diff --git a/libraries/AP_CANManager/README.md b/libraries/AP_CANManager/README.md
index 67fd1352f1..9ce85ac00b 100644
--- a/libraries/AP_CANManager/README.md
+++ b/libraries/AP_CANManager/README.md
@@ -2,38 +2,10 @@
 
 **Testing under SITL**
 
-https://github.com/linux-can/can-utils contains a nice set of utility to do CAN related testings on Linux system. I used Ubuntu for this development, for Ubuntu systems you can simply download this tool using `sudo apt-get install can-utils`
+A wide range of DroneCAN peripherals are supported in the SITL
+simulation system. The simplest way of starting a DroneCAN enabled
+simulated vehicle is to use sim_vehicle.py.
 
-Following are the common commands that can be used while testing or developing:
-* Create Virtual CAN Interface:
-```
-sudo modprobe vcan
-sudo ip link add dev vcan0 type vcan
-sudo ip link set up vcan0
-sudo ip link add dev vcan1 type vcan
-sudo ip link set up vcan1
-```
-* Route one CANSocket to another
-```
-sudo modprobe can-gw
-sudo cangw -A -s vcan0 -d vcan1 -e
-sudo cangw -A -s vcan1 -d vcan0 -e
-```
-* Delete routes
-```
-sudo cangw -D -s vcan0 -d vcan1 -e
-sudo cangw -D -s vcan1 -d vcan0 -e
-```
-* Route SLCAN to VCAN, this allows connecting CAN devices to SITL run via CAN Adapter like the one running in Ardupilot itself.
-```
-sudo modprobe slcan
-sudo slcan_attach -f -s8 -o /dev/ttyACM0
-sudo slcand ttyACM0 slcan0
-sudo ifconfig slcan0 up
-sudo cangw -A -s vcan0 -d slcan0 -e
-sudo cangw -A -s slcan0 -d vcan0 -e
-```
-* Dump can messages:
-```
-sudo candump vcan0
-```
+For a quadplane use: sim_vehicle.py with the option -f quadplane-can
+
+For a quadcopter use: sim_vehicle.py with the option -f quad-can