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1132 Commits

Author SHA1 Message Date
hazyhxj@gmail.com b110803dcb Fix NMEA GPS error 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3227 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 05:14:42 +00:00
mich146@hotmail.com 5e3e96b236 update "NO_GPS" issue as per Justin Beech 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3225 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-09-04 04:46:14 +00:00
tridge60@gmail.com 91e101f47e GPS: added delay hook for GPS detection 
this allows for MAVLink to be up during GPS detection

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2987 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-31 22:34:37 +00:00
tridge60@gmail.com da2a1d72e2 GPS: fixed the GPS specific test programs 
This fixes the build

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2962 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-30 08:48:17 +00:00
tridge60@gmail.com 60bf2182e4 GPS-HIL: set new_data on setHIL() 
this fixes navigation for ACM in HIL

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2909 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-07-18 12:42:36 +00:00
deweibel@gmail.com 8d7e7ff58e revert gps lib to 2602 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2608 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:38:31 +00:00
deweibel@gmail.com 26d1ec1f56 remove static declaration from idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2607 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:26:57 +00:00
deweibel@gmail.com 5b9e7eff9d clean up idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2606 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-21 01:20:39 +00:00
deweibel@gmail.com b53b749fc7 Fix initialization of idleTimeout 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2602 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-20 21:11:45 +00:00
jasonshort 76d072591b made timeout public, settable 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2563 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-06-16 16:33:08 +00:00
jasonshort 4a1772b5ff http://code.google.com/p/arducopter/issues/detail?id=161 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2395 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-24 05:17:12 +00:00
deweibel@gmail.com 20cdf7c698 Add hDOP for ublox gps driver 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2241 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-11 02:54:43 +00:00
james.goppert 7809b0ca2a Massive warning fixes. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@2089 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-04 19:12:27 +00:00
james.goppert aa598b575a APO merge. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1935 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-05-01 02:05:17 +00:00
james.goppert@gmail.com c1b6032e7f Eclipse makefile support for examples. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1860 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-09 19:38:12 +00:00
tridge60@gmail.com d36869494f GPS: fixed the idle timer 
we need to reset the idle timer only on good data, or a call to
init(). Otherwise we never use it.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1849 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-04-04 22:00:06 +00:00
tridge60@gmail.com 860998d337 implemented typesafe PSTR() 
This makes PSTR() type safe by using a 1 byte wrapper
structure. Attempts to use the wrong varient of a print function will
generate a compilation error.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1797 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-03-21 07:25:48 +00:00
jasonshort 00209c82a9 Added setHIL to GPS.cpp 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1686 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-19 18:33:42 +00:00
deweibel@gmail.com bd9c7de109 Correct factoring issue for AP_GPS_IMU XPlane HIL interface. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1673 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-17 21:36:56 +00:00
deweibel@gmail.com 4f514faf97 Small bug fix for HIL gps when using auto-detect 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1663 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-16 18:19:07 +00:00
DrZiplok 3108d661d2 Correct knots -> m/sec conversion. Thanks to Paul M. for spotting this. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1613 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-08 07:06:47 +00:00
deweibel e620eb1326 Change MediaTek timestamps to millisecond Time of Day 
Add epoch method to return timestamp epoch.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1589 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-02-01 23:50:36 +00:00
deweibel@gmail.com 5e0fff1618 Add back AP_GPS_IMU to provide Xplane functionality 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1504 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-17 01:50:34 +00:00
DrZiplok@gmail.com 52a0a03d56 Bring AP_GPS_Auto closer to ready for prime-time: 
- disable NMEA autodetection; false positives are still a risk
 - trim down the console output to a minimum; we still need something to help users diagnose potential problems, but the old output was much too verbose
 - rather than block forever, only do one autodetect pass for each ::read call.  That's still too long (five seconds or so) but better than blocking forever.
 - don't block forever if no GPS is attached.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1480 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 08:20:41 +00:00
DrZiplok@gmail.com eb39264834 Update the NMEA example code in conjunction with the new parser. 
Added an init string for SiRF receivers that will bring them back out of the binary mode configuration that AP_GPS_Auto sets them to.  

Picked up the GPS logging format from the AP_GPS_Auto test.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1469 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:57:16 +00:00
DrZiplok@gmail.com cad260a481 Implement a completely new NMEA parser based on the TinyGPS parser by Mikal Hart. 
Major new features:

 - No RAM buffer for the NMEA message being parsed; saves 120 bytes of RAM.
 - More robust parser, a little less likely to be confused by bad messages.
 - Added configuration strings for SiRF, ublox and MediaTek GPS in NMEA mode to select just the messages of interest.

Note that the issue that TinyGPS has with co-ordinates with "different" numbers of decimal digits is addressed in this code.

Size is comparable to the old parser.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1468 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:55:45 +00:00
DrZiplok@gmail.com 1bfcdaa2cb Add a delay after sending the GPS mode switch strings in an attempt to give any NMEA data time to drain before we attempt to sniff again. 
Otherwise, we can end up settling on NMEA as a mode just after switching a SiRF GPS to binary mode.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1467 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:50:42 +00:00
DrZiplok 07dec5e1b7 Use operator new from AP_Common rather than our own. This also makes AP_Common available to the GPS drivers that work with AP_GPS_Auto. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1463 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 01:19:15 +00:00
DrZiplok 2c0e8515d5 Add a date field to the standard GPS data. This may be zero, and its format is TBD (may be GPS-dependent). 
Increase the no-data timeout to slightly more than a second, so that GPS' with a 1Hz update rate don't cause problems.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1461 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2011-01-10 00:44:09 +00:00
DrZiplok@gmail.com f2f38f2e71 Make the GPS ctor protected so that it can't be accidentally constructed or copied. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1353 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 03:32:37 +00:00
DrZiplok ba6ba990f0 Undo the ^M nonsense that CodeLite pulled. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1349 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-29 00:35:53 +00:00
DrZiplok f8ed279b14 Fix over-clever macro. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1344 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 23:50:50 +00:00
DrZiplok c1f19797d9 Add a GPS shim class that lets an external agent update the pseudo-GPS properties. 
This should obsolete AP_GPS_HIL as it's a little more versatile (and it will generate cheaper code).


git-svn-id: https://arducopter.googlecode.com/svn/trunk@1336 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-28 23:27:12 +00:00
DrZiplok@gmail.com 7e76b64515 Give AP_GPS_None a ctor so that it fits in. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1247 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-24 19:59:07 +00:00
DrZiplok@gmail.com 8da4a29d58 Add support for the DIYD MTK v1.6 firmware 
Nuke AP_GPS_IMU, as nothing is using it anymore.
Simplify the handling of no GPS/no fix detection.
Fix prototypes for ::init and ::read.
Update AP_GPS_Auto and corresponding example, nearly ready for primetime.
Use uint8_t rather than byte.
Strip some _error() calls to save space.  More could still go.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1246 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-24 06:35:09 +00:00
jasonshort f75c7b47ff minor changes, fixed IMU class 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1225 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-22 03:34:47 +00:00
james.goppert 075fb61a92 Added lasttime to GPS HIL. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1216 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-20 06:52:23 +00:00
james.goppert dfe94bc77e Removed delay from MTK library. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1189 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-19 15:34:09 +00:00
james.goppert aa115aea68 AP_GPS libs now recover from disconnect or failed initialization. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1188 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-12-19 13:24:29 +00:00
DrZiplok@gmail.com cb4e8144f4 Eliminate GPS::_error, as it's responsible for pulling in the old printf, which doesn't work anymore. Fixing it's not worth the effort. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@955 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-27 08:46:41 +00:00
james.goppert 9331f8616c Fixed several HIL class bugs. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@914 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-24 16:32:30 +00:00
james.goppert 0eef05b734 Working on HIL for sensors. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@873 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-19 21:20:49 +00:00
james.goppert e245b7c7b3 Added sensor level HIL support. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@857 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-19 05:42:47 +00:00
paulbmather@gmail.com bd205a48e8 GPS units that don't have 2 digits after decimal on heading and alt would cause serious math problem. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@807 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-11-08 19:21:42 +00:00
DrZiplok 2e5be5d86b Revert the MTK GPS driver to only claiming a fix when the GPS has a 3D solution, per discussion with Paul. 
Minor tidying and documentation.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@683 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 20:13:53 +00:00
DrZiplok@gmail.com ee105a0ebf The previous initialisation strategy for auto-detection doesn't play well with the way APM uses the GPS. 
Switch to subclassing GPS and manipulating a global pointer.  Update the test program so that it works again.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@673 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 07:22:11 +00:00
DrZiplok@gmail.com 0a94520682 Add support for automatically detecting the connected GPS and configuring accordingly. 
Note that this is currently disabled as changes need to be made to APM to support it.

Tested with MTK, u-blox and SiRF GPS'.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@671 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 06:06:04 +00:00
paulbmather@gmail.com 079dd3c617 Changes to accommodate blinking lights and loss of GPS commands. Tested with NMEA, uBlox, Sirf and MTK. Does not function correctly with rmack's changes to APM_Compass posted 10/17/2010 (I don't know why). 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@669 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-17 04:07:46 +00:00
paulbmather@gmail.com 614d43c905 git-svn-id: https://arducopter.googlecode.com/svn/trunk@665 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-10-16 16:59:03 +00:00
paulbmather@gmail.com 0bbc8651e4 Added #defines for PMTK commands 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@664 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-16 16:56:29 +00:00
paulbmather@gmail.com d7e71b602c Fixed issue with comma parsing (space after comma was causing routine to misread data) 
Added init functions (PMTK)

git-svn-id: https://arducopter.googlecode.com/svn/trunk@663 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-10-16 16:55:56 +00:00
deweibel 34aa823003 Bug fixes for EM-406 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@539 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-23 00:20:11 +00:00
jasonshort b9f8b6727d Made ground course from Xplane an unsigned int. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@518 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-14 19:13:02 +00:00
DrZiplok@gmail.com 29ba4b8be1 Forgot to include the IMU GPS emulator, breaking X-Plane 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@483 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-12 00:51:44 +00:00
DrZiplok@gmail.com 80bc831363 Reinstate the ground course filter for the not-really-suppored SiRF GPS. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@448 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-10 06:32:33 +00:00
DrZiplok@gmail.com ffa25b0846 Fix the MTK test to use the same baud rate that APM does. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@440 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-08 05:07:35 +00:00
DrZiplok@gmail.com f665e944f0 Add a single header for the library that brings in declarations for all of the GPS types supported by the library. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@439 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-08 05:06:56 +00:00
DrZiplok@gmail.com 31ab494aaa Jason's GPS_None pointed out a few changes that in turn drastically simplify it. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@431 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-07 05:57:39 +00:00
jasonshort dd8c883995 git-svn-id: https://arducopter.googlecode.com/svn/trunk@430 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-09-07 05:45:06 +00:00
jasonshort fd42ef7225 git-svn-id: https://arducopter.googlecode.com/svn/trunk@429 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-09-07 05:43:57 +00:00
DrZiplok@gmail.com ba021b5fe8 Remove a diagnostic I missed. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@424 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-07 04:22:13 +00:00
DrZiplok@gmail.com c6ceb85c21 Refactor the EM-406 support into a 406-specific init routine and a generic SiRF parser. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@423 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-07 04:20:34 +00:00
DrZiplok@gmail.com c981b7d0b0 Rework the u-blox driver. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@422 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 22:31:18 +00:00
DrZiplok@gmail.com a83f663942 Private member naming 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@421 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 22:30:29 +00:00
DrZiplok@gmail.com 3e1cd1ea2e Set native line endings on checkout to help avoid confusion. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@419 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 20:18:32 +00:00
DrZiplok@gmail.com 7e345e027c Push server-native line endings. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@418 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 20:16:50 +00:00
DrZiplok@gmail.com add89239f3 Rework the MTK protocol decoder for robustness and code size. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@417 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 20:00:57 +00:00
DrZiplok@gmail.com 1dd4bc9080 Fix MTK lat/lon scaling. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@414 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 17:40:12 +00:00
DrZiplok@gmail.com 63d1cf06c1 Fix the GPS port for MediaTek tests. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@413 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 17:22:37 +00:00
DrZiplok@gmail.com 96a80f1c66 Cleanup. 
Teach AP_GPS about FastSerial (in the few places it needs to know) and about Stream everywhere else.

Do some minor code cleanup.

Tested with Mega and uBlox.  Some issues (e.g. reporting 0 satelites) remain.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@404 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 09:20:44 +00:00
jasonshort 4b762bf933 New MTK codes 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@400 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 05:05:52 +00:00
jasonshort d68cde2571 New MTK codes 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@399 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-06 05:05:44 +00:00
deweibel 2913b74b3a Repaired EM-406 library 
corrected units on MTK test program

git-svn-id: https://arducopter.googlecode.com/svn/trunk@383 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-04 14:57:20 +00:00
jasonshort 82052f95af git-svn-id: https://arducopter.googlecode.com/svn/trunk@380 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-09-03 04:13:57 +00:00
jasonshort a18d0af3d1 git-svn-id: https://arducopter.googlecode.com/svn/trunk@379 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-09-03 04:13:28 +00:00
deweibel fe0ba2bb29 correct configuration bug and change values of Fix to be consistent with ublox and APM 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@378 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-09-02 23:32:16 +00:00
jasonshort 116bd22aa7 406 lib - needs help 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@358 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-30 18:30:51 +00:00
jasonshort 8987b4d12e git-svn-id: https://arducopter.googlecode.com/svn/trunk@356 f9c3cf11-9bcb-44bc-f272-b75c42450872 2010-08-30 04:30:41 +00:00
jasonshort 785162ee8d New GPS Lib 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@344 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-29 22:58:22 +00:00
jasonshort 4f02edac51 New GPS Lib 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@342 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-29 22:08:33 +00:00
jasonshort 241b710001 updates - Ublox now working 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@313 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-25 17:32:55 +00:00
jasonshort 2c6e096a3b New Libraries 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@286 f9c3cf11-9bcb-44bc-f272-b75c42450872
 2010-08-24 04:13:27 +00:00