cached and reused udp datagram packet.

dependencyLibs/Core/src/org/droidplanner/core/MAVLink/connection/UdpConnection.java

@@ -16,6 +16,8 @@ public abstract class UdpConnection extends MavLinkConnection {
 
 	private int hostPort;
 	private InetAddress hostAdd;
+	private DatagramPacket sendPacket;
+	private DatagramPacket receivePacket;
 
 	private void getUdpStream() throws IOException {
 		final DatagramSocket socket = new DatagramSocket(serverPort);
@@ -46,8 +48,14 @@ public final void sendBuffer(byte[] buffer) throws IOException {
 		try {
 			if (hostAdd != null) { // We can't send to our sister until they
 				// have connected to us
-				DatagramPacket packet = new DatagramPacket(buffer, buffer.length, hostAdd, hostPort);
-				socket.send(packet);
+				if(sendPacket == null)
+					sendPacket  = new DatagramPacket(buffer, buffer.length, hostAdd, hostPort);
+				else{
+					sendPacket.setData(buffer, 0, buffer.length);
+					sendPacket.setAddress(hostAdd);
+					sendPacket.setPort(hostPort);
+				}
+				socket.send(sendPacket);
 			}
 		} catch (Exception e) {
 			e.printStackTrace();
@@ -65,15 +73,19 @@ public void sendBuffer(InetAddress targetAddr, int targetPort, byte[] buffer) th
 
 	@Override
 	public final int readDataBlock(byte[] readData) throws IOException {
-        final DatagramSocket socket = socketRef.get();
-        if(socket == null)
-            return 0;
-
-		DatagramPacket packet = new DatagramPacket(readData, readData.length);
-		socket.receive(packet);
-		hostAdd = packet.getAddress();
-		hostPort = packet.getPort();
-		return packet.getLength();
+		final DatagramSocket socket = socketRef.get();
+		if (socket == null)
+			return 0;
+
+		if (receivePacket == null)
+			receivePacket = new DatagramPacket(readData, readData.length);
+		else
+			receivePacket.setData(readData);
+
+		socket.receive(receivePacket);
+		hostAdd = receivePacket.getAddress();
+		hostPort = receivePacket.getPort();
+		return receivePacket.getLength();
 	}
 
 	@Override