From 635d4418c88623c2867b3b152d2006b5098617a3 Mon Sep 17 00:00:00 2001
From: "tridge60@gmail.com"
 <tridge60@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Thu, 1 Sep 2011 00:52:08 +0000
Subject: [PATCH] added memory reporting over MAVLink

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3207 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/ArduCopterMega.pde | 2 ++
 ArduCopterMega/Mavlink_Common.h   | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index 964021965b..e319cbad4e 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -64,6 +64,7 @@ And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
 #include <AP_OpticalFlow.h> // Optical Flow library
 #include <ModeFilter.h>
 #include <GCS_MAVLink.h>    // MAVLink GCS definitions
+#include <memcheck.h>
 
 // Configuration
 #include "defines.h"
@@ -524,6 +525,7 @@ static byte			loop_step;
 ////////////////////////////////////////////////////////////////////////////////
 
 void setup() {
+	memcheck_init();
 	init_ardupilot();
 }
 
diff --git a/ArduCopterMega/Mavlink_Common.h b/ArduCopterMega/Mavlink_Common.h
index 168936d07b..5f744b375f 100644
--- a/ArduCopterMega/Mavlink_Common.h
+++ b/ArduCopterMega/Mavlink_Common.h
@@ -76,6 +76,11 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					battery_voltage * 1000,
 					battery_remaining,
 					packet_drops);
+
+#ifdef MAVLINK_MSG_ID_MEMINFO
+            extern unsigned __brkval;
+            mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
+#endif
 			break;
 		}