From b587d0d59715fa4d4d0aab4bff059735adf60bdb Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 12 Mar 2014 15:17:21 +0900
Subject: [PATCH] Copter: pass eeprom start to Mission constructor

---
 ArduCopter/ArduCopter.pde |  4 ++--
 ArduCopter/defines.h      | 18 ++++--------------
 2 files changed, 6 insertions(+), 16 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 2574af7a57..d603a33483 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -353,7 +353,7 @@ AP_AHRS_DCM ahrs(ins, barometer, g_gps);
 static bool start_command(const AP_Mission::Mission_Command& cmd);
 static bool verify_command(const AP_Mission::Mission_Command& cmd);
 static void exit_mission();
-AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission);
+AP_Mission mission(ahrs, &start_command, &verify_command, &exit_mission, MISSION_START_BYTE, MISSION_END_BYTE);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Optical flow sensor
@@ -759,7 +759,7 @@ static void pre_arm_checks(bool display_failure);
 ////////////////////////////////////////////////////////////////////////////////
 
 // setup the var_info table
-AP_Param param_loader(var_info, WP_START_BYTE);
+AP_Param param_loader(var_info, MISSION_START_BYTE);
 
 #if MAIN_LOOP_RATE == 400
 /*
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 982049492f..05f08a2c16 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -296,24 +296,14 @@ enum FlipState {
 // Centi-degrees to radians
 #define DEGX100 5729.57795f
 
-
-// EEPROM addresses
-#define EEPROM_MAX_ADDR         4096
-// parameters get the first 1536 bytes of EEPROM, remainder is for waypoints
-#define WP_START_BYTE 0x600 // where in memory home WP is stored + all other
-                            // WP
-#define WP_SIZE 15
-
 // fence points are stored at the end of the EEPROM
 #define MAX_FENCEPOINTS 6
 #define FENCE_WP_SIZE sizeof(Vector2l)
-#define FENCE_START_BYTE (EEPROM_MAX_ADDR-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
+#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
 
-#define MAX_WAYPOINTS  ((FENCE_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
-                                                                          // 1
-                                                                          // to
-                                                                          // be
-                                                                          // safe
+// parameters get the first 1536 bytes of EEPROM, mission commands are stored between these params and the fence points
+#define MISSION_START_BYTE   0x600
+#define MISSION_END_BYTE     (FENCE_START_BYTE-1)
 
 // mark a function as not to be inlined
 #define NOINLINE __attribute__((noinline))