             AP_SCRIPTING_CHECKS = 1, # SITL should always do runtime scripting checks
         )
 
+
+        if self.with_can:
+            cfg.define('HAL_NUM_CAN_IFACES', 2)
+            cfg.define('UAVCAN_EXCEPTIONS', 0)
+
         env.CXXFLAGS += [
             '-Werror=float-equal'
         ]
@@ -653,7 +664,7 @@ class linux(Board):
             'AP_HAL_Linux',
         ]
 
-        if self.with_uavcan:
+        if self.with_can:
             cfg.define('UAVCAN_EXCEPTIONS', 0)
 
         if cfg.options.apstatedir:
@@ -710,7 +721,7 @@ class edge(linux):
     toolchain = 'arm-linux-gnueabihf'
 
     def __init__(self):
-        self.with_uavcan = True
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(edge, self).configure_env(cfg, env)
@@ -743,7 +754,7 @@ class bbbmini(linux):
     toolchain = 'arm-linux-gnueabihf'
 
     def __init__(self):
-        self.with_uavcan = True
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(bbbmini, self).configure_env(cfg, env)
@@ -756,7 +767,7 @@ class blue(linux):
     toolchain = 'arm-linux-gnueabihf'
 
     def __init__(self):
-        self.with_uavcan = True
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(blue, self).configure_env(cfg, env)
@@ -769,7 +780,7 @@ class pocket(linux):
     toolchain = 'arm-linux-gnueabihf'
 
     def __init__(self):
-        self.with_uavcan = True
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(pocket, self).configure_env(cfg, env)
@@ -850,7 +861,7 @@ class pxfmini(linux):
 
 class aero(linux):
     def __init__(self):
-        self.with_uavcan = True
+        self.with_can = True
 
     def configure_env(self, cfg, env):
         super(aero, self).configure_env(cfg, env)
diff --git a/Tools/ardupilotwaf/chibios.py b/Tools/ardupilotwaf/chibios.py
index 6a39211f78..f32749d549 100644
--- a/Tools/ardupilotwaf/chibios.py
+++ b/Tools/ardupilotwaf/chibios.py
@@ -244,13 +244,10 @@ def setup_can_build(cfg):
         'modules/uavcan/libuavcan/src/**/*.cpp',
         ]
 
-    env.CFLAGS += ['-DUAVCAN_STM32_CHIBIOS=1',
-                   '-DUAVCAN_STM32_NUM_IFACES=2']
+    env.CFLAGS += ['-DHAL_CAN_IFACES=2']
 
     env.CXXFLAGS += [
         '-Wno-error=cast-align',
-        '-DUAVCAN_STM32_CHIBIOS=1',
-        '-DUAVCAN_STM32_NUM_IFACES=2'
         ]
 
     env.DEFINES += [
@@ -262,7 +259,7 @@ def setup_can_build(cfg):
     env.INCLUDES += [
         cfg.srcnode.find_dir('modules/uavcan/libuavcan/include').abspath(),
         ]
-    cfg.get_board().with_uavcan = True
+    cfg.get_board().with_can = True
 
 def load_env_vars(env):
     '''optionally load extra environment variables from env.py in the build directory'''
@@ -359,7 +356,7 @@ def configure(cfg):
     if ret != 0:
         cfg.fatal("Failed to process hwdef.dat ret=%d" % ret)
     load_env_vars(cfg.env)
-    if env.HAL_WITH_UAVCAN:
+    if env.HAL_NUM_CAN_IFACES:
         setup_can_build(cfg)
     setup_optimization(cfg.env)
 
@@ -384,8 +381,8 @@ def generate_hwdef_h(env):
 def pre_build(bld):
     '''pre-build hook to change dynamic sources'''
     load_env_vars(bld.env)
-    if bld.env.HAL_WITH_UAVCAN:
-        bld.get_board().with_uavcan = True
+    if bld.env.HAL_NUM_CAN_IFACES:
+        bld.get_board().with_can = True
     hwdef_h = os.path.join(bld.env.BUILDROOT, 'hwdef.h')
     if not os.path.exists(hwdef_h):
         print("Generating hwdef.h")
diff --git a/wscript b/wscript
index 9c15d5783c..9c653a445f 100644
--- a/wscript
+++ b/wscript
@@ -408,7 +408,7 @@ def _build_dynamic_sources(bld):
             ],
             )
 
-    if bld.get_board().with_uavcan or bld.env.HAL_WITH_UAVCAN==True:
+    if bld.get_board().with_can or bld.env.HAL_NUM_CAN_IFACES:
         bld(
             features='uavcangen',
             source=bld.srcnode.ant_glob('modules/uavcan/dsdl/* libraries/AP_UAVCAN/dsdl/*', dir=True, src=False),
@@ -537,7 +537,7 @@ def build(bld):
 
     _load_pre_build(bld)
 
-    if bld.get_board().with_uavcan:
+    if bld.get_board().with_can:
         bld.env.AP_LIBRARIES_OBJECTS_KW['use'] += ['uavcan']
 
     _build_cmd_tweaks(bld)