mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
Use AP_Var to store accel/gyro calibration.
Refactor AP_IMU_Oilpan and remove all the old EEPROM code. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1650 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
a4e791dc92
commit
86fda84749
@ -1,8 +1,8 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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//
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// AP_IMU.cpp - IMU Sensor Library for Ardupilot Mega
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// Code by Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
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// Code by Michael Smith, Doug Weibel, Jordi Muñoz and Jose Julio. DIYDrones.com
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//
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// This library works with the ArduPilot Mega and "Oilpan"
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//
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@ -22,60 +22,58 @@
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#include "AP_IMU_Oilpan.h"
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#define A_LED_PIN 37 //37 = A, 35 = C
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#define C_LED_PIN 35
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// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
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// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
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// Tested value : 418
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#define GRAVITY 418.0 // 1G in the raw data coming from the accelerometer
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#define accel_scale(x) (x*9.80665/GRAVITY) // Scaling the raw data of the accel to actual acceleration in m/s/s
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// IDG500 Sensitivity (from datasheet) => 2.0mV/º/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
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// Tested values : 0.4026, ?, 0.4192
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#define _gyro_gain_x 0.4 //X axis Gyro gain
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#define _gyro_gain_y 0.41 //Y axis Gyro gain
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#define _gyro_gain_z 0.41 //Z axis Gyro
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#define ADC_CONSTRAINT 900
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// XXX secret knowledge about the APM/oilpan wiring
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//
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#define A_LED_PIN 37
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#define C_LED_PIN 35
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// Sensors: GYROX, GYROY, GYROZ, ACCELX, ACCELY, ACCELZ
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const uint8_t AP_IMU_Oilpan::_sensors[6] = { 1, 2, 0, 4, 5, 6}; // For ArduPilot Mega Sensor Shield Hardware
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const int8_t AP_IMU_Oilpan::_sensor_signs[6] = { 1,-1,-1, 1,-1,-1};
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const uint8_t AP_IMU_Oilpan::_sensors[6] = { 1, 2, 0, 4, 5, 6}; // Channel assignments on the APM oilpan
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const int8_t AP_IMU_Oilpan::_sensor_signs[6] = { 1,-1,-1, 1,-1,-1}; // Channel orientation vs. normal
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// Temp compensation curve constants
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// These must be produced by measuring data and curve fitting
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// [X/Y/Z gyro][A/B/C or 0 order/1st order/2nd order constants]
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//
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const float AP_IMU_Oilpan::_gyro_temp_curve[3][3] = {
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{1665,0,0},
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{1665,0,0},
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{1665,0,0}
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}; // To Do - make additional constructors to pass this in.
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};
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void
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AP_IMU_Oilpan::init(Start_style style)
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{
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init_gyro(style);
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init_accel(style);
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// if we are warm-starting, load the calibration data from EEPROM and go
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//
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if (WARM_START == style) {
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_sensor_cal.load();
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} else {
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// do cold-start calibration for both accel and gyro
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_init_gyro();
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_init_accel();
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// save calibration
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_sensor_cal.save();
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}
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}
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/**************************************************/
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void
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AP_IMU_Oilpan::init_gyro(Start_style style)
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AP_IMU_Oilpan::init_gyro()
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{
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_init_gyro();
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_sensor_cal.save();
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}
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void
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AP_IMU_Oilpan::_init_gyro()
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{
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float temp;
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int flashcount = 0;
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int tc_temp;
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float adc_in[6];
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// warm start, load saved cal from EEPROM
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if ((WARM_START == style) && (0 != _address)) {
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_adc_offset[0] = read_EE_float(_address );
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_adc_offset[1] = read_EE_float(_address + 4);
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_adc_offset[2] = read_EE_float(_address + 8);
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return;
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}
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float adc_in;
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// cold start
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tc_temp = _adc->Ch(_gyro_temp_ch);
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@ -88,7 +86,7 @@ AP_IMU_Oilpan::init_gyro(Start_style style)
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delay(20);
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for (int i = 0; i < 6; i++)
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adc_in[i] = _adc->Ch(_sensors[i]);
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adc_in = _adc->Ch(_sensors[i]);
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digitalWrite(A_LED_PIN, HIGH);
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digitalWrite(C_LED_PIN, LOW);
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@ -96,17 +94,17 @@ AP_IMU_Oilpan::init_gyro(Start_style style)
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}
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for (int j = 0; j <= 2; j++){
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adc_in[j] -= _gyro_temp_comp(j, tc_temp);
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_adc_offset[j] = adc_in[j];
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adc_in -= _sensor_compensation(j, tc_temp);
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_sensor_cal[j] = adc_in;
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}
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for(int i = 0; i < 50; i++){
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for (int j = 0; j <= 2; j++){
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adc_in[j] = _adc->Ch(_sensors[j]);
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for (int j = 0; j < 3; j++){
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adc_in = _adc->Ch(_sensors[j]);
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// Subtract temp compensated typical gyro bias
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adc_in[j] -= _gyro_temp_comp(j, tc_temp);
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adc_in -= _sensor_compensation(j, tc_temp);
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// filter
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_adc_offset[j] = _adc_offset[j] * 0.9 + adc_in[j] * 0.1;
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_sensor_cal[j] = _sensor_cal[j] * 0.9 + adc_in * 0.1;
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}
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delay(20);
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@ -123,45 +121,42 @@ AP_IMU_Oilpan::init_gyro(Start_style style)
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}
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flashcount++;
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}
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_save_gyro_cal();
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}
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void
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AP_IMU_Oilpan::init_accel()
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{
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_init_accel();
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_sensor_cal.save();
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}
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void
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AP_IMU_Oilpan::init_accel(Start_style style) // 3, 4, 5
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AP_IMU_Oilpan::_init_accel()
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{
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float temp;
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int flashcount = 0;
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float adc_in[6];
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// warm start, load our saved cal from EEPROM
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if ((WARM_START == style) && (0 != _address)) {
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_adc_offset[3] = read_EE_float(_address + 12);
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_adc_offset[4] = read_EE_float(_address + 16);
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_adc_offset[5] = read_EE_float(_address + 20);
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return;
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}
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float adc_in;
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// cold start
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delay(500);
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Serial.println("Init Accel");
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for (int j = 3; j <= 5; j++){
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adc_in[j] = _adc->Ch(_sensors[j]);
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adc_in[j] -= 2025; // Typical accel bias value - subtracted in _accel_in() and update()
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_adc_offset[j] = adc_in[j];
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// init to initial reading (unlike gyro which presumes zero...)
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//
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for (int j = 3; j < 6; j++){
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adc_in = _adc->Ch(_sensors[j]);
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adc_in -= _sensor_compensation(j, 0); // XXX secret knowledge, temperature ignored
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_sensor_cal[j] = adc_in;
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}
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for(int i = 0; i < 50; i++){ // We take some readings...
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delay(20);
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for (int j = 3; j <= 5; j++){
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adc_in[j] = _adc->Ch(_sensors[j]);
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adc_in[j] -= 2025; // Typical accel bias value - subtracted in _accel_in() and update()
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_adc_offset[j] = _adc_offset[j] * 0.9 + adc_in[j] * 0.1;
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for (int j = 3; j < 6; j++){
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adc_in = _adc->Ch(_sensors[j]);
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adc_in -= _sensor_compensation(j, 0); // XXX secret knowledge, temperature ignored
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_sensor_cal[j] = _sensor_cal[j] * 0.9 + adc_in * 0.1;
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}
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if(flashcount == 5) {
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@ -178,192 +173,74 @@ AP_IMU_Oilpan::init_accel(Start_style style) // 3, 4, 5
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flashcount++;
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}
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Serial.println(" ");
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_adc_offset[5] += GRAVITY * _sensor_signs[5];
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_save_accel_cal();
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}
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void
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AP_IMU_Oilpan::zero_accel(void) // 3, 4, 5
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{
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_adc_offset[3] = 0;
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_adc_offset[4] = 0;
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_adc_offset[5] = 0;
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_save_accel_cal();
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}
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void
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AP_IMU_Oilpan::_save_gyro_cal(void)
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{
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// save cal to EEPROM for warm start
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if (0 != _address) {
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write_EE_float(_adc_offset[0], _address);
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write_EE_float(_adc_offset[1], _address + 4);
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write_EE_float(_adc_offset[2], _address + 8);
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}
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}
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void
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AP_IMU_Oilpan::_save_accel_cal(void)
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{
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// save cal to EEPROM for warm start
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if (0 != _address) {
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write_EE_float(_adc_offset[3], _address + 12);
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write_EE_float(_adc_offset[4], _address + 16);
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write_EE_float(_adc_offset[5], _address + 20);
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}
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// null gravity from the Z accel
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_sensor_cal[5] += _gravity * _sensor_signs[5];
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}
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/**************************************************/
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// Returns the temperature compensated raw gyro value
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//---------------------------------------------------
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float
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AP_IMU_Oilpan::_gyro_temp_comp(int i, int temp) const
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AP_IMU_Oilpan::_sensor_compensation(uint8_t channel, int temperature) const
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{
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// We use a 2nd order curve of the form Gtc = A + B * Graw + C * (Graw)**2
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//------------------------------------------------------------------------
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return _gyro_temp_curve[i][0] + _gyro_temp_curve[i][1] * temp + _gyro_temp_curve[i][2] * temp * temp;
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// do gyro temperature compensation
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if (channel < 3) {
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return _gyro_temp_curve[channel][0] +
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_gyro_temp_curve[channel][1] * temperature +
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_gyro_temp_curve[channel][2] * temperature * temperature;
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}
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// do fixed-offset accelerometer compensation
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return 2025; // XXX magic number!
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}
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float
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AP_IMU_Oilpan::_gyro_in(uint8_t channel, int temperature)
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AP_IMU_Oilpan::_sensor_in(uint8_t channel, int temperature)
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{
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float adc_in;
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float adc_in;
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adc_in = _adc->Ch(_sensors[channel]);
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adc_in -= _gyro_temp_comp(channel, temperature); // Subtract temp compensated typical gyro bias
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if (_sensor_signs[channel] < 0) {
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adc_in = _adc_offset[channel] - adc_in;
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} else {
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adc_in = adc_in - _adc_offset[channel];
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}
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// get the compensated sensor value
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//
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adc_in = _adc->Ch(_sensors[channel]) - _sensor_compensation(channel, temperature);
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if (fabs(adc_in) > ADC_CONSTRAINT) {
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adc_constraints++; // We keep track of the number of times
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adc_in = constrain(adc_in, -ADC_CONSTRAINT, ADC_CONSTRAINT); // Throw out nonsensical values
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}
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return adc_in;
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// adjust for sensor sign and apply calibration offset
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//
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if (_sensor_signs[channel] < 0) {
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adc_in = _sensor_cal[channel] - adc_in;
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} else {
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adc_in = adc_in - _sensor_cal[channel];
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}
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// constrain sensor readings to the sensible range
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//
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if (fabs(adc_in) > _adc_constraint) {
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adc_constraints++; // We keep track of the number of times
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adc_in = constrain(adc_in, -_adc_constraint, _adc_constraint); // Throw out nonsensical values
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}
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return adc_in;
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}
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float
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AP_IMU_Oilpan::_accel_in(uint8_t channel)
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{
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float adc_in;
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adc_in = _adc->Ch(_sensors[channel]);
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adc_in -= 2025; // Subtract typical accel bias
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if (_sensor_signs[channel] < 0) {
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adc_in = _adc_offset[channel] - adc_in;
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} else {
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adc_in = adc_in - _adc_offset[channel];
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}
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if (fabs(adc_in) > ADC_CONSTRAINT) {
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adc_constraints++; // We keep track of the number of times
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adc_in = constrain(adc_in, -ADC_CONSTRAINT, ADC_CONSTRAINT); // Throw out nonsensical values
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}
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return adc_in;
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}
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bool
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AP_IMU_Oilpan::update(void)
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{
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int tc_temp = _adc->Ch(_gyro_temp_ch);
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float adc_in[6];
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#if 0
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// get current gyro readings
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for (int i = 0; i < 3; i++) {
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adc_in[i] = _adc->Ch(_sensors[i]);
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adc_in[i] -= _gyro_temp_comp(i,tc_temp); // Subtract temp compensated typical gyro bias
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if (_sensor_signs[i] < 0)
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adc_in[i] = (_adc_offset[i] - adc_in[i]);
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else
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adc_in[i] = (adc_in[i] - _adc_offset[i]);
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if (fabs(adc_in[i]) > ADC_CONSTRAINT) {
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adc_constraints++; // We keep track of the number of times
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adc_in[i] = constrain(adc_in[i], -ADC_CONSTRAINT, ADC_CONSTRAINT); // Throw out nonsensical values
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}
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}
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#endif
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_gyro.x = ToRad(_gyro_gain_x) * _gyro_in(0, tc_temp);
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_gyro.y = ToRad(_gyro_gain_y) * _gyro_in(1, tc_temp);
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_gyro.z = ToRad(_gyro_gain_z) * _gyro_in(2, tc_temp);
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#if 0
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// get current accelerometer readings
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for (int i = 3; i < 6; i++) {
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adc_in[i] = _adc->Ch(_sensors[i]);
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adc_in[i] -= 2025; // Subtract typical accel bias
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// convert corrected gyro readings to delta acceleration
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//
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_gyro.x = ToRad(_gyro_gain_x) * _sensor_in(0, tc_temp);
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_gyro.y = ToRad(_gyro_gain_y) * _sensor_in(1, tc_temp);
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_gyro.z = ToRad(_gyro_gain_z) * _sensor_in(2, tc_temp);
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if (_sensor_signs[i] < 0)
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adc_in[i] = _adc_offset[i] - adc_in[i];
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else
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adc_in[i] = adc_in[i] - _adc_offset[i];
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if (fabs(adc_in[i]) > ADC_CONSTRAINT) {
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adc_constraints++; // We keep track of the number of times
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adc_in[i] = constrain(adc_in[i], -ADC_CONSTRAINT, ADC_CONSTRAINT); // Throw out nonsensical values
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}
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}
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#endif
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_accel.x = accel_scale(_accel_in(3));
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_accel.y = accel_scale(_accel_in(4));
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_accel.z = accel_scale(_accel_in(5));
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// convert corrected accelerometer readings to acceleration
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//
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_accel.x = _accel_scale * _sensor_in(3, tc_temp);
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_accel.y = _accel_scale * _sensor_in(4, tc_temp);
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_accel.z = _accel_scale * _sensor_in(5, tc_temp);
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// always updated
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return true;
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}
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/********************************************************************************/
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void
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AP_IMU_Oilpan::print_accel_offsets(void)
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{
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Serial.print("Accel offsets: ");
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Serial.print(_adc_offset[3], 2);
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Serial.print(", ");
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Serial.print(_adc_offset[4], 2);
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Serial.print(", ");
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Serial.println(_adc_offset[5], 2);
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}
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void
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AP_IMU_Oilpan::print_gyro_offsets(void)
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{
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Serial.print("Gyro offsets: ");
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Serial.print(_adc_offset[0], 2);
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Serial.print(", ");
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Serial.print(_adc_offset[1], 2);
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Serial.print(", ");
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Serial.println(_adc_offset[2], 2);
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}
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/********************************************************************************/
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float
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AP_IMU_Oilpan::read_EE_float(int address)
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{
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union {
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byte bytes[4];
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float value;
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} _floatOut;
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for (int i = 0; i < 4; i++)
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_floatOut.bytes[i] = eeprom_read_byte((uint8_t *) (address + i));
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return _floatOut.value;
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}
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void
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AP_IMU_Oilpan::write_EE_float(float value, int address)
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{
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union {
|
||||
byte bytes[4];
|
||||
float value;
|
||||
} _floatIn;
|
||||
|
||||
_floatIn.value = value;
|
||||
for (int i = 0; i < 4; i++)
|
||||
eeprom_write_byte((uint8_t *) (address + i), _floatIn.bytes[i]);
|
||||
}
|
||||
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
||||
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||||
|
||||
/// @file AP_IMU_Oilpan.h
|
||||
/// @brief IMU driver for the APM oilpan
|
||||
@ -6,61 +6,79 @@
|
||||
#ifndef AP_IMU_Oilpan_h
|
||||
#define AP_IMU_Oilpan_h
|
||||
|
||||
#include "IMU.h"
|
||||
|
||||
#include <AP_Common.h>
|
||||
#include <AP_Math.h>
|
||||
#include <AP_ADC.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
#include "IMU.h"
|
||||
|
||||
class AP_IMU_Oilpan : public IMU
|
||||
{
|
||||
|
||||
public:
|
||||
AP_IMU_Oilpan(AP_ADC *adc, uint16_t address) :
|
||||
_adc(adc),
|
||||
_address(address)
|
||||
/// Constructor
|
||||
///
|
||||
/// Saves the ADC pointer and constructs the calibration data variable.
|
||||
///
|
||||
/// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer.
|
||||
/// @param key The AP_Var::key value we will use when loading/saving calibration data.
|
||||
///
|
||||
AP_IMU_Oilpan(AP_ADC *adc, AP_Var::Key key) :
|
||||
_adc(adc),
|
||||
_sensor_cal(key, PSTR("IMU_SENSOR_CAL"), AP_Var::k_flag_no_auto_load)
|
||||
{}
|
||||
|
||||
/// Do warm or cold start.
|
||||
///
|
||||
/// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved
|
||||
/// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the
|
||||
/// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro.
|
||||
///
|
||||
/// @param style Selects the initialisation style.
|
||||
/// COLD_START performs calibration of both the accelerometer and gyro.
|
||||
/// WARM_START loads accelerometer and gyro calibration from a previous cold start.
|
||||
///
|
||||
virtual void init(Start_style style = COLD_START);
|
||||
virtual void init_accel(Start_style style = COLD_START);
|
||||
virtual void init_gyro(Start_style style = COLD_START);
|
||||
|
||||
virtual void init_accel();
|
||||
virtual void init_gyro();
|
||||
virtual bool update(void);
|
||||
|
||||
// XXX backwards compat hacks
|
||||
void zero_accel(void);
|
||||
|
||||
void print_accel_offsets(void); ///< XXX debug hack
|
||||
void print_gyro_offsets(void); ///< XXX debug hack
|
||||
|
||||
int ax() { return _adc_offset[3]; }
|
||||
int ay() { return _adc_offset[4]; }
|
||||
int az() { return _adc_offset[5]; }
|
||||
|
||||
void ax(const int v) { _adc_offset[3] = v; }
|
||||
void ay(const int v) { _adc_offset[4] = v; }
|
||||
void az(const int v) { _adc_offset[5] = v; }
|
||||
|
||||
private:
|
||||
float _gyro_temp_comp(int i, int temp) const;
|
||||
void _save_gyro_cal(void);
|
||||
void _save_accel_cal(void);
|
||||
AP_ADC *_adc; ///< ADC that we use for reading sensors
|
||||
AP_VarA<float,6> _sensor_cal; ///< Calibrated sensor offsets
|
||||
|
||||
float _gyro_in(uint8_t channel, int temperature);
|
||||
float _accel_in(uint8_t channel);
|
||||
virtual void _init_accel(); ///< no-save implementation
|
||||
virtual void _init_gyro(); ///< no-save implementation
|
||||
|
||||
AP_ADC *_adc; // Analog to digital converter pointer
|
||||
uint16_t _address; // EEPROM start address for saving/retrieving offsets
|
||||
float _adc_offset[6]; // Array that store the Offset of the gyros and accelerometers
|
||||
|
||||
// XXX should not be implementing these here
|
||||
float read_EE_float(int address);
|
||||
void write_EE_float(float value, int address);
|
||||
float _sensor_compensation(uint8_t channel, int temp) const;
|
||||
float _sensor_in(uint8_t channel, int temperature);
|
||||
|
||||
// constants
|
||||
static const uint8_t _sensors[6];
|
||||
static const int8_t _sensor_signs[6];
|
||||
static const uint8_t _gyro_temp_ch = 3; // The ADC channel reading the gyro temperature
|
||||
static const float _gyro_temp_curve[3][3];
|
||||
static const uint8_t _sensors[6]; ///< ADC channel mappings for the sensors
|
||||
static const int8_t _sensor_signs[6]; ///< ADC result sign adjustment for sensors
|
||||
static const uint8_t _gyro_temp_ch = 3; ///< ADC channel reading the gyro temperature
|
||||
static const float _gyro_temp_curve[3][3]; ///< Temperature compensation curve for the gyro
|
||||
|
||||
// ADC : Voltage reference 3.3v / 12bits(4096 steps) => 0.8mV/ADC step
|
||||
// ADXL335 Sensitivity(from datasheet) => 330mV/g, 0.8mV/ADC step => 330/0.8 = 412
|
||||
// Tested value : 418
|
||||
//
|
||||
static const float _gravity = 418.0; ///< 1G in the raw data coming from the accelerometer
|
||||
static const float _accel_scale = 9.80665 / 418.0; ///< would like to use _gravity here, but cannot
|
||||
|
||||
// IDG500 Sensitivity (from datasheet) => 2.0mV/degree/s, 0.8mV/ADC step => 0.8/3.33 = 0.4
|
||||
// Tested values : 0.4026, ?, 0.4192
|
||||
//
|
||||
static const float _gyro_gain_x = 0.4; // X axis Gyro gain
|
||||
static const float _gyro_gain_y = 0.41; // Y axis Gyro gain
|
||||
static const float _gyro_gain_z = 0.41; // Z axis Gyro gain
|
||||
|
||||
// Maximum possible value returned by an offset-corrected sensor channel
|
||||
//
|
||||
static const float _adc_constraint = 900;
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
@ -16,7 +16,7 @@ class IMU
|
||||
public:
|
||||
/// Constructor
|
||||
IMU() {}
|
||||
|
||||
|
||||
enum Start_style {
|
||||
COLD_START = 0,
|
||||
WARM_START
|
||||
@ -24,7 +24,7 @@ public:
|
||||
|
||||
/// Perform startup initialisation.
|
||||
///
|
||||
/// Called to initialise the state of the IMU.
|
||||
/// Called to initialise the state of the IMU.
|
||||
///
|
||||
/// For COLD_START, implementations using real sensors can assume
|
||||
/// that the airframe is stationary and nominally oriented.
|
||||
@ -36,24 +36,20 @@ public:
|
||||
/// @param style The initialisation startup style.
|
||||
///
|
||||
virtual void init(Start_style style) = 0;
|
||||
|
||||
/// Perform startup initialisation for just the accelerometers.
|
||||
|
||||
/// Perform cold startup initialisation for just the accelerometers.
|
||||
///
|
||||
/// @note This should not be called unless ::init has previously
|
||||
/// been called, as ::init may perform other work.
|
||||
///
|
||||
/// @param style The initialisation startup style.
|
||||
///
|
||||
virtual void init_accel(Start_style style) = 0;
|
||||
virtual void init_accel() = 0;
|
||||
|
||||
/// Perform cold-start initialisation for just the gyros.
|
||||
/// Perform cold-start initialisation for just the gyros.
|
||||
///
|
||||
/// @note This should not be called unless ::init has previously
|
||||
/// been called, as ::init may perform other work
|
||||
///
|
||||
/// @param style The initialisation startup style.
|
||||
///
|
||||
virtual void init_gyro(Start_style style) = 0;
|
||||
virtual void init_gyro() = 0;
|
||||
|
||||
/// Give the IMU some cycles to perform/fetch an update from its
|
||||
/// sensors.
|
||||
@ -65,7 +61,7 @@ public:
|
||||
/// Fetch the current gyro values
|
||||
///
|
||||
/// @returns vector of rotational rates in radians/sec
|
||||
///
|
||||
///
|
||||
Vector3f get_gyro(void) { return _gyro; }
|
||||
|
||||
/// Fetch the current accelerometer values
|
||||
@ -81,10 +77,6 @@ public:
|
||||
///
|
||||
uint8_t adc_constraints;
|
||||
|
||||
// XXX backwards compat hacks
|
||||
void load_gyro_eeprom(void) { init_accel(WARM_START); } ///< XXX backwards compat hack
|
||||
void load_accel_eeprom(void) { init_gyro(WARM_START); } ///< XXX backwards compat hack
|
||||
|
||||
protected:
|
||||
/// Most recent accelerometer reading obtained by ::update
|
||||
Vector3f _accel;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user