From 79d682e74063e51db417d61dded0039e422c95ef Mon Sep 17 00:00:00 2001
From: David Sidrane <david_s5@nscdg.com>
Date: Thu, 12 Jan 2017 13:28:38 -1000
Subject: [PATCH] Master uavcan mainline (#6313)

* Update libuavcan to upstream master with PX4 contrib for NuttX 7.16+

* Release any 64B blocks not needed by usavcan after FW server is stopped.

  We simply call the srrink methode after the server stop.
  See https://github.com/PX4/Firmware/pull/3005#issue-111885687
  for backgound
---
 src/modules/uavcan/libuavcan       | 2 +-
 src/modules/uavcan/uavcan_main.cpp | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/modules/uavcan/libuavcan b/src/modules/uavcan/libuavcan
index ed47da5b2a..dcbb573972 160000
--- a/src/modules/uavcan/libuavcan
+++ b/src/modules/uavcan/libuavcan
@@ -1 +1 @@
-Subproject commit ed47da5b2af550fd353680c3a9c03b774d0017fd
+Subproject commit dcbb573972f80343ee68eed743506ac09605de3b
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 926e7e285f..2655328598 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -1458,11 +1458,13 @@ int uavcan_main(int argc, char *argv[])
 
 			int rv = inst->fw_server(UavcanNode::Stop);
 
+			/* Let's recover any memory we can */
+
+			inst->shrink();
 			if (rv < 0) {
 				warnx("Firmware Server Failed to Stop %d", rv);
 				::exit(rv);
 			}
-
 			::exit(0);
 
 		} else {