diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
index c85f86a44e..7e8deae0ef 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
@@ -90,18 +90,10 @@ void AP_BoardConfig_CAN::init()
         _st_can_debug[i] = (int8_t) _var_info_can[i]._can_debug;
     }
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    px4_setup_canbus();
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    linux_setup_canbus();
-#endif
+    setup_canbus();
 }
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-/*
-  setup CANBUS drivers
- */
-void AP_BoardConfig_CAN::px4_setup_canbus(void)
+void AP_BoardConfig_CAN::setup_canbus(void)
 {
     // Create all drivers that we need
     bool initret = true;
@@ -110,7 +102,13 @@ void AP_BoardConfig_CAN::px4_setup_canbus(void)
 
         if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
             if (hal.can_mgr[drv_num - 1] == nullptr) {
-                const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new PX4::PX4CANManager;
+                
+                #if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+                    const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new PX4::PX4CANManager;
+                #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+                    const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANManager;
+                #endif
+                
             }
 
             if (hal.can_mgr[drv_num - 1] != nullptr) {
@@ -144,6 +142,7 @@ void AP_BoardConfig_CAN::px4_setup_canbus(void)
                         } else {
                             printf("Failed to initialize uavcan interface %d\n\r", i + 1);
                         }
+
                     } else {
                         AP_HAL::panic("Failed to allocate uavcan %d\n\r", i + 1);
                     }
@@ -160,38 +159,5 @@ void AP_BoardConfig_CAN::px4_setup_canbus(void)
         }
     }
 }
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-void AP_BoardConfig_CAN::linux_setup_canbus(void) {
-    for (uint8_t i = 0; i < MAX_NUMBER_OF_CAN_INTERFACES; i++) {
-    
-        uint8_t drv_num = _var_info_can[i]._driver_number;
-
-        if (drv_num != 0 && drv_num <= MAX_NUMBER_OF_CAN_DRIVERS) {
-            if (hal.can_mgr[drv_num - 1] == nullptr) {
-                const_cast <AP_HAL::HAL&> (hal).can_mgr[drv_num - 1] = new Linux::CANManager;
-            }
-            
-            if (hal.can_mgr[drv_num - 1] != nullptr) {
-                _var_info_can_protocol[i]._uavcan = new AP_UAVCAN;
-                if (_var_info_can_protocol[i]._uavcan != nullptr) {
-                    AP_Param::load_object_from_eeprom(_var_info_can_protocol[i]._uavcan, AP_UAVCAN::var_info);
-                
-                    hal.can_mgr[i]->set_UAVCAN(_var_info_can_protocol[i]._uavcan);
-                    _var_info_can_protocol[i]._uavcan->set_parent_can_mgr(hal.can_mgr[i]); 
-                
-                    if (!hal.can_mgr[i]->begin(_var_info_can[i]._can_bitrate, i)) {
-                        hal.console->printf("Failed to initialize can_mgr\n");
-                    } else {
-                        hal.console->printf("can_mgr initialized well\n");
-                    }
-                } else {
-                    hal.console->printf("AP_UAVCAN failed to allocate\n");
-                }
-            }
-        }
-    
-    }
-}
-#endif
 #endif
 
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
index c909f2208c..bb382616ba 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig_CAN.h
@@ -96,11 +96,8 @@ public:
 
     static int8_t _st_driver_number[MAX_NUMBER_OF_CAN_INTERFACES];
     static int8_t _st_can_debug[MAX_NUMBER_OF_CAN_INTERFACES];
-#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
-    void px4_setup_canbus(void);
-#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
-    void linux_setup_canbus(void);
-#endif // HAL_BOARD_LINUX
+
+    void setup_canbus(void);
 
 };
 #endif
diff --git a/libraries/AP_HAL_Linux/CAN.cpp b/libraries/AP_HAL_Linux/CAN.cpp
index c1fe6785b3..e39031189e 100644
--- a/libraries/AP_HAL_Linux/CAN.cpp
+++ b/libraries/AP_HAL_Linux/CAN.cpp
@@ -475,24 +475,8 @@ bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
 {
     if (init(can_number) >= 0) {
         _initialized = true;
-
-        if (p_uavcan != nullptr) {
-            uint16_t UAVCAN_init_tries;
-
-            // TODO: Limit number of times we try to init UAVCAN and also provide
-            //       the reasonable actions when it fails.
-            for (UAVCAN_init_tries = 0; UAVCAN_init_tries < CAN_MAX_INIT_TRIES_COUNT; UAVCAN_init_tries++) {
-                if (p_uavcan->try_init() == true) {
-                    return true;
-                }
-                printf("p_uavcan->try_init() false\n");
-                hal.scheduler->delay(1);
-            }
-        } else {
-             printf("p_uavcan is nullptr! =(");
-        }
     }
-    return false;
+    return _initialized;
 }
 
 bool CANManager::is_initialized()