From 3357df95298ad70ae9354251ddfbb7bf2dcbf60b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 14 Aug 2014 10:48:31 +1000
Subject: [PATCH] AP_Mission: fixed example sketch

---
 .../AP_Mission_test/AP_Mission_test.pde       | 34 +++++--------------
 .../examples/AP_Mission_test/Makefile         |  1 +
 2 files changed, 10 insertions(+), 25 deletions(-)
 create mode 100644 libraries/AP_Mission/examples/AP_Mission_test/Makefile

diff --git a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
index 009df2cd15..378d3d2882 100644
--- a/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
+++ b/libraries/AP_Mission/examples/AP_Mission_test/AP_Mission_test.pde
@@ -10,11 +10,17 @@
 #include <AP_Param.h>
 #include <AP_HAL.h>
 #include <AP_HAL_AVR.h>
+#include <AP_HAL_AVR_SITL.h>
+#include <AP_HAL_PX4.h>
+#include <AP_HAL_Empty.h>
+#include <SITL.h>
+#include <AP_Rally.h>
 #include <GCS_MAVLink.h>
 #include <AP_Notify.h>
 #include <AP_Vehicle.h>
 #include <DataFlash.h>
 #include <AP_Mission.h>
+#include <AP_NavEKF.h>
 #include <StorageManager.h>
 #include <AP_Terrain.h>
 #include <AP_GPS.h>             // ArduPilot GPS library
@@ -31,30 +37,10 @@
 #include <AP_Buffer.h>          // ArduPilot general purpose FIFO buffer
 #include <GCS_MAVLink.h>
 
-// storage locations equivalent to ArduCopter
-// fence points are stored at the end of the EEPROM
-#define MAX_FENCEPOINTS 6
-#define FENCE_WP_SIZE sizeof(Vector2l)
-#define FENCE_START_BYTE (HAL_STORAGE_SIZE_AVAILABLE-(MAX_FENCEPOINTS*FENCE_WP_SIZE))
-
-// parameters get the first 1536 bytes of EEPROM, mission commands are stored between these params and the fence points
-#define MISSION_START_BYTE   0x500
-#define MISSION_END_BYTE     (FENCE_START_BYTE-1)
-
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
-// INS and Baro declaration
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-
-AP_InertialSensor_MPU6000 ins;
-AP_Baro_MS5611 baro(&AP_Baro_MS5611::spi);
-
-#else
-
-AP_ADC_ADS7844 adc;
-AP_InertialSensor_Oilpan ins(&adc);
-AP_Baro_BMP085 baro;
-#endif
+AP_InertialSensor_HIL ins;
+AP_Baro_HIL baro;
 
 // GPS declaration
 static AP_GPS  gps;
@@ -117,7 +103,7 @@ void mission_complete(void)
 }
 
 // declaration
-AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete, MISSION_START_BYTE, MISSION_END_BYTE);
+AP_Mission mission(ahrs, &start_cmd, &verify_cmd, &mission_complete);
 
 // setup
 void setup(void)
@@ -127,8 +113,6 @@ void setup(void)
     // display basic info about command sizes
     hal.console->printf_P(PSTR("Max Num Commands: %d\n"),(int)mission.num_commands_max());
     hal.console->printf_P(PSTR("Command size: %d bytes\n"),(int)AP_MISSION_EEPROM_COMMAND_SIZE);
-    hal.console->printf_P(PSTR("Command start in Eeprom: 0x%x\n"),(int)MISSION_START_BYTE);
-    hal.console->printf_P(PSTR("Command end in Eeprom: 0x%x\n"),(int)MISSION_END_BYTE);
 }
 
 // loop
diff --git a/libraries/AP_Mission/examples/AP_Mission_test/Makefile b/libraries/AP_Mission/examples/AP_Mission_test/Makefile
new file mode 100644
index 0000000000..f5daf25151
--- /dev/null
+++ b/libraries/AP_Mission/examples/AP_Mission_test/Makefile
@@ -0,0 +1 @@
+include ../../../../mk/apm.mk