From 71af938a1235bb2c37287acafed2e349400ae58f Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 18 Jun 2018 12:47:57 -0700
Subject: [PATCH] AP_UAVCAN: use fixed-size memory pool

---
 libraries/AP_UAVCAN/AP_UAVCAN.cpp | 3 +--
 libraries/AP_UAVCAN/AP_UAVCAN.h   | 5 +++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.cpp b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
index a7fd0af691..ae1e45dd8e 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.cpp
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.cpp
@@ -97,8 +97,7 @@ static uavcan::Publisher<uavcan::equipment::esc::RawCommand>* esc_raw[MAX_NUMBER
 static uavcan::Publisher<uavcan::equipment::indication::LightsCommand>* rgb_led[MAX_NUMBER_OF_CAN_DRIVERS];
 
 AP_UAVCAN::AP_UAVCAN() :
-    _node_allocator(
-        UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_SIZE)
+    _node_allocator()
 {
     AP_Param::setup_object_defaults(this, var_info);
 
diff --git a/libraries/AP_UAVCAN/AP_UAVCAN.h b/libraries/AP_UAVCAN/AP_UAVCAN.h
index 49fa77633b..d5b50f4ccb 100644
--- a/libraries/AP_UAVCAN/AP_UAVCAN.h
+++ b/libraries/AP_UAVCAN/AP_UAVCAN.h
@@ -31,7 +31,7 @@
 #endif
 
 #ifndef UAVCAN_NODE_POOL_BLOCK_SIZE
-#define UAVCAN_NODE_POOL_BLOCK_SIZE 256
+#define UAVCAN_NODE_POOL_BLOCK_SIZE 64
 #endif
 
 #ifndef UAVCAN_SRV_NUMBER
@@ -146,6 +146,7 @@ private:
     ///// LED /////
     void led_out_send();
 
+    uavcan::PoolAllocator<UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_BLOCK_SIZE, AP_UAVCAN::RaiiSynchronizer> _node_allocator;
 
     // UAVCAN parameters
     AP_Int8 _uavcan_node;
@@ -154,7 +155,7 @@ private:
     AP_Int16 _servo_rate_hz;
 
     uavcan::Node<0> *_node;
-    uavcan::HeapBasedPoolAllocator<UAVCAN_NODE_POOL_BLOCK_SIZE, AP_UAVCAN::RaiiSynchronizer> _node_allocator;
+
     uint8_t _driver_index;
     char _thread_name[9];
     bool _initialized;