Plane: pass eeprom start to Mission constructor

ArduPlane/ArduPlane.pde

@@ -580,7 +580,7 @@ static int32_t nav_pitch_cd;
 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);
 
 ////////////////////////////////////////////////////////////////////////////////
 // Waypoint distances
@@ -749,7 +749,7 @@ static const AP_Scheduler::Task scheduler_tasks[] PROGMEM = {
 };
 
 // setup the var_info table
-AP_Param param_loader(var_info, WP_START_BYTE);
+AP_Param param_loader(var_info, MISSION_START_BYTE);
 
 void setup() {
     cliSerial = hal.console;

ArduPlane/defines.h

@@ -179,29 +179,19 @@ enum log_messages {
                                         // which a groundstart will be
                                         // triggered
 
-
-// EEPROM addresses
-#define EEPROM_MAX_ADDR         4096
-// parameters get the first 1280 bytes 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
-
 // fence points are stored at the end of the EEPROM
 #define MAX_FENCEPOINTS 20
 #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))
 
 // rally points shoehorned between fence points and waypoints
 #define MAX_RALLYPOINTS 10
 #define RALLY_WP_SIZE 15
 #define RALLY_START_BYTE (FENCE_START_BYTE-(MAX_RALLYPOINTS*RALLY_WP_SIZE))
 
-#define MAX_WAYPOINTS  ((RALLY_START_BYTE - WP_START_BYTE) / WP_SIZE) - 1 // -
-                                                                          // 1
-                                                                          // to
-                                                                          // be
-                                                                          // safe
+// parameters get the first 1280 bytes of EEPROM, mission commands are stored between these params and the rally points
+#define MISSION_START_BYTE  0x500
+#define MISSION_END_BYTE    (RALLY_START_BYTE-1)
 
 // convert a boolean (0 or 1) to a sign for multiplying (0 maps to 1, 1 maps
 // to -1)