Plane: move to using CANManager library

ArduPlane/Parameters.cpp

@@ -1017,10 +1017,10 @@ const AP_Param::Info Plane::var_info[] = {
     // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
     GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),
 
-#if HAL_WITH_UAVCAN
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
     // @Group: CAN_
-    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig_CAN.cpp
-    GOBJECT(BoardConfig_CAN,        "CAN_",       AP_BoardConfig_CAN),
+    // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
+    GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL

ArduPlane/Parameters.h

@@ -46,7 +46,7 @@ public:
         k_param_avoidance_adsb,
         k_param_landing,
         k_param_NavEKF3,
-        k_param_BoardConfig_CAN,
+        k_param_can_mgr,
         k_param_osd,
 
         // Misc

ArduPlane/system.cpp

@@ -33,8 +33,9 @@ void Plane::init_ardupilot()
 
     // setup any board specific drivers
     BoardConfig.init();
-#if HAL_WITH_UAVCAN
-    BoardConfig_CAN.init();
+
+#if HAL_MAX_CAN_PROTOCOL_DRIVERS
+    can_mgr.init();
 #endif
 
     // initialise rc channels including setting mode