diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 591c1d514a..eb9a20e928 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -126,7 +126,7 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 // must be the first AP_Param variable declared to ensure its
 // constructor runs before the constructors of the other AP_Param
 // variables
-AP_Param param_loader(var_info, WP_START_BYTE);
+AP_Param param_loader(var_info, MISSION_START_BYTE);
 
 ////////////////////////////////////////////////////////////////////////////////
 // the rate we run the main loop at
@@ -306,7 +306,7 @@ static AP_SteerController steerController(ahrs);
 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);
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
 SITL sitl;
diff --git a/APMrover2/defines.h b/APMrover2/defines.h
index e01c049397..3657184934 100644
--- a/APMrover2/defines.h
+++ b/APMrover2/defines.h
@@ -143,12 +143,9 @@ enum mode {
 
 
 // EEPROM addresses
-#define EEPROM_MAX_ADDR		4096
-// parameters get the first 1KiB of EEPROM, remainder is for waypoints
-#define WP_START_BYTE 0x500 // where in memory home WP is stored + all other WP
-#define WP_SIZE 15
-
-#define MAX_WAYPOINTS  ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
+// parameters get the first 1KiB of EEPROM, remainder is for mission commands
+#define MISSION_START_BYTE  0x500
+#define MISSION_END_BYTE    HAL_STORAGE_SIZE_AVAILABLE
 
 // convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps to -1)
 #define BOOL_TO_SIGN(bvalue) ((bvalue)?-1:1)
diff --git a/APMrover2/setup.pde b/APMrover2/setup.pde
index 32df9d22fc..f4e395d5c5 100644
--- a/APMrover2/setup.pde
+++ b/APMrover2/setup.pde
@@ -654,7 +654,7 @@ static void zero_eeprom(void)
 {
 	uint8_t b = 0;
 	cliSerial->printf_P(PSTR("\nErasing EEPROM\n"));
-	for (uint16_t i = 0; i < EEPROM_MAX_ADDR; i++) {
+	for (uint16_t i = 0; i < HAL_STORAGE_SIZE_AVAILABLE; i++) {
 		hal.storage->write_byte(i, b);
 	}
 	cliSerial->printf_P(PSTR("done\n"));