AP_RangeFinder: use AP_CANManager library

libraries/AP_RangeFinder/AP_RangeFinder.cpp

@@ -518,7 +518,7 @@ void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
         }
         break;
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
     case Type::UAVCAN:
         /*
           the UAVCAN driver gets created when we first receive a

libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp

@@ -1,10 +1,10 @@
 #include <AP_HAL/AP_HAL.h>
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 
 #include "AP_RangeFinder_UAVCAN.h"
 
-#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
+#include <AP_CANManager/AP_CANManager.h>
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 #include <uavcan/equipment/range_sensor/Measurement.hpp>
@@ -180,5 +180,5 @@ void AP_RangeFinder_UAVCAN::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t nod
     }
 }
 
-#endif // HAL_WITH_UAVCAN
+#endif // HAL_ENABLE_LIBUAVCAN_DRIVERS
 

libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h

@@ -2,7 +2,7 @@
 
 #include "AP_RangeFinder_Backend.h"
 
-#if HAL_WITH_UAVCAN
+#if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include <AP_UAVCAN/AP_UAVCAN.h>
 
 class MeasurementCb;
@@ -33,4 +33,4 @@ private:
     bool new_data;
     MAV_DISTANCE_SENSOR _sensor_type;
 };
-#endif //HAL_WITH_UAVCAN
+#endif //HAL_ENABLE_LIBUAVCAN_DRIVERS