Number of Waypoints with Navio+ and Raspberry Pi 2

mariagf · April 26, 2016, 5:57pm

Hello!

Could someone tell me how many waypoints we can use with Navio+ on Raspberry Pi 2? Can we increase this number? (and how?)
Also, what is the maximum number of waypoints you have used?

Thank you!

mikhail.avkhimenia · April 27, 2016, 12:06pm

@mariagf Hi! By default Navio+ should be able to store ~1400 waypoints. It can be increased by increasing HAL_STORAGE_SIZE here:

github.com

emlid/ardupilot/blob/navio/libraries/AP_HAL/AP_HAL_Boards.h


#ifndef __AP_HAL_BOARDS_H__
#define __AP_HAL_BOARDS_H__

/**
 * C preprocesor enumeration of the boards supported by the AP_HAL.
 * This list exists so HAL_BOARD == HAL_BOARD_xxx preprocessor blocks
 * can be used to exclude HAL boards from the build when appropriate.
 * Its not an elegant solution but we cant get too fancy if we want to
 * work with the Arduino mk and IDE builds without too much modification.
 */

#define HAL_BOARD_APM1     1
#define HAL_BOARD_APM2     2
#define HAL_BOARD_SITL 3
#define HAL_BOARD_SMACCM   4 // unused
#define HAL_BOARD_PX4      5
#define HAL_BOARD_FLYMAPLE 6
#define HAL_BOARD_LINUX    7
#define HAL_BOARD_VRBRAIN  8

This file has been truncated. show original

#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#define AP_HAL_BOARD_DRIVER AP_HAL_Linux
#define HAL_BOARD_NAME "Linux"
#define HAL_CPU_CLASS HAL_CPU_CLASS_1000
#define HAL_OS_POSIX_IO 1
#define HAL_OS_SOCKETS 1
#define HAL_STORAGE_SIZE            16384
#define HAL_STORAGE_SIZE_AVAILABLE  HAL_STORAGE_SIZE

mariagf · April 27, 2016, 12:18pm

Many many thanks!

And what is the limit of ‘HAL_STORAGE_SIZE’? (I mean, what is the maximum value I can use instead of 16384?)

mikhail.avkhimenia · April 27, 2016, 12:28pm

In Linux APM port storage is implemented as a file on SD card. It is hard to tell if there are limitations in the code. A few times should work probably.