added memory reporting over MAVLink

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3207 f9c3cf11-9bcb-44bc-f272-b75c42450872

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();
 }
 

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;
 		}