From 8a314487097c9732761843b3e483403e1dd127c4 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Sun, 31 May 2020 18:06:07 +0530
Subject: [PATCH] AP_OpticalFlow: move to using CANManager library

---
 libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp | 8 +++-----
 libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h   | 4 ++--
 libraries/AP_OpticalFlow/OpticalFlow.cpp             | 2 +-
 3 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
index bf01addbd6..bf80ca230c 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp
@@ -1,18 +1,16 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include "AP_OpticalFlow_HereFlow.h"
 
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 #include <com/hex/equipment/flow/Measurement.hpp>
 
 extern const AP_HAL::HAL& hal;
 
-#define debug_flow_uavcan(level_debug, can_driver, fmt, args...) do { if ((level_debug) <= AP::can().get_debug_level_driver(can_driver)) { hal.console->printf(fmt, ##args); }} while (0)
-
 //UAVCAN Frontend Registry Binder
 UC_REGISTRY_BINDER(MeasurementCb, com::hex::equipment::flow::Measurement);
 
@@ -103,5 +101,5 @@ void AP_OpticalFlow_HereFlow::_push_state(void)
     new_data = false;
 }
 
-#endif // HAL_WITH_UAVCAN
+#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
 
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
index 3777f38c20..6675481c15 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.h
@@ -1,7 +1,7 @@
 #pragma once
 #include "OpticalFlow_backend.h"
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
@@ -32,4 +32,4 @@ private:
     void _push_state(void);
 
 };
-#endif //HAL_WITH_UAVCAN
+#endif //HAL_ENABLE_LIBUAVCAN_DRIVERS
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index 018eacbd39..a4c718c7e7 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -131,7 +131,7 @@ void OpticalFlow::init(uint32_t log_bit)
         backend = AP_OpticalFlow_MAV::detect(*this);
         break;
     case OpticalFlowType::UAVCAN:
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
         backend = new AP_OpticalFlow_HereFlow(*this);
 #endif
         break;