Possible to increase the number of waypoints above 724 on PIXHAWK?

I have read some comments online that some people managed to increase the maximum number of waypoints to thousands from the current limit of 724. I would like to do this for Pixhawk but

Is Pixhawk physically limited to HAL_STORAGE_SIZE of 16384 bytes or was this somewhat conservatively set in the AP_HAL board storage headers?

If I raise these limits sensibly (i.e shoot for 2000 waypoints), and adjust the StorageManager.cpp file, will I run into problems?


Did you find a solution to this? I too am looking for increased waypoints