From 3b2ef31cc0aca9cb415b504da9754a3557000f32 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 28 Dec 2013 16:02:45 +1100
Subject: [PATCH] Rover: use common available_memory()

---
 APMrover2/APMrover2.pde   |  2 --
 APMrover2/GCS_Mavlink.pde | 10 +---------
 APMrover2/Log.pde         |  2 +-
 APMrover2/system.pde      |  2 +-
 4 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index af64f78905..80934a7062 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -84,7 +84,6 @@
 #include <GCS_MAVLink.h>    // MAVLink GCS definitions
 #include <AP_Airspeed.h>    // needed for AHRS build
 #include <AP_Vehicle.h>     // needed for AHRS build
-#include <memcheck.h>
 #include <DataFlash.h>
 #include <AP_RCMapper.h>        // RC input mapping library
 #include <SITL.h>
@@ -582,7 +581,6 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
   setup is called when the sketch starts
  */
 void setup() {
-	memcheck_init();
     cliSerial = hal.console;
 
     // load the default values of variables listed in var_info[]
diff --git a/APMrover2/GCS_Mavlink.pde b/APMrover2/GCS_Mavlink.pde
index 29a403a693..6bdebf4637 100644
--- a/APMrover2/GCS_Mavlink.pde
+++ b/APMrover2/GCS_Mavlink.pde
@@ -188,14 +188,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
 
 }
 
-static void NOINLINE send_meminfo(mavlink_channel_t chan)
-{
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
-    extern unsigned __brkval;
-    mavlink_msg_meminfo_send(chan, __brkval, memcheck_available_memory());
-#endif
-}
-
 static void NOINLINE send_location(mavlink_channel_t chan)
 {
     uint32_t fix_time;
@@ -529,7 +521,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
 
     case MSG_EXTENDED_STATUS2:
         CHECK_PAYLOAD_SIZE(MEMINFO);
-        send_meminfo(chan);
+        gcs[chan-MAVLINK_COMM_0].send_meminfo();
         break;
 
     case MSG_ATTITUDE:
diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 939f92bd51..8848c8559f 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -550,7 +550,7 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
 {
     cliSerial->printf_P(PSTR("\n" FIRMWARE_STRING
                              "\nFree RAM: %u\n"),
-                        (unsigned) memcheck_available_memory());
+                        (unsigned)hal.util->available_memory());
 
     cliSerial->println_P(PSTR(HAL_BOARD_NAME));
 
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 67967afbbd..4498e6d7db 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -96,7 +96,7 @@ static void init_ardupilot()
 
 	cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
 						 "\n\nFree RAM: %u\n"),
-                    memcheck_available_memory());
+                        hal.util->available_memory());
                     
 	//
 	// Check the EEPROM format version before loading any parameters from EEPROM.