From c0188fbf0e4cf48e6fd6c6ed40248d2a85af7dec Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Tue, 15 Feb 2022 13:33:59 +0530
Subject: [PATCH] AP_CANManager: disable CANTester by default

---
 libraries/AP_CANManager/AP_CANDriver.cpp  | 2 +-
 libraries/AP_CANManager/AP_CANManager.cpp | 2 +-
 libraries/AP_CANManager/AP_CANTester.cpp  | 2 +-
 libraries/AP_CANManager/AP_CANTester.h    | 6 +++++-
 4 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_CANManager/AP_CANDriver.cpp b/libraries/AP_CANManager/AP_CANDriver.cpp
index a458065145..1a919268a9 100644
--- a/libraries/AP_CANManager/AP_CANDriver.cpp
+++ b/libraries/AP_CANManager/AP_CANDriver.cpp
@@ -47,7 +47,7 @@ const AP_Param::GroupInfo AP_CANManager::CANDriver_Params::var_info[] = {
     AP_SUBGROUPPTR(_kdecan, "KDE_", 3, AP_CANManager::CANDriver_Params, AP_KDECAN),
 #endif
 
-#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES
+#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER
     // @Group: TST_
     // @Path: ../AP_CANManager/AP_CANTester.cpp
     AP_SUBGROUPPTR(_testcan, "TST_", 4, AP_CANManager::CANDriver_Params, CANTester),
diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index 7d7fc9eac9..3ac6f087c4 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -234,7 +234,7 @@ void AP_CANManager::init()
             AP_Param::load_object_from_eeprom((AP_PiccoloCAN*)_drivers[drv_num], AP_PiccoloCAN::var_info);
 #endif
         } else if (drv_type[drv_num] == Driver_Type_CANTester) {
-#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES
+#if HAL_NUM_CAN_IFACES > 1 && !HAL_MINIMIZE_FEATURES && HAL_ENABLE_CANTESTER
             _drivers[drv_num] = _drv_param[drv_num]._testcan = new CANTester;
 
             if (_drivers[drv_num] == nullptr) {
diff --git a/libraries/AP_CANManager/AP_CANTester.cpp b/libraries/AP_CANManager/AP_CANTester.cpp
index 71b50814a4..688d6d919c 100644
--- a/libraries/AP_CANManager/AP_CANTester.cpp
+++ b/libraries/AP_CANManager/AP_CANTester.cpp
@@ -20,8 +20,8 @@
 #include <AP_Common/AP_Common.h>
 
 #include "AP_CANManager.h"
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED
 #include "AP_CANTester.h"
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED && HAL_ENABLE_CANTESTER
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <stdio.h>
 #include <AP_Vehicle/AP_Vehicle.h>
diff --git a/libraries/AP_CANManager/AP_CANTester.h b/libraries/AP_CANManager/AP_CANTester.h
index 1a8c939e90..37e39996ba 100644
--- a/libraries/AP_CANManager/AP_CANTester.h
+++ b/libraries/AP_CANManager/AP_CANTester.h
@@ -18,7 +18,11 @@
 #include "AP_CANDriver.h"
 #include <AP_HAL/Semaphores.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
-#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED
+#ifndef HAL_ENABLE_CANTESTER
+#define HAL_ENABLE_CANTESTER 0
+#endif
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED && HAL_ENABLE_CANTESTER
 
 class CANTester : public AP_CANDriver
 {