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1396 Commits

Author SHA1 Message Date
Pat Hickey 47204921e9 APM_RC enable_out and disable_out added to APM1 and APM2 
* Outputs still enabled by default
 2012-01-22 12:03:11 -08:00
Jason Short 0e58efca89 Removed Gyro filter, In the end it doesn't help and I think it could actually hurt gyro integration. 2012-01-20 22:52:29 -08:00
Michael Oborne e71266c258 change rc norm_output to scale evenly across the entire range 2012-01-20 16:24:55 +08:00
Andrew Tridgell 20aef3a8b8 added a simple DCM library example 2012-01-18 21:25:19 +11:00
Andrew Tridgell 4b8e2e701c fixed Oilpan test for new library structure 2012-01-18 20:31:58 +11:00
Doug Weibel e109992c12 Add a CLI setup action to reset the magnetometer offsets 
Since the magnetometer offsets are not available through the MAVLink parameter interface (since they are an AP_Var vector) this little feature allows them to be reset from the CLI.  Useful if you somehow get bad offsets or if you change magnetometer.  If you have a bad set of large offset values I have seen issues with the nulling algorithm have trouble converging to the proper values.  I have never seen it have trouble converging from 0/0/0, so this could be a useful feature from time to time.
 2012-01-15 16:15:08 -07:00
Mike Smith d79f62ce66 Teach the Makefile about the new Arduino sourcefile suffix 2012-01-15 11:51:38 -08:00
Jason Short e68f9191c9 updated channel notes 2012-01-15 10:24:15 -08:00
Andrew Tridgell 817e7442bd baro: fixed an integer overflow issue at high altitudes 
the averaging array was using 16 bit numbers, but we are storing
numbers with 19 significant bits. That caused overflow at high
altitude, and some very interesting altitude graphs!

Thanks to Michael Oborne for spotting this in a log
 2012-01-14 19:51:35 +11:00
Randy Mackay 4e9c668315 OpticalFlow - bug fix - highest resolution was incorrectly set as 1200 instead of 1600 2012-01-14 12:34:29 +09:00
Andrew Tridgell f4490b62c7 DCM: prevent a segmentation fault when compass is not enabled 
when compass is disabled _compass is NULL
 2012-01-13 15:48:07 +11:00
Doug Weibel 622217357c Bug fix for compass. 
This is a fix for an interesting bug when a DCM matrix reset was added to the ground start.  This bug only showed up if (A) a ground start were performed after an air start or due to use of the "Calibrate Gryo" action, (B) if the current orientation were sufficiently different from 0/0/0, and (C.) if the particular magnetometer had sufficiently large offsets.  Why did resetting the DCM matrix to 0/0/0 pitch/roll/yaw at ground start cause a bug?  The magnetometer offset nulling determines the proper offsets for the magnetometer by comparing the observed change in the magnetic field vector with the expected change due to rotation as calculated from the rotation in the DCM matrix.  This comparison is made at 10Hz, and then filtered with a weight based on the amount of rotation to estimate the offsets. Normally it would take considerable time at normal in-flight rotation rates for the offset estimate to converge. 

If a DCM matrix reset occurs when the offset nulling algorithm is up and running, the algorithm sees the DCM reset as a instantaneous rotation, however the magnetic field vector did not change at all.  Under certain conditions the algorithm would interpret this as indicating that the offset(s) should be very large.  Since the "rotation" could also have been large the filter weighting would be large and it was possible for a large erroneous estimate of the offset(s) to be made based on this single (bad) data point.

To fix this bug methods were added to the compass object to start and stop the offset nulling algorithm.  Further, when the algorithm is started, it is set up to get fresh samples.  The DCM matrix reset method now calls these new methods to stop the offset nulling before resetting the matrix, and resume after the matrix has been reset.
 2012-01-12 14:44:24 -07:00
Andrew Tridgell a6e87915eb desktop: floating point precision changes from Justin Beech 2012-01-11 21:31:59 +11:00
Jason Short f43c29e840 fixed type error 2012-01-10 23:43:44 -08:00
Jason Short ecaf5ac461 sensorSign swicth 2012-01-10 23:43:44 -08:00
Jason Short d7d04f67e4 AP Rangefinder had some bad characters in it. Converted and cleaned the text files. 2012-01-10 23:42:26 -08:00
Jason Short 9cbfcac802 Made timer unsigned 2012-01-10 23:42:26 -08:00
Pat Hickey d015e0d6d9 APM_RC & ArduCopter: Change interface to SetFastOutputChannels to use _BV 
* Every use of MSK_CH_n changed to _BV(CH_n)
* Easier to read, and will allow CH_n to be parameterized without needing
  a separate macro expansion for the MSK value.
 2012-01-09 21:57:01 -08:00
Doug Weibel 22d2db53d8 Repair dataflash test 2012-01-08 21:29:19 -07:00
Jason Short f6e268395f allows main code to manually set the integrator value 2012-01-04 09:28:36 -08:00
Andrew Tridgell 54b91ce2f4 sitl: added build targets for different ACM frames 2012-01-04 21:45:46 +11:00
Andrew Tridgell 7aa294eca2 AP_Compass: when I2c fails, don't retry for 1s 2012-01-04 16:35:47 +11:00
Andrew Tridgell a7a00a35ab AP_Baro: when I2c fails, don't retry for 1s 2012-01-04 16:35:16 +11:00
Andrew Tridgell 65fbeea6d1 DataFlash: cope with older dataflash chips 
some of the APM2 DataFlash cards use an older chip with only 4096
pages, and a density code of 6. Doug has one of these.
 2012-01-04 16:16:35 +11:00
Michael Oborne 6a279138e9 add gps character count. 
this problem happens when the mtk ends up in nmea mode at 10hz. there is no 50ms window of no activity
 2011-12-31 13:05:33 +08:00
Michael Oborne e66e21cf20 remove gps callback in wait loop 2011-12-31 09:35:40 +08:00
Randy Mackay 19ed12444b GPS - removed GPS_MTK, GPT_NMEA and GPS_UBLOX. All functionality moved to AP_GPS many months ago. 2011-12-30 22:25:00 +09:00
Jason Short 3878ac01ef removed newlines to clean up code 2011-12-29 23:02:01 -08:00
Randy Mackay ff66a3417c OptFlow - initial support for APM2 (there are still problems) including adding ability to set Chip Select pin. 
Other unrelated changes are:
a) fixed typo in 'esitmate_velocity' to 'estimate_velocity'.
b) moved init_compass from system.pde to sensors.pde which seemed consistent with other sensors.
 2011-12-30 12:06:31 +09:00
Andrew Tridgell 671d0b82ad Baro: fixed MS5611 example sketch 2011-12-28 21:49:29 +11:00
Andrew Tridgell 5f0e070f4e compass: show timing in compass test 2011-12-28 21:44:18 +11:00
Andrew Tridgell c448e85ed1 Baro: show timing in baro test 2011-12-28 21:43:52 +11:00
Andrew Tridgell 669a129175 DCM: don't use compass unless its healthy 2011-12-28 20:41:54 +11:00
Andrew Tridgell 603b605eb1 I2C: fixed some warnings 2011-12-28 20:41:53 +11:00
Andrew Tridgell f4e1f3d54d desktop: exclude I2C library 2011-12-28 20:41:53 +11:00
Andrew Tridgell 9ef1c421bd MPU6k: don't init the Wire library 
we don't use Wire any more
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 2960abf41f I2C: convert barometer library to new I2C library 
this also adds a healthy attribute and error checking
 2011-12-28 20:41:53 +11:00
Andrew Tridgell f93c716126 I2C: convert compass code to new I2C library 
this also adds a healthy attribute, and error checking on all I2C
calls
 2011-12-28 20:41:53 +11:00
Andrew Tridgell 632e74b76d I2C: imported the I2C library from Wayne Truchsess 
this gives us a more robust interface, including timeouts
 2011-12-28 20:28:31 +11:00
Andrew Tridgell f8e1d88815 TimerProcess: prevent a race in setting up the timer callbacks 2011-12-28 16:00:49 +11:00
Andrew Tridgell 089470a671 DataFlash: moved high level logging logic to library 
this moves out all the high level logic from ArduPlane/ArduCopter to
the library. It also adds a "config page", as the last page in the
flash. This is used to check if the flash needs erasing. We only erase
now if the DF_LOGGING_FORMAT has changed.

This patch also adds a public CardInserted() method, which is used to
disable logging on APM2 if a dataflash card is not inserted
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 42eb62cc46 DataFlash: fixed sense of card detect 2011-12-28 16:00:48 +11:00
Andrew Tridgell 1cb8728a6b MPU6000: protect the driver from double initialisation 
initialising twice can lockup the driver
 2011-12-28 16:00:48 +11:00
Andrew Tridgell f2bbfb1296 MPU6000: minor fixes 
the hardware functions should be private, and cs_pin should be uint8_t
 2011-12-28 16:00:48 +11:00
Andrew Tridgell d35113f8a6 TimerProcess: check for duplicate registrations 
if a driver gets initialised twice, make sure it doesn't get called
twice in the timer loop
 2011-12-28 16:00:48 +11:00
Andrew Tridgell 0a08a0b515 TimerProcess: make some variables uint8_t 
save a couple of bytes
 2011-12-28 16:00:48 +11:00
Mike Smith ac3f7512cc Fix issue #423 - FastSerial flush bug. 2011-12-26 15:52:21 -08:00
Andrew Tridgell 9f5718bcfa added in DataFlash.cpp 
forgot this ....
 2011-12-26 19:34:06 +11:00
Andrew Tridgell 887ff43e1f desktop: added attachInterrupt() support 2011-12-26 19:17:11 +11:00
Andrew Tridgell 22c8db774f desktop: fixed for new DataFlash inheritance 2011-12-26 19:17:11 +11:00
Andrew Tridgell dd26ef3089 dataflash: reworked classes to move most code to parent class 
this moves all the non-hardware specific code to the parent
DataFlash_Class class, keeping the hw specific code much smaller and
simpler.

This should prevent discrepancies creeping in between APM1 and APM2
support again
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 8bf05982ae dataflash: fixed APM2 flash logging 
we had log wrap disabled on APM2, and also had the wrong log size. The
mainline code assumed 4096, but it is 8192 pages long.
 2011-12-26 19:17:11 +11:00
Andrew Tridgell df0d151891 MPU6000: change to 98Hz low pass filter 
based on recommendation from Pat
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 3ef707a2c3 MPU6000: use data ready interrupt to prevent stale data 
We listen for a data ready interrupt and only read new data in read()
if there is new data
 2011-12-26 19:17:11 +11:00
Andrew Tridgell 71e08f8484 fixed the MPU6000 test sketch 2011-12-26 19:17:11 +11:00
Randy Mackay af121c492d Merge remote-tracking branch 'origin/master' 2011-12-25 12:34:16 +09:00
Randy Mackay c3ea1ca5dc AP_GPS - updated MTK rate to 10Hz and fixed lat/lon printing inaccuracy in Arducopter logs and AP_TEST example sketch 2011-12-25 12:33:06 +09:00
Andrew Tridgell 7c0f39aec5 added MPU6000 test sketch 
this doesn't work yet - Pat, any idea why?
 2011-12-25 12:03:39 +11:00
Andrew Tridgell 09c97bb367 removed dead test program 
this one doesn't build, and has been replaced by IMU_MPU6000_test
 2011-12-24 18:11:04 +11:00
Andrew Tridgell f587a01165 ADC: update for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell 5b75458502 AP_Baro: update MS5611 driver for new ap_proceduce prototype 
this saves calling millis() quite so often
 2011-12-21 23:31:38 +11:00
Andrew Tridgell cef1c4c558 MPU6k: update driver for new ap_proceduce prototype 2011-12-21 23:31:38 +11:00
Andrew Tridgell 8cc2b7669b PeriodicProcess: added set_failsafe() call 
this adds an optional failsafe function that will be called in the
timer loop
 2011-12-21 23:31:38 +11:00
Andrew Tridgell 845683a56c added comment in polygon code 2011-12-21 23:31:38 +11:00
Andrew Tridgell eac625ba8f rollover is not a bug 
subtracting unsigned numbers does the right thing
 2011-12-21 23:31:38 +11:00
Andrew Tridgell eec5f000b5 added code format markers to AP_InertialSensor library 2011-12-21 23:31:38 +11:00
Andrew Tridgell 614aeb274c fixed build of IMU_MPU6000_test 2011-12-21 23:31:38 +11:00
Andrew Tridgell b52cd45670 fixed comment 2011-12-19 20:52:59 +11:00
Andrew Tridgell 7c9c26e2b7 AP_Math: re-work polygon algorithm for perfect precision 
using sign checking and 64 bit integer math only when needed results
in an algorithm that is just as fast as the floating point version,
but has perfect results for any representable lat/lng
 2011-12-19 18:52:56 +11:00
Randy Mackay a51e868766 AP_RangeFinder - change sonar example sketch to use default Sonar PIN for APM2 (A1) 2011-12-18 14:15:50 +09:00
Andrew Tridgell 7442ba31d8 polygon: improve the speed and precision of the polygon algorithm 
now takes 156 usec per test, with a 11 point boundary
 2011-12-18 12:59:50 +11:00
Michael Oborne 3848f2094e make file relax 2011-12-17 20:42:51 +08:00
Michael Oborne fd35ba5976 add relax 2011-12-17 16:53:14 +08:00
Andrew Tridgell 0c8c707980 AP_Baro: fixed temperature on MS5611 
this caused a 2x scaling of altitude
 2011-12-17 14:58:58 +11:00
Andrew Tridgell 3654c714e9 Revert "ADC: only read channels that are actually being used" 
This reverts commit 95e6bb26f4772ca8c7faa62215de6f078d3df3c7.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell c18ad75504 Revert "ADC: added an enable_channel() API" 
This reverts commit dafeac01d8f14162600cf821404ba4072dcae14d.

ADC will be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell f6a7ad9fa6 Revert "ADC: fixed HIL build" 
This reverts commit 86c1a6a5fdd929516cf0f64f4d610cfcd4b4f774.

ADC will now be disabled on APM2
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 7c939e83e0 AnalogSource: return a float from read() method 
this gives the full resolution when using the ADC backend. It also
adds scaling for the Arduino backend
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 4bbd5392ef removed AperiodicProcess code 
this code was never being used, and was more complex than it was
worth.
 2011-12-17 07:29:09 +11:00
Andrew Tridgell 04ec569313 ADC: fixed HIL build 2011-12-16 20:58:04 +11:00
Andrew Tridgell 658d1d2ba3 added missing mavlink headers 2011-12-16 20:53:26 +11:00
Andrew Tridgell 1ab2b416a3 geofence: store fence points as int32_t 
this keeps maximum precision in fence boundaries
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 2e2b320560 mavlink: include latest geofence message changes 2011-12-16 20:11:51 +11:00
Andrew Tridgell 3ddfc6664a AP_Math: better polygon algorithm 
this one seems to do better with single precision floating point
 2011-12-16 20:11:51 +11:00
Andrew Tridgell 686f96414c MAVLink: update to latest mavlink XML 
this includes the geo-fencing messages
 2011-12-16 20:11:51 +11:00
Andrew Tridgell c56e5735c2 ADC: added an enable_channel() API 
enable_channel() must be used before the Ch6() method is called to
enable gathering of data on the required channels
 2011-12-16 20:09:40 +11:00
Andrew Tridgell be1ba5354e timer: enable interrupts during timer processing 
this prevents us losing serial bytes when we call sensor drivers that
take more than 100usec to read.

We also prevent timer recursion by re-enabling the timer after all
callbacks are complete
 2011-12-16 20:09:38 +11:00
Andrew Tridgell af7e34fcc1 ADC: only read channels that are actually being used 
on the APM2 we usually use none of the ADC channels, although we may
use the airspeed sensor. This change means we detect which channels
are being read, and only do the SPI transfers for those ones. That
saves us about 100usec per timer interrupt (ie. about 10% of our CPU)
 2011-12-16 20:09:35 +11:00
Andrew Tridgell 9e9b229a1d fixed formatting of ADC driver 
it was a nasty mix of DOS and UNIX
 2011-12-16 20:09:29 +11:00
Andrew Tridgell 5b4717ea55 timers: change to 1kHz timer by default 
we were using a 227Hz timer, which is far too slow
 2011-12-16 20:09:25 +11:00
Andrew Tridgell 6ad5df2958 desktop: fixed type of dword eeprom read 2011-12-16 20:09:18 +11:00
Andrew Tridgell 338fb1642a AP_Math: make out vector and matrix elements used types with fixed sizes 
this prevents differences between CPU types
 2011-12-16 20:09:11 +11:00
Pat Hickey 291aaffdd9 APM_RC_APM2: Remove OutputCh from ::Init() 
* These calls were off by one anyway, by using the channel numbers
  as ints ant not CH_n macros, and that caused an ESC cal problem.
 2011-12-15 13:47:43 -08:00
Andrew Tridgell f4bd3cb5a2 AP_Math: added Polygon_complete() function 
used to veryify user supplied boundaries
 2011-12-15 14:42:34 +11:00
Andrew Tridgell cd9fb3c47a AP_Math: added a Polygon_outside() function 
this tests if a point is outside of a polygon. This will be used as
part of our geo-fencing support, and also for a new 'fenced mode'
 2011-12-15 14:34:58 +11:00
Andrew Tridgell 621f21e4f5 DCM: added matrix_reset() method 2011-12-13 21:32:50 +11:00
Andrew Tridgell 919ae17473 IMU: abstract the setting of the LEDs in IMU initialisation 
we need this to cope with different LED pin assignments on APM1/APM2
 2011-12-13 18:19:12 +11:00
Andrew Tridgell 9548366a91 autotest: make magnetic field point down 2011-12-12 22:14:01 +11:00
Andrew Tridgell fa83de98c8 desktop: fixed build with new AP_Baro code 2011-12-12 15:14:55 +11:00
Andrew Tridgell eaf134e47e desktop: fixed desktop barometer code 2011-12-12 15:14:55 +11:00
Andrew Tridgell de5c1c5147 barometer: fixed HIL barometer build 2011-12-12 15:14:55 +11:00
Andrew Tridgell 47da2ec992 ADC: change adc.Ch() to return a float 
this gives us a bit more precision in airspeed measurement, and costs
us virtually nothing as we are converting to float immediately after
getting the value
 2011-12-12 15:14:55 +11:00
Andrew Tridgell 43a53aa303 dcm: fixed an uninitialised variable 
if no compass and not in motion the DCM we would multiply by an
uninitialised number
 2011-12-11 15:21:10 -08:00
Pat Hickey 5819f99986 AP_Baro_MS5611: Asynchronous operation, plus c++ style changes. 
Yeah, I know this was a big change to make all at once.
 2011-12-11 15:21:10 -08:00
Pat Hickey 3d882c4d49 AP_Baro : Add init( AP_PeriodicProcess * ) method to interface & implementations 
AP_Baro_MS5611 and AP_Baro_BMP085 implement the interface, with stubs only
 2011-12-11 15:21:10 -08:00
Pat Hickey d5386b8bb8 AP_Baro_BMP085: move apm2_hardware flag from init to constructor. 2011-12-11 15:21:10 -08:00
Pat Hickey 6710cf5c5a Wire and SPI Init: move to sketch system.pde from libraries 
* Wire.begin removed from AP_Baro_BMP085::init()
* SPI.begin  removed from AP_Baro_MS5611::init()
* SPI.begin  removed from AP_InertialSensor_MPU6000::hardware_init()

* Both Wire.begin and SPI.begin added very early in init_ardupilot in
  ArduCopter/system.pde and ArduPlane/system.pde
 2011-12-11 15:21:10 -08:00
Pat Hickey a7b9c8b9cd AP_PeriodicProcess: AP_TimerProcess can register multiple callbacks. 2011-12-11 15:21:10 -08:00
Pat Hickey 12222550cf AP_Baro_BMP085: Delete commented out code 
* If its important to get old code back, thats why version control exists
 2011-12-11 15:21:09 -08:00
Pat Hickey 9a9b63259a AP_Baro_BMP085: implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey 45cbb24ba5 AP_Baro_MS5611: init must also perform SPI.begin 2011-12-11 15:21:09 -08:00
Pat Hickey a75257f102 AP_Baro_MS5611: CS pin is arduino pin 40 2011-12-11 15:21:09 -08:00
Pat Hickey 7b708f8054 AP_Baro_MS5611: Implement AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey 41ecb0fef4 AP_Baro_BMP085: Conform to AP_Baro interface. Make the rest private. 2011-12-11 15:21:09 -08:00
Pat Hickey 264cb1a26e AP_Baro_MS5611: conform to AP_Baro interface 2011-12-11 15:21:09 -08:00
Pat Hickey c3aab6af83 AP_Baro: Create virtual interface 2011-12-11 15:21:09 -08:00
Pat Hickey 84cb023b12 AP_Baro_MS5611: renamed class implementation from APM_MS5611 2011-12-11 15:21:09 -08:00
Pat Hickey 3d93eb9534 AP_Baro_MS5611.h: reorganized 
* moved ms5611 macros to c file
* reorganized class declaration & retabbed
* made Temp, Pres, and Alt private variables.
 2011-12-11 15:21:09 -08:00
Pat Hickey 8f16b736a4 AP_Baro_MS5611: Overwrote with Jose Julio's latest files. 2011-12-11 15:21:09 -08:00
Pat Hickey f5720be81f AP_Baro: Export AP_Baro_BMP085 and AP_Baro_BMP085_HIL headers. 2011-12-11 15:21:09 -08:00
Pat Hickey e8e4881da8 AP_Baro_BMP085(+_HIL): Rename classes from APM_BMP085 to AP_Baro_BMP085. 2011-12-11 15:21:09 -08:00
Pat Hickey 917418994d BMP085 fix line endings 2011-12-11 15:21:09 -08:00
Pat Hickey 7b51a2c42a AP_Baro: move all APM_BMP085 files inside AP_Baro 2011-12-11 15:21:09 -08:00
Pat Hickey cca6b2f98c Added AP_Baro and AP_Baro_MS5611 classes. 
Incomplete and does not work.
 2011-12-11 15:21:08 -08:00
Randy Mackay 62a7b19600 Arducopter, RangeFinder - added SONAR_TYPE parameter and properly support the XL (default), LV and long distance XL (aka XLL) sonar types 2011-12-11 16:40:59 +09:00
Pat Hickey e992b2e2a2 APM_RC: APM1 fast output speed increased to 400hz. 2011-12-10 13:06:06 -08:00
Pat Hickey 733000583d APM_RC: APM2 fast output speed increased to 400hz. 2011-12-10 13:04:11 -08:00
Pat Hickey 8a0c6eba78 AP_IMU_INS: Eliminate init_accel from cold start. 
* Bug reported by Jason, 10 Dec 11
 2011-12-10 13:00:54 -08:00
Randy Mackay f4ac36bd8b ArduCopter - removed limitation on Maxbotix sonar type requiring ADC so it can work with APM2. 
modified default analog pin in test sketch to be AN4 which is consistent with APM2 default
 2011-12-10 18:33:30 +09:00
Randy Mackay 11aad8817c RangeFinder - fixed example sketch so it works again 2011-12-10 16:32:34 +09:00
Randy Mackay ffb4492c16 RangeFinder - small bug fix to initialise prescale variable. 
Fixed up example sketch so it compiles and works again!
 2011-12-10 16:25:41 +09:00
James Goppert 8ef704face Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-07 20:59:15 -05:00
Jason Kemmerling d6c904f398 Fixed along track bug. 2011-12-07 20:55:06 -05:00
James Goppert 87dec93974 Added APM2 support. 2011-12-07 19:19:30 -05:00
James Goppert 87735bcc9f Added AP_Board to APO 2011-12-07 16:31:56 -05:00
Jason Short 98a26d19e6 Split P and I term 2011-12-06 21:10:30 -08:00
Jason Short ae917f9e71 Split the P and I terms in PI 2011-12-06 21:08:47 -08:00
Wenyao Xie f371453159 APO velocity/ altitude working. 2011-12-06 19:38:23 -05:00
Wenyao Xie 9fef8689d8 Fixed baro. 2011-12-06 18:56:16 -05:00
Wenyao Xie c26956af19 Fixed Barometer Altitude 2011-12-06 13:28:39 -05:00
Wenyao Xie 80f5292d31 Fixed Barometer Reading 2011-12-06 13:26:07 -05:00
Wenyao Xie 0db1a41316 Working on baromemter altitude 2011-12-05 20:57:19 -05:00
Jason Kemmerling 377aea7ef3 Sailboat wind measurement working. 2011-12-05 15:53:29 -05:00
Andrew Tridgell 11b857d487 fixed the desktop build 
This fixes a vtable link bug
 2011-12-05 18:06:58 +11:00
James Goppert fbbf1aa4a2 Along track fix for negative. 2011-12-04 01:36:53 -05:00
James Goppert 28b835713a Improved along track calculation for APO. 2011-12-04 01:25:14 -05:00
James Goppert 47e88b1f91 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-04 00:45:34 -05:00
Wenyao Xie e6aee7963f Rover live test WORKS! "Murphy's Law is a turtle" 2011-12-03 22:42:08 -05:00
Jason Short 17fbbb4e7b Access to _clamp val. May want to make a private member and write accessor. 2011-12-03 17:57:12 -08:00
Jason Short d54d9b618c Added faster conversion from and to degrees*100 / rads 2011-12-03 17:56:41 -08:00
Andrew Tridgell b11b83e2cf GPS: added FAKE_GPS_LOCK_TIME 
this allows you to fake up a GPS lock after a specific number of
seconds
 2011-12-04 09:06:57 +11:00
Wenyao Xie 132f554787 Fixed apo live mode bugs for 2.0 update. 2011-12-03 15:38:37 -05:00
Wenyao Xie 29c2dafb94 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-12-03 14:00:23 -05:00
James Goppert dfd00becba Changed BlockPIDDfb behaviour. 2011-12-03 12:13:11 -05:00
Andrew Tridgell 9dd2021ec8 autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell a0baf71322 autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell 3a377255f0 desktop: show the full path to the desktop executable 2011-12-02 21:46:55 +11:00
Andrew Tridgell 65cdeecdf0 desktop: added SO_REUSEADDR after accept() 2011-12-02 17:37:55 +11:00
Andrew Tridgell d37b843361 desktop: fixed calculation of angular velocities 
thanks to James Goppert for the frame conversion maths
 2011-12-02 17:37:54 +11:00
James Goppert ed26538c45 Commented out debugging in guide. 2011-11-29 18:08:50 -05:00
James Goppert 48ad2d1ed1 Merge branch 'master' of github.com:arktools/ardupilotone 
Conflicts:
	libraries/APO/AP_Guide.cpp
 2011-11-29 18:06:38 -05:00
James Goppert 54775519d9 Working on yaw command. 2011-11-29 17:38:18 -05:00
Wenyao Xie 35f74dd2db Fixed guidance bugs in APO. 2011-11-29 17:37:42 -05:00
James Goppert 93550f4659 APO fixes. 2011-11-29 13:59:44 -05:00
James Goppert 1833f69961 Fixed apo radio error. 2011-11-28 12:29:05 -05:00
James Goppert 480f92294c Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-28 00:56:29 -05:00
James Goppert 59fc8e7a63 Updated apo for merge with apm 2.0 changes. 
Still need to handle switches for 2.0 board in hal.
Should probably move into hal ctor.
 2011-11-28 00:53:30 -05:00
Andrew Tridgell 210536096f desktop: improved the accuracy of the sensor emulation 2011-11-28 16:22:33 +11:00
Andrew Tridgell ff727e87ca ADC: remove a very small (0.2 degrees/s) bias in the ADC code 
small bias from integer rounding
 2011-11-28 16:22:33 +11:00
James Goppert 02ba05aa0f Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-27 23:56:17 -05:00
James Goppert 21a27ee083 Fixed mode switching. 2011-11-27 23:55:28 -05:00
Andrew Tridgell af075b6ab0 desktop: setup TCP sockets as non-blocking 
the sendto() blocks unexpectedly on MacOS
 2011-11-28 13:53:57 +11:00
Andrew Tridgell 833f5f5895 mavlink: move Mavlink_compat.h to common code 
this will allow it to be used by ArduCopter
 2011-11-28 13:53:57 +11:00
Doug Weibel e965d95ba8 Added back the feature to prompt users when an invalid CLI command is entered. 
Thanks to Yury Smirnov for this patch!
 2011-11-26 21:10:53 -07:00
Andrew Tridgell e2e613cdfc upload: force hex file format for upload 
this should fix a problem with hex file format detection on MacOS
 2011-11-27 09:36:10 +11:00
Andrew Tridgell dff3be2017 desktop: build fix for fjall 2011-11-26 18:24:29 +11:00
Andrew Tridgell 0e8a17f645 desktop: fixed desktop build for strlcat_P() changes 2011-11-26 17:18:09 +11:00
Andrew Tridgell e9c7f8de21 AP_Common: added typesafe wrapper for memcpy_P() 2011-11-26 17:17:50 +11:00
Andrew Tridgell 57c4385a18 AP_Common: replace strlcat_P() with a C implementation 
the one in the Arduino libc was giving us bogus results on one
machine, and is suspect. We couldn't spot what is wrong in the
assembler, but replacing the implementation with a C one fixes the
bug, so we replaced it
 2011-11-26 17:02:56 +11:00
Andrew Tridgell d496a2d1fe desktop: added framerate and initial height code 
this allows the sensors to initialise before the simulator has
connected. The GPS will give a value indicating no GPS lock
 2011-11-25 20:00:19 -08:00
Andrew Tridgell a44720d7bb desktop: fixed swap_float() 
get indexes right
 2011-11-25 20:00:19 -08:00
Andrew Tridgell dba786198e desktop: import updated DataFlash code 
this fixes a logging bug
 2011-11-25 20:00:19 -08:00
Andrew Tridgell 78af52083b desktop: fixed ADC value for airspeed 2011-11-25 20:00:19 -08:00
Andrew Tridgell a9dfc68bc0 libraries: rename purple to APM2 2011-11-25 20:00:19 -08:00
Andrew Tridgell 8e5f64f8b6 DataFlash_Purple: added new logging methods needed for ArduPlane 
builds, but not tested yet
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 49b768f2f3 DataFlash_APM1: re-add defines lost from merge 2011-11-25 20:00:18 -08:00
Andrew Tridgell 65f2549825 desktop: fixed desktop build 
vtable error
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 7e64cfcc93 desktop: normalise roll and pitch rates 2011-11-25 20:00:18 -08:00
Andrew Tridgell 0ef727d707 desktop: added SKETCH as a define 
useful for automatically handling copter vs plane
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 2bed1dcfd5 desktop: first version of register level SITL support 
this adds register level emulation of the ADS7844 and the RC
input/output hardware on the APM1, allowing for SITL testing without
enabling HIL in the code
 2011-11-25 20:00:18 -08:00
Pat Hickey 0549a50e9e APM_RC: _set_speed functions implemented for APM_RC_APM1 and _Purple 
* I have not tested any of these on real hardware.
 2011-11-25 20:00:18 -08:00
Pat Hickey 718f3dee00 APM_RC: OCR register init moved from ArduCopter/radio.pde to lib inits. 2011-11-25 20:00:18 -08:00
Andrew Tridgell 67e5c89226 compass: added AP_COMPASS_APM2_SHIELD 
this makes the orientation clearer
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 2259bacd67 barometer: fixed for purple build 2011-11-25 20:00:18 -08:00
Andrew Tridgell e3a74626d6 barometer: support 'make purple' for barometer example code 2011-11-25 20:00:18 -08:00
Andrew Tridgell 252e858011 fixed InertialSensor stub build 2011-11-25 20:00:18 -08:00
Pat Hickey 48f92c49fa hil-sensors: added stub libraries for InertialSensor and PeriodicProcess 
* Also added dummy ivar to APM_BMP085_hil
 2011-11-25 20:00:18 -08:00
Andrew Tridgell 1a8a1973a1 AP_IMU: fixed shim driver prototype 2011-11-25 20:00:18 -08:00
Andrew Tridgell bbd6a6cdbb desktop: fixed build with updated dataflash interface 2011-11-25 20:00:17 -08:00
Andrew Tridgell 55bd85fe90 desktop: make AP_InertialSensor pure virtual 
fixed a link error in Desktop build

thanks to Pat for the C++ foo
 2011-11-25 20:00:17 -08:00
Andrew Tridgell 01cd9cc6d6 dataflash: fixed datatypes to be compatible with desktop build 2011-11-25 20:00:17 -08:00
Andrew Tridgell da50903649 desktop: make DataFlash for Desktop build replace APM1 build 2011-11-25 20:00:17 -08:00
Andrew Tridgell 3b5c124fc6 make configure default to 2560 
1280 is less common for devs these days
 2011-11-25 20:00:17 -08:00
Pat Hickey afef359ee9 purple: rework DataFlash to separate purple and APM1 hardware support 
the purple support is still a work in progress, but the APM1 support
should be fine
 2011-11-25 20:00:16 -08:00
Pat Hickey c65a8c4616 build: added jtag-program make target 
useful for when you have hosed your USB
 2011-11-25 20:00:16 -08:00
Pat Hickey 433caaedc0 purple: rework AP_IMU library to use AP_IntertialSensor library 
the AP_IMU keeps the handling of the calibration, but most of the real
work happens in the lower level AP_IntertialSensor library
 2011-11-25 20:00:16 -08:00
Pat Hickey db8708911a purple: added AP_InertialSensor library 
this abstracts the way of getting inertial sensor (gyro and
accelerometer) data for the APM1 and purple hardware. The Oilpan code
is based closely on the old APM1 code
 2011-11-25 20:00:16 -08:00
Pat Hickey ce4547a1a5 purple: rework the RC_Channel library for the APM_RC changes 2011-11-25 20:00:16 -08:00
Pat Hickey d62ddd30f9 RangeFinder: rework to use AnalogSource library 
this removes the hacks that check for the ADC object, and instead
choose the method of getting the analog sonar value via the
AnalogSource API
 2011-11-25 20:00:16 -08:00
Pat Hickey 0caf351c32 purple: Added AnalogSource library 
this library abstracts out the way of getting an analog value. If the
ADC library is being used then it calls the ADC Ch() method, otherwise
it calls analogRead()
 2011-11-25 20:00:16 -08:00
Pat Hickey 6d876bc54d AP_ADC: rework ADC library to use PeriodicProcess and ISR_Register 
this makes it possible to build the ADC library when another driver
may also want that interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey 7474a8be53 purple: added PeriodicProcess library 
this library provides a clean API for drivers to request periodic
timer driven calls at whatever rate they need
 2011-11-25 20:00:16 -08:00
Pat Hickey 812d35a442 purple: added ISR_Registry() library 
this allows libraries to register interrupt handlers, so multiple
components can use the same hardware level interrupt
 2011-11-25 20:00:16 -08:00
Pat Hickey 5cb60f76cf purple: rework APM_RC library for purple hardware 
this splits the APM_RC class into instances for purple and APM1, and
adds example sketches for both
 2011-11-25 20:00:16 -08:00
Pat Hickey 004a4425cd barometer: add purple_hardware option to Init() 
this allows selection of right hardware at Init() time
 2011-11-25 20:00:15 -08:00
Jason Short 6ecb6f21a6 increased filter 2011-11-25 11:34:05 -08:00
James Goppert 65e8b587f9 Working on comments. 2011-11-24 15:54:08 -05:00
James Goppert d31b1b31f4 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-24 14:28:25 -05:00
James Goppert fc84c15426 Separated controller block class. 
Also improved documentation of AP_ControllerBlock.
 2011-11-24 13:28:14 -05:00
James Goppert aaca5094b6 Removed old variable from hal. 2011-11-24 02:08:27 -05:00
Wenyao Xie 3c217d4186 Worked on autopilot state/ mode mapping. Corrected PIDBlock sign error. 2011-11-22 16:42:51 -05:00
Andrew Tridgell 154c55c9dc desktop: more fixes for DataFlash filesystem changes 2011-11-20 19:06:24 +11:00
James Goppert 50e8de999f Fixed most of quad guidance issues. 2011-11-19 23:34:14 -05:00
James Goppert 7a742c4a2a Working on memory problem. 2011-11-19 22:20:06 -05:00
James Goppert 1c5db5e963 Bug located in quad position loop, improved hil. 2011-11-19 21:39:14 -05:00
James Goppert cc66b43d12 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-18 14:36:47 -05:00
Andrew Tridgell 927c2dbd67 desktop: added support for new DataFlash functions 2011-11-18 17:50:12 +11:00
Doug Weibel a11ea12ca8 Change to logging file system. 
This commit is somewhat temporary as I have come up with a better scheme and will be modifying this.  Just making this commit in case I need to roll back
 2011-11-17 21:25:51 -07:00
Jason Short 7f2ec90703 Upped pressure filter a bit 2011-11-17 11:12:18 -08:00
Wenyao Xie 6c51157b2d Working on new hil message for mavlink. 2011-11-15 17:15:54 -05:00
Andrew Tridgell 8a3ea5bfff desktop: when in the CLI, use blocking writes 
this prevents us missing information from the logs
 2011-11-11 09:53:46 +11:00
Andrew Tridgell 34af368b8a desktop: don't start alarm till setup() has finished 2011-11-10 21:57:47 +11:00
Jason Short 34e6b3535d MAV_CMD_DO_SET_ROI 2011-11-09 12:07:57 -08:00
Andrew Tridgell af1ddacc1b desktop: don't alarm in CLI 
loop() is not called in menu system
 2011-11-10 00:14:04 +11:00
Andrew Tridgell 3303c09a9d desktop: exit if loop() doesn't run for 5 seconds 
this should stop runaway processes
 2011-11-09 19:40:34 +11:00
Andrew Tridgell c30af84897 desktop: force awk on macos 
this may help on jasons box
 2011-11-09 17:21:53 +11:00
Andrew Tridgell 4b50d2e639 desktop: exit on EOF from stdin 2011-11-09 17:21:53 +11:00
Jason Short d5fb801678 Removed debugging code from APM_PI 2011-11-08 14:41:21 -08:00
Andrew Tridgell 5a45f9cd25 desktop: fixed malloc cast 2011-11-09 08:47:49 +11:00
Andrew Tridgell 11c908c7b4 desktop: be more careful with signed/unsigned in DataFlash 2011-11-09 08:44:19 +11:00
Andrew Tridgell d8d5f97a0a desktop: use less stack 
this avoids a problem on cygwin on windows
 2011-11-09 08:09:56 +11:00
Andrew Tridgell 389e2ff03e desktop: another MacOS fix 2011-11-08 18:07:19 +11:00
Andrew Tridgell b2254016e1 desktop: make desktop build more portable 
this should help on MacOS

thanks to MikeS for his assistance
 2011-11-08 17:26:53 +11:00
Andrew Tridgell 3b52687342 dataflash: type fixup for ReadInt() 2011-11-08 17:26:53 +11:00
Andrew Tridgell f073837ea7 desktop: use the libc printf engine 
getting ftoa_engine right was too much work
 2011-11-08 11:59:30 +11:00
Andrew Tridgell 6b583869c0 desktop: fixed ultoa_invert() 
the string was backwards
 2011-11-08 11:13:48 +11:00
Andrew Tridgell fd3154f20d desktop: improved ftoa_engine.c 
this still doesn't perfectly match the assembler, but its closer
 2011-11-08 11:05:36 +11:00
Andrew Tridgell ecf3d26f43 barometer: fixed a build warning 2011-11-08 11:05:36 +11:00
Jason Short 34a53f6f7d Removed some old debug prints from motors.pde 
added ability to not increment I term for traversals.
 2011-11-07 14:32:39 -08:00
Andrew Tridgell acad6b37c4 autotest: fill flash with 0xff on erase 2011-11-07 23:42:18 +11:00
Andrew Tridgell a199835632 Desktop: added -w option to wipe eeprom and dataflash 2011-11-07 22:56:13 +11:00
Andrew Tridgell eb0756f362 Desktop: added support for DataFlash in Desktop build 
this will allow Jason to look at the logs of the quad sim
 2011-11-07 22:56:13 +11:00
Andrew Tridgell ee99ec839b digital.c for CLI 2011-11-07 22:56:13 +11:00
Andrew Tridgell 5410dff523 DataFlash: use CPU independent data types 
this ensures that the DataFlash API is consistent for different CPU
architectures, which matters for the Desktop build, and will matter
for ARM and other CPUs later
 2011-11-07 22:56:13 +11:00
Andrew Tridgell b314fd8cd3 Desktop: enable the CLI in desktop build 
this gives access to the CLI menus. You can start the SIL with the -s
switch to set the slider position to CLI
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 75d7ee01d1 desktop: fixed 2 crashes in the menu code 
handle an empty line gracefully, and use pgm_read_pointer() for
functions pointers in progmem
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 152da9c91b added pgm_read_pointer() 
this will be used by the menu code to make reading pointers from
progmem portable
 2011-11-07 22:56:13 +11:00
Andrew Tridgell 11109e4a03 force LANG=C for MacOS awk 2011-11-07 13:33:38 +11:00
Doug Weibel d4fff166cf Add an accessor for the DCM drift correction integrator to monitor performance 
Also made the get_health accessor an inline function.
 2011-11-05 09:02:23 -06:00
Doug Weibel beb6c4dbf4 Changed the DCM drift correction integrator limit to a vector magnitude of 30 degrees/second. 
The drift correction integrator limit previously was near/at the gyro saturation limit.  If we have that much drift there is a serious hardware problem.  30 degrees/second is arbitrary but should handle all temperature variation, etc.
 2011-11-05 09:01:20 -06:00
Doug Weibel b105e7fd41 In case of DCM renorm "blow-up" reset the drift correction integrators 
This should aid in recovery if we loose the AHRS solution and have to force to initial orientation.  Also removed some old commented out code moved to the IMU object
 2011-11-05 08:59:16 -06:00
James Goppert f7c60e1ac7 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 21:58:10 -04:00
Andrew Tridgell e5654ccd04 desktop: fixed TCP buffering issue with HIL 
the TCP layer was buffering the servo updates, which caused very poor HIL flight
 2011-11-02 09:38:44 +11:00
Simon Salykov 389b89056a Obstacle avoidance moved from AP_Guide to ControllerCar (works only for cars for now), algorithm changed 
New feature Forward/Reverse in Controller Car
Misc bug fixes in ControllerCar
 2011-11-01 19:09:57 +01:00
Jason Short 53d7cac075 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-11-01 09:30:54 -07:00
Jason Short c3d8775797 Baro 
Minimized the baro filtering to use a new approach to rate control. Redid the state machine so the temp is sampled more often.
 2011-11-01 09:22:21 -07:00
Amilcar Lucas 01df18b292 Added camera and/or antenna mount support. 
It is fully configurable with the mission planner, there is no need to change
the source code to adapt to your setup.
It needs more testing, but the SIL is not working for me.
 2011-10-31 22:55:58 +01:00
Amilcar Lucas c73b3c7235 Update the SIL README file 2011-10-31 21:56:25 +01:00
James Goppert ed0722e298 ArduPlane cmake build working. 2011-10-31 13:18:48 -04:00
James Goppert 249ce91d78 Switching to new eclipse project style. 2011-10-30 22:57:34 -04:00
Michael Oborne 12d8b2cb9e prevent div by 0 2011-10-30 21:28:39 +08:00
Andrew Tridgell cdc677ab83 added desktop header 2011-10-30 17:31:32 +11:00
Andrew Tridgell d74a223f7e make desktop serial more responsive 2011-10-30 13:00:54 +11:00
Andrew Tridgell 3991f9eff3 move g_rc_function[] to RC_Channel library 
libraries should not rely on data declared in the main program. This
caused a build error for the Desktop build for ArduCopter under cygwin
 2011-10-29 18:42:18 +11:00
Andrew Tridgell e3c5177967 merge NULL ptr mavlink array fix 
this fixes a segfault in ArduPlane when using a NULL pointer for
satellite_prn in GPS status
 2011-10-29 18:29:18 +11:00
Andrew Tridgell 8cc449dc43 updated to latest upstream mavlink headers 
this includes the new APM_Camera headers from ardupilotmega.xml
 2011-10-29 18:07:09 +11:00
James Goppert 57301ce647 Cleaned up AP_GPS formatting. 2011-10-28 14:52:50 -04:00
James Goppert dd0ac600b3 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-28 14:45:01 -04:00
James Goppert 585507f188 Clean up formatting for AP_Common 2011-10-28 14:43:43 -04:00
Michael Oborne 1c72598393 Fix HIL DCM to match actual 2011-10-28 17:40:18 +08:00
Andrew Tridgell 8eb74df024 minor mavlink 1.0 updates 2011-10-28 15:54:22 +11:00
James Goppert 02ab5bea78 APO multiple mode handling added. 2011-10-27 19:42:57 -04:00
James Goppert 18c3eaf479 Fixed APO bug in current waypoint update. 2011-10-27 17:23:08 -04:00
James Goppert 7da0daa9d0 Adding bash formatting script using astyle. 2011-10-27 16:30:15 -04:00
James Goppert 3de8533c5e Merge https://code.google.com/p/ardupilot-mega 2011-10-27 16:21:44 -04:00
James Goppert 5d9c37bbed Fixed APO controller bug preventing motor arming. 2011-10-27 16:19:42 -04:00
Jason Short 003e6e06a1 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 
Conflicts:
	libraries/APM_PI/APM_PI.cpp
 2011-10-27 12:41:00 -07:00
Jason Short 3b3f6bd168 RC_Channel Dead zone 
Added APVar dead_zone to the RC_Channel library so you could edit it in the Mission planner
Made CH filtering off by default.
 2011-10-27 11:34:00 -07:00
James Goppert 2507b801f0 Fixed APO examples. 2011-10-26 14:59:40 -04:00
James Goppert f0fe8ecb90 Merge branch 'master' of https://code.google.com/p/ardupilot-mega 2011-10-26 13:25:49 -04:00
James Goppert 8cd9ced373 Further APO controller cleanup. 2011-10-26 13:25:06 -04:00
jasonshort d8a0ce6933 Just in case the Min and Max functions are not playing nice with AP_Var 2011-10-26 16:48:50 +00:00
Jason Short 07c1e6facd AP_PI AP_Var change 
using the If statement rather than Max to avoid potential AP_Var issues. I don't know if this is a real prob or not. Just being careful.
 2011-10-26 09:46:16 -07:00
James Goppert 18e8bb3d6a APO formatting. 2011-10-26 12:31:11 -04:00
James Goppert dd4ff8c0aa Updated APO Controllers. 2011-10-25 19:40:07 -04:00
James Goppert 97ef98fa8f Further abstracted APO Controllers 
Currently APO quad/plane/tank need to be updated
for new controller changes.
 2011-10-25 18:53:39 -04:00
Andrew Tridgell 31747d5607 imported custom_mode size fix 2011-10-24 13:41:15 +11:00
Andrew Tridgell 8b135a5be3 fixed mavlink10 desktop build 2011-10-24 13:09:19 +11:00
Andrew Tridgell 14f8c71932 import latest MAVLink 1.0 headers and XML 2011-10-24 12:20:46 +11:00
Andrew Tridgell 0c672d6885 updated to latest mavlink 1.0 messages 2011-10-24 10:20:36 +11:00