From d9f79f42c88218086d1be16313c2b46c7d48c420 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 14 Feb 2022 09:04:54 +1100
Subject: [PATCH] AP_HAL: moved CAN_FRAME timeout handling to AP_CANManager

---
 libraries/AP_HAL/CANIface.cpp | 11 -----------
 libraries/AP_HAL/CANIface.h   |  2 --
 2 files changed, 13 deletions(-)

diff --git a/libraries/AP_HAL/CANIface.cpp b/libraries/AP_HAL/CANIface.cpp
index 9cf1d8a24c..5219ab74fe 100644
--- a/libraries/AP_HAL/CANIface.cpp
+++ b/libraries/AP_HAL/CANIface.cpp
@@ -71,16 +71,6 @@ int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanI
 {
     if (frame_callback) {
         if ((flags & IsMAVCAN) == 0) {
-            if (frame_counter++ == 100) {
-                // check every 100 frames for disabling CAN_FRAME send
-                // we stop sending after 5s if the client stops
-                // sending MAV_CMD_CAN_FORWARD requests
-                if (AP_HAL::millis() - last_callback_enable_ms > 5000) {
-                    frame_callback = nullptr;
-                    return 1;
-                }
-                frame_counter = 0;
-            }
             frame_callback(get_iface_num(), frame);
         } else {
             CanRxItem rx_item;
@@ -98,7 +88,6 @@ int16_t AP_HAL::CANIface::send(const CANFrame& frame, uint64_t tx_deadline, CanI
  */
 bool AP_HAL::CANIface::register_frame_callback(FrameCb cb)
 {
-    last_callback_enable_ms = AP_HAL::millis();
     frame_callback = cb;
     return true;
 }
diff --git a/libraries/AP_HAL/CANIface.h b/libraries/AP_HAL/CANIface.h
index 0d11ea1159..68988ad0e0 100644
--- a/libraries/AP_HAL/CANIface.h
+++ b/libraries/AP_HAL/CANIface.h
@@ -225,8 +225,6 @@ protected:
     virtual bool add_to_rx_queue(const CanRxItem &rx_item) = 0;
 
     FrameCb frame_callback;
-    uint8_t frame_counter;
-    uint32_t last_callback_enable_ms;
     uint32_t bitrate_;
     OperatingMode mode_;
 };