From 7770c960c915ca0630a1773aa0735eb27cd3677b Mon Sep 17 00:00:00 2001
From: bugobliterator <siddharthbharatpurohit@gmail.com>
Date: Sun, 27 Mar 2022 01:10:25 +0530
Subject: [PATCH] waf: add support for CANFD in SITL

---
 Tools/ardupilotwaf/boards.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/Tools/ardupilotwaf/boards.py b/Tools/ardupilotwaf/boards.py
index 3c5080743e..d598272322 100644
--- a/Tools/ardupilotwaf/boards.py
+++ b/Tools/ardupilotwaf/boards.py
@@ -552,6 +552,7 @@ class sitl(Board):
         if self.with_can:
             cfg.define('HAL_NUM_CAN_IFACES', 2)
             cfg.define('UAVCAN_EXCEPTIONS', 0)
+            cfg.define('UAVCAN_SUPPORT_CANFD', 1)
 
         env.CXXFLAGS += [
             '-Werror=float-equal'
@@ -679,7 +680,7 @@ class sitl_periph_gps(sitl):
             HAL_MISSION_ENABLED = 0,
             HAL_RALLY_ENABLED = 0,
             HAL_SCHEDULER_ENABLED = 0,
-            CANARD_ENABLE_TAO_OPTION = 1,
+            CANARD_ENABLE_CANFD = 1,
         )
         # libcanard is written for 32bit platforms
         env.CXXFLAGS += [