From 9826bf6c0ad5908f44cfcb477a617cd8bafb205f Mon Sep 17 00:00:00 2001
From: jaromc <89912906+Jaromc@users.noreply.github.com>
Date: Tue, 28 Oct 2025 13:22:19 +1100
Subject: [PATCH] AP_HAL_ChibiOS: Enable tx FIFO for multiframe bxcan messages

---
 libraries/AP_HAL_ChibiOS/CanIface.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/CanIface.cpp b/libraries/AP_HAL_ChibiOS/CanIface.cpp
index 90badc41581ba..134d87b26ff40 100644
--- a/libraries/AP_HAL_ChibiOS/CanIface.cpp
+++ b/libraries/AP_HAL_ChibiOS/CanIface.cpp
@@ -921,7 +921,7 @@ bool CANIface::init(const uint32_t bitrate, const CANIface::OperatingMode mode)
     /*
      * Hardware initialization (the hardware has already confirmed initialization mode, see above)
      */
-    can_->MCR = bxcan::MCR_ABOM | bxcan::MCR_AWUM | bxcan::MCR_INRQ;  // RM page 648
+    can_->MCR = bxcan::MCR_ABOM | bxcan::MCR_AWUM | bxcan::MCR_INRQ | bxcan::MCR_TXFP;  // RM page 648
 
     can_->BTR = ((timings.sjw & 3U)  << 24) |
                 ((timings.bs1 & 15U) << 16) |