From 97df2f64c9e8700d58df05929dce9c4dfe2972b4 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 28 Dec 2013 16:02:32 +1100
Subject: [PATCH] Copter: use common available_memory()

---
 ArduCopter/ArduCopter.pde  |  8 ++------
 ArduCopter/GCS_Mavlink.pde | 10 +---------
 ArduCopter/Log.pde         |  2 +-
 ArduCopter/system.pde      |  2 +-
 4 files changed, 5 insertions(+), 17 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f4750e3bda..5082883526 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -123,7 +123,6 @@
 #include <AC_WPNav.h>     		// ArduCopter waypoint navigation library
 #include <AP_Declination.h>     // ArduPilot Mega Declination Helper Library
 #include <AC_Fence.h>           // Arducopter Fence library
-#include <memcheck.h>           // memory limit checker
 #include <SITL.h>               // software in the loop support
 #include <AP_Scheduler.h>       // main loop scheduler
 #include <AP_RCMapper.h>        // RC input mapping library
@@ -904,11 +903,8 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 };
 
 
-void setup() {
-
-    // this needs to be the first call, as it fills memory with
-    // sentinel values
-    memcheck_init();
+void setup() 
+{
     cliSerial = hal.console;
 
     // Load the default values of variables listed in var_info[]s
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index b67255c6f8..3026e280f9 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -218,14 +218,6 @@ 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;
@@ -584,7 +576,7 @@ 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/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 09507b1547..880c97e2a1 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -787,7 +787,7 @@ 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/ArduCopter/system.pde b/ArduCopter/system.pde
index 55e3c46bd8..d79d3a5916 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -105,7 +105,7 @@ static void init_ardupilot()
 
     cliSerial->printf_P(PSTR("\n\nInit " FIRMWARE_STRING
                          "\n\nFree RAM: %u\n"),
-                    memcheck_available_memory());
+                        hal.util->available_memory());
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     /*