From e1bf89f32d8b077cef417af527bfbcf6b447f894 Mon Sep 17 00:00:00 2001
From: Francisco Ferreira <francisco-ferreira@mail.telepac.pt>
Date: Sun, 22 Jul 2018 06:05:18 +0100
Subject: [PATCH] AP_HAL_ChibiOS: fix CAN manager initialization

---
 libraries/AP_HAL_ChibiOS/CAN.cpp | 6 +-----
 libraries/AP_HAL_ChibiOS/CAN.h   | 1 -
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/CAN.cpp b/libraries/AP_HAL_ChibiOS/CAN.cpp
index 2cca664a17..3d516da640 100644
--- a/libraries/AP_HAL_ChibiOS/CAN.cpp
+++ b/libraries/AP_HAL_ChibiOS/CAN.cpp
@@ -43,11 +43,7 @@ uavcan::MonotonicTime clock::getMonotonic()
 
 bool CANManager::begin(uint32_t bitrate, uint8_t can_number)
 {
-    if (can_helper.init(bitrate, CanIface::OperatingMode::NormalMode, can_number) == 0) {
-        bitrate_ = bitrate;
-        initialized_ = true;
-    }
-    return initialized_;
+    return (can_helper.init(bitrate, CanIface::OperatingMode::NormalMode, can_number) == 0);
 }
 
 bool CANManager::is_initialized()
diff --git a/libraries/AP_HAL_ChibiOS/CAN.h b/libraries/AP_HAL_ChibiOS/CAN.h
index 7f69839850..6fe243e424 100644
--- a/libraries/AP_HAL_ChibiOS/CAN.h
+++ b/libraries/AP_HAL_ChibiOS/CAN.h
@@ -74,7 +74,6 @@ public:
 private:
     AP_UAVCAN *p_uavcan;
     bool initialized_;
-    uint32_t bitrate_;
     uavcan_stm32::CanInitHelper<CAN_STM32_RX_QUEUE_SIZE> can_helper;
 };