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Plane: pass eeprom start to Mission constructor

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This commit is contained in:
Randy Mackay 2014-03-12 15:19:45 +09:00
parent b587d0d597
commit 693ce27bf6
2 changed files with 6 additions and 16 deletions
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4
ArduPlane/ArduPlane.pde
View File

@ -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;

18
ArduPlane/defines.h
View File

@ -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)