diff --git a/libraries/AP_SerialManager/AP_SerialManager.cpp b/libraries/AP_SerialManager/AP_SerialManager.cpp
index cb88e3cb33..62c1ef6269 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.cpp
+++ b/libraries/AP_SerialManager/AP_SerialManager.cpp
@@ -43,8 +43,12 @@ extern const AP_HAL::HAL& hal;
 #ifndef HAL_SERIAL6_PROTOCOL
 #define SERIAL6_PROTOCOL SerialProtocol_None
 #define SERIAL6_BAUD AP_SERIALMANAGER_MAVLINK_BAUD/1000
+#else
+#define SERIAL6_PROTOCOL HAL_SERIAL6_PROTOCOL
+#define SERIAL6_BAUD HAL_SERIAL6_BAUD
 #endif
 
+
 const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 0_BAUD
     // @DisplayName: Serial0 baud rate
@@ -64,7 +68,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 1_PROTOCOL
     // @DisplayName: Telem1 protocol selection
     // @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink),
@@ -79,7 +83,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 2_PROTOCOL
     // @DisplayName: Telemetry 2 protocol selection
     // @Description: Control what protocol to use on the Telem2 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("2_PROTOCOL",  3, AP_SerialManager, state[2].protocol, SERIAL2_PROTOCOL_DEFAULT),
@@ -94,7 +98,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 3_PROTOCOL
     // @DisplayName: Serial 3 (GPS) protocol selection
     // @Description: Control what protocol Serial 3 (GPS) should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("3_PROTOCOL",  5, AP_SerialManager, state[3].protocol, SerialProtocol_GPS),
@@ -109,7 +113,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 4_PROTOCOL
     // @DisplayName: Serial4 protocol selection
     // @Description: Control what protocol Serial4 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("4_PROTOCOL",  7, AP_SerialManager, state[4].protocol, SerialProtocol_GPS),
@@ -124,7 +128,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 5_PROTOCOL
     // @DisplayName: Serial5 protocol selection
     // @Description: Control what protocol Serial5 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("5_PROTOCOL",  9, AP_SerialManager, state[5].protocol, SERIAL5_PROTOCOL),
@@ -141,7 +145,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 6_PROTOCOL
     // @DisplayName: Serial6 protocol selection
     // @Description: Control what protocol Serial6 port should be used for. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("6_PROTOCOL",  12, AP_SerialManager, state[6].protocol, SERIAL6_PROTOCOL),
@@ -356,9 +360,14 @@ void AP_SerialManager::init()
                     state[i].uart->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
                     break;
 
+                case SerialProtocol_SLCAN:
+                    state[i].uart->begin(map_baudrate(state[i].baud),
+                                         AP_SERIALMANAGER_SLCAN_BUFSIZE_RX,
+                                         AP_SERIALMANAGER_SLCAN_BUFSIZE_TX);
+                    break;
+
                 default:
                     state[i].uart->begin(map_baudrate(state[i].baud));
-                    break;
             }
         }
     }
diff --git a/libraries/AP_SerialManager/AP_SerialManager.h b/libraries/AP_SerialManager/AP_SerialManager.h
index 91c6e22759..838d18da86 100644
--- a/libraries/AP_SerialManager/AP_SerialManager.h
+++ b/libraries/AP_SerialManager/AP_SerialManager.h
@@ -75,6 +75,10 @@
 #define AP_SERIALMANAGER_SBUS1_BUFSIZE_RX     16
 #define AP_SERIALMANAGER_SBUS1_BUFSIZE_TX     32
 
+#define AP_SERIALMANAGER_SLCAN_BAUD             115200
+#define AP_SERIALMANAGER_SLCAN_BUFSIZE_RX       128
+#define AP_SERIALMANAGER_SLCAN_BUFSIZE_TX       128
+
 class AP_SerialManager {
 public:
     AP_SerialManager();
@@ -107,6 +111,7 @@ public:
         SerialProtocol_Robotis = 19,
         SerialProtocol_NMEAOutput = 20,
         SerialProtocol_WindVane = 21,
+        SerialProtocol_SLCAN = 22,
     };
 
     // get singleton instance