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288 Commits

Author SHA1 Message Date
Andrew Tridgell 7938bd08bb Copter: make flowhold mode conditional 
reduces build size on px4-v2 by 4k
 2018-02-12 13:34:47 +09:00
murata c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Andrew Tridgell 0ed75052f8 Copter: enable parameters inside mode objects 
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
 2018-02-08 17:36:33 +11:00
Andrew Tridgell af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell 15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Randy Mackay 0f6762bbd2 Copter: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Andrew Tridgell 89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Pierre Kancir cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay 8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Dylan Herman 20fe5bb98f Copter: add SmartRTL failsafe action 
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
 2018-01-22 10:54:28 +09:00
Randy Mackay 0ac708b5a0 Copter: remove ability to disable PosHold flight mode 
This flight mode is stable and regularly used so it is unlikely that we ever want to disable it
 2017-12-12 10:39:26 +09:00
Andrew Tridgell 311d7c11e4 Copter: added LOITER option in THROW_NEXTMODE 2017-11-27 14:14:06 +09:00
ChrisBird caaeae3d0a Copter: Separate max ascent and descent speeds 
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
 2017-11-09 09:03:54 +09:00
Randy Mackay 787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
Andrew Tridgell e2f710523e Copter: added inverted flight to switch docs 2017-10-03 10:16:41 +11:00
Randy Mackay 44a436642b Copter: complete rename to SmartRTL 
Also fix parameter description for CH7_OPT
 2017-09-15 08:58:14 +09:00
squilter 4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter 00ace08b54 Copter: minor formatting fixes 2017-08-30 20:07:11 +09:00
Peter Barker 0b6de644fb Copter: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Andrew Tridgell 7473471f38 Copter: reverse IDs in g2 for TCAL and tx_type 
as discussed with Randy
 2017-07-10 17:07:57 +10:00
Peter Barker d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev 24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay 41752eef8b Copter:default RC_FEEL to 50 2017-07-03 09:34:07 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f8aa91681e Copter: Improve the PWM parameters descriptions 2017-06-06 11:06:26 +10:00
Leonard Hall c61d0a7373 Copter: reduce RC_FEEL default to 25 2017-06-01 10:06:20 +09:00
murata 1a76c28655 Copter: add dodeca-hexa 2017-05-27 14:21:13 +09:00
Randy Mackay 70ed572476 Copter: minor formatting fix 
This is mostly just to trigger compilation of the latest beta
 2017-05-25 17:53:20 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas f366095113 Copter: Use SI units conventions in parameter units 
Follow the rules from:
http://physics.nist.gov/cuu/Units/units.html
http://physics.nist.gov/cuu/Units/outside.html
and
http://physics.nist.gov/cuu/Units/checklist.html
one further constrain is that only printable (7bit) ASCII characters are allowed
 2017-05-17 18:07:25 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas 60aeade0f4 Copter: Add missing @RebootRequired: True 2017-05-15 21:51:16 +09:00
Randy Mackay 1a246851fc Copter: enable radio failsafe by default 2017-04-24 17:07:42 +09:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Randy Mackay 7478ae9eb4 Copter: TUNE parameter description fixes 2017-04-08 15:35:05 +09:00
Andrew Tridgell 6bb5c16fb8 Copter: allow for HELI_DUAL configurations 2017-03-25 16:22:10 +11:00
Jacob Walser 353202e03c Copter: Fix parameter metadata 2017-03-22 16:16:26 -07:00
Randy Mackay e8c5612587 Copter: fix reference to PosControl param descriptions 
No functional change
 2017-03-01 14:59:44 +09:00
Randy Mackay 627e3faf41 Copter: fix SYSID_ENFORCE parameter description 2017-02-28 15:06:51 +09:00
Randy Mackay 34726208b2 Copter: clarify CHX_OPT avoidance and adsb-avoidance 2017-02-27 15:18:23 +09:00
Andrew Tridgell 6b6d03eb8d Copter: fixed upgrade of parameters 
now that we dynamically allocate many key objects in copter we need to
move the parameter upgrade code to after when the objects are allocated
 2017-02-15 15:02:06 +10:00
Andrew Tridgell d8972d5344 Copter: setup frame type parameter flags 2017-02-14 19:50:01 +11:00
Peter Barker f49f153da0 Copter: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Peter Barker b7f982d7ce Copter: support for arming and disarming using an auxsw 2017-02-06 16:48:50 +09:00
Andrew Tridgell 00711f5a98 Copter: fixed typo in param generation 2017-02-06 15:36:52 +11:00
Andrew Tridgell 79b23dff0e Copter: fixed parameter path 2017-02-06 15:12:32 +11:00
murata 8f926bd177 Copter: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Peter Barker 4ea6cf4ce3 Copter: transfer old ARMING_CHECK value to new location 2017-01-17 11:45:08 +09:00
Peter Barker bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Andrew Tridgell 1297a7dedb Copter: convert the rest of motors class for tricopter 2017-01-12 17:39:37 +11:00
Andrew Tridgell 7aee3500e1 Copter: added conversion of tricopter tail servo parameters 2017-01-12 17:39:37 +11:00
Andrew Tridgell a3220944d8 Copter: make conversion tables constant 2017-01-12 17:39:37 +11:00
Andrew Tridgell 6a12ed0d65 Copter: upgrade heli servo parameters 2017-01-12 17:39:37 +11:00
Andrew Tridgell c0c25e0588 Copter: fixed parameter doc paths 2017-01-12 17:39:37 +11:00
Andrew Tridgell e85df47b06 Copter: fixed parameter handling for pointer objects 
fixed loading of default files and use of POINTER flag on object
groups
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 3c1517f583 Copter: added automatic SRV_Channel parameter upgrade 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Peter Barker a233024e05 Copter: fix compilation when fence andd proximity are disabled 
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
 2017-01-03 10:44:03 +09:00
Randy Mackay d011783d76 Copter: fix FRAME_TYPE param description 2016-12-31 10:55:23 +09:00
Randy Mackay 12d024e0c6 Copter: rename FRAME to FRAME_TYPE 
This unifies the plane and copter parameter names
 2016-12-31 10:55:23 +09:00
Randy Mackay 0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Randy Mackay 38478638de Copter: aux switch for enable/disable proximity based avoidance 2016-12-20 19:48:02 +09:00
Randy Mackay a43229de0f Copter: fix z-axis accel parameter description 2016-12-19 17:01:06 +09:00
Andrew Tridgell c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Randy Mackay a2474667a8 Copter: minor formatting fix 
no functional change
 2016-12-14 13:22:24 +09:00
Randy Mackay 21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
murata f7273d0e93 Copter: Change from printf statement to print, println statement. 2016-11-26 00:02:11 +00:00
Peter Barker e72f5a6240 ArduCopter: enable/disable precision loiter on a switch 
A switch MUST be assigned for precision loiter to be enabled
 2016-11-18 09:41:56 +09:00
Peter Barker 236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker 920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
Peter Barker df07cb525a Copter: use AP_Stats to store statistics about vehicle 2016-10-29 14:53:25 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay 83b8208b8b Copter: fix PRX_ parameters duplicate underscore in param name 2016-10-19 17:24:43 +09:00
Andrew Tridgell 5a9276a5c4 Copter: added SYSID_ENFORCE parameter 
allows enforcement of SYSID_MYGCS
 2016-10-15 17:14:19 +11:00
Leonard Hall 5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay 0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Randy Mackay fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
John deVere d89b82b69f Copter: fixed parameter description typos 2016-09-14 14:05:47 -07:00
Randy Mackay 9b1b18b15b Copter: add sprayer to aux switch options 2016-09-13 17:34:15 +09:00
Randy Mackay a8f0291711 Copter: parameter conversion only for matrix multicopters 
Single, Coax and Tri copter rate parameter conversions were incorrect
 2016-09-13 09:44:38 +09:00
Andrew Tridgell d0dd10aeea Copter: added DEV_OPTIONS parameter 
this is for little used options to allow standard firmware builds to
enable those options for development purposes

First option is for MAVLink based ADSB avoidance
 2016-09-12 16:24:34 +10:00
Randy Mackay cba480d02b Copter: add auto calibration to ESC_CAL parameter description 
No functional change
 2016-08-31 11:53:53 +09:00
Randy Mackay e17c8ac851 Copter: remove non-working reset-to-armed-yaw 
Arguably we should make this work, but until that happens we should not present the option on the auxiliary switches
 2016-08-29 16:34:24 +09:00
Randy Mackay eded2dee23 Copter: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:05 +09:00
khancyr 1a1c749501 Copter: fix typo in parameters.cpp 2016-08-26 14:28:35 +09:00
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Andrew Tridgell 89c10a2db9 Copter: rename WP_TKOFF_NAV_ALT to WP_NAVALT_MIN 
this is in preparation for using the same parameter for landing as
well
 2016-08-16 11:26:56 +10:00
Randy Mackay 9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
chambana 25940c8e0f Copter: add THROW_TYPE and allow dropping vehicle to trigger motors 2016-08-02 20:25:52 +09:00
Randy Mackay f0f87a2f0c Copter: add throw_nextmode 
vehicle switches to mode specified in THROW_NEXTMODE parameter after the
throw is completed.
 2016-08-02 20:25:52 +09:00
Randy Mackay 1161417d7f Copter: add GUIDED_NOGPS flight mode 
This mode is a cut down version of Guided mode that only accepts attitude commands.
This mode does not require a GPS lock
 2016-08-02 18:25:59 +09:00
Randy Mackay d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Andrew Tridgell cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Francisco Ferreira 25fefe77b7 Copter: add AP_Rally_Copter 
override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it
 2016-07-22 09:00:18 +09:00
Andrew Tridgell 3a8ed06267 Copter: added TKOFF_NAV_ALT parameter 
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.

This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
 2016-07-07 14:21:47 +09:00
Peter Barker 043b1d321d Copter: remove paths for documenation for non-multi frame 
Our current documentation system only emits one XML document (apm.pdef.xml)
for ArduCopter.

Since there is a conflict between parameters in the MOT_ namespace in Copter,
we only emit the documentation for the first parameter defining the MOT_ namespace.

This patch removes the documentation lines for frame types other than multicopter, meaning the documentation will reflect mutlictopter usage - the most common case.

These lines will need to be reinstated when we change the way we produce the xml documentation.
 2016-06-24 09:55:28 +09:00
Peter Barker 7742503ef3 Copter: include AC_AttitudeControl parameter documentation 2016-06-24 09:55:26 +09:00
Daniel Ricketts 87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Randy Mackay 901e8cc23f Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to MOT_THST_HOVER 2016-06-18 11:55:49 +09:00
Leonard Hall 48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Peter Barker 1fc4063117 Copter: correct TERRAIN_FOLLOW parameter comments 2016-06-08 17:35:20 +09:00
Randy Mackay 2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Randy Mackay be3b1cb6ab Copter: convert STB_ params to ATC_ANG_ 2016-05-28 15:45:30 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay 028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Jonathan Challinger 747344a8ba Copter: add disarm on land detect option to PILOT_THR_BHV 2016-05-13 11:57:48 +09:00
Andrew Tridgell 75d76ac3bd Copter: fixed scaling of old heli parms 2016-05-12 17:34:36 +10:00
Andrew Tridgell 111eb2ccc1 Copter: use DataFlash::log_while_disarmed() 2016-05-09 12:05:52 +10:00
Randy Mackay a6b6fb2473 Copter: fix TERRAIN_FOLLOW parameter description 
Thanks OXINARF
 2016-04-30 10:33:01 +09:00
Randy Mackay 74e02d2c82 Copter: rename TERRAIN_USE to TERRAIN_FOLLOW 
This matches plane's parameter name
 2016-04-30 10:33:01 +09:00
Randy Mackay 91f6c7b503 Copter: add TERRAIN_USE parameter 
Also add terrain.cpp to hold terrain_update and terrain_logging functions
 2016-04-30 10:33:01 +09:00
Leonard Hall a9cda8b384 Copter: add convert_pid_parameters to ease migration to new PID gains 2016-04-01 11:59:30 +09:00
Randy Mackay c352e1bedf Copter: fix attitude control parameter declaration 2016-04-01 11:59:30 +09:00
Randy Mackay bde498375c Copter: remove attitude PIDs 
These are now part of AC_AttitudeControl
 2016-04-01 11:59:30 +09:00
Randy Mackay 1f37f5a0e7 Copter: remove tradheli swash, yaw and rsc servos 
These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
 2016-04-01 11:59:30 +09:00
Leonard Hall 6c40d6f774 Copter: remove single frame's servo objects 2016-04-01 11:59:30 +09:00
Leonard Hall 44180e44df Copter: remove coax servo objects 
servos moved to AP_MotorsCoax class
 2016-04-01 11:59:30 +09:00
Leonard Hall a00a9601a4 Copter: AP_MotorsCoax now uses 4 servos 2016-04-01 11:59:30 +09:00
Andrew Tridgell f19922fec5 Copter: added LAND_SPEED_HIGH parameter 
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
 2016-03-30 15:54:20 +11:00
Lucas De Marchi 34155c09e6 ArduCopter: Update path locations for parameters 
Thanks to Francisco Ferreira for noticing that.
 2016-03-23 17:50:38 -03:00
Don Gagne cae7ea0d13 Add @Volatile, @ReadOnly support 2016-03-17 10:58:05 +11:00
Don Gagne e9651dacfe Copter: update parameter description increments 2016-03-08 09:27:50 +09:00
Randy Mackay a93a0d370a Copter: add throw mode to aux switches 2016-03-03 15:30:03 +09:00
Randy Mackay 20b6688e77 Copter: add throw to FLTMODE param descriptions 2016-03-03 12:18:20 +09:00
Paul Riseborough a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Randy Mackay dc2ec5db18 Copter: add Bitmask param description for PILOT_THR_BHV 2016-01-14 15:21:59 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Randy Mackay 6a67ad706c Copter: add Relays to aux switch parameter descriptions 
Also fix formatting of new options in switches.cpp
No functional change
 2016-01-08 12:13:37 +09:00
Randy Mackay 2927d6b2df Copter: add RTL_CONE_SLOPE param description values 2016-01-07 17:22:35 +09:00
Jonathan Challinger 3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Randy Mackay 15e673f5ae Copter: fix precland parameter description prefix 
Thanks to Thomas Stone for finding this

No functional change
 2016-01-07 12:55:44 +09:00
Andrew Tridgell 907a680a3b Copter: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:33:00 +11:00
Andrew Tridgell 5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay cfff57257e Copter: shorten precision landing param prefix 2015-12-31 15:30:39 +09:00
Randy Mackay 1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
pepevalbe 3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Andrew Tridgell d14056fa1e Copter: fixed build warnings 2015-12-20 17:55:40 +11:00
Peter Barker f57d237181 Copter: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Leonard Hall 6eca767db0 Copter: reduce autotune min D param default to 0.001 2015-11-30 11:21:54 +09:00
Tom Pittenger 34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Andre Kjellstrup c2a810d72a Copter: update RTL altitude param description 2015-11-21 12:44:10 +09:00
Caio Marcelo de Oliveira Filho c7acc46d09 Copter: use millis/micros/panic functions 2015-11-20 12:26:31 +09:00
Jonathan Challinger 5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Andrew Tridgell 9214b85cf1 Copter: fixed path for AC_InputManager for heli 2015-11-13 13:49:25 +11:00
Robert Lefebvre 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Robert Lefebvre 34fb600c4f Copter: Utilize Input Manager Class 2015-11-12 19:37:22 +09:00
Lucas De Marchi 030fd046c7 ArduCopter: remove check for MAVLINK_COMM_NUM_BUFFERS 2015-11-04 12:14:15 +11:00
Lucas De Marchi e9b6c76454 ArduCopter: fix wrong printf format for 32 bits 
"micros() - before" doesn't return a long value. Use "%u".
 2015-10-30 14:35:34 +09:00