From 24f40d904986699ae1f40e1ab3c1c68a43ab8b47 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 13 Oct 2021 09:50:03 +1100 Subject: [PATCH] AP_Mission: allow for more jump commands on high memory boards and allow override of maximum in custom hwdef.dat --- libraries/AP_Mission/AP_Mission.h | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h index a291d908a1..2575b5e11b 100644 --- a/libraries/AP_Mission/AP_Mission.h +++ b/libraries/AP_Mission/AP_Mission.h @@ -28,7 +28,13 @@ #define AP_MISSION_EEPROM_VERSION 0x65AE // version number stored in first four bytes of eeprom. increment this by one when eeprom format is changed #define AP_MISSION_EEPROM_COMMAND_SIZE 15 // size in bytes of all mission commands +#ifndef AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS +#if HAL_MEM_CLASS >= HAL_MEM_CLASS_500 +#define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 100 // allow up to 100 do-jump commands +#else #define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 15 // allow up to 15 do-jump commands +#endif +#endif #define AP_MISSION_JUMP_REPEAT_FOREVER -1 // when do-jump command's repeat count is -1 this means endless repeat