AP_DroneCAN: DNAServer: optimize allocation strategy #39357

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Job	Run time
build (navio, armhf)	5m 51s
build (navio2, armhf)	5m 54s
build (bbbmini, armhf)	6m 32s
build (bhat, armhf)	5m 58s
build (bebop, armhf)	6m 4s
build (erlebrain2, armhf)	6m 2s
build (pxfmini, armhf)	5m 45s
build (pxf, armhf)	5m 51s
build (canzero, armhf)	6m 13s
build (navigator, armhf-musl)	4m 18s
build (linux, base)	7m 42s
	1h 6m 10s