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Copter: pass eeprom start to Mission constructor

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This commit is contained in:
Randy Mackay 2014-03-12 15:17:21 +09:00
parent 8e117d29eb
commit b587d0d597
2 changed files with 6 additions and 16 deletions
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4
ArduCopter/ArduCopter.pde
View File

@ -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
/*

18
ArduCopter/defines.h
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@ -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))