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2516 Commits

Author SHA1 Message Date
Andrew Tridgell 4e017bf5b3 Plane: fixed loiter mode when Q_GUIDED_MODE=1 
This fixes the fixed wing behaviour of LOITER mode whne
Q_GUIDED_MODE=1.

Many thanks to the PertUAV team for finding and reporting this bug
 2016-10-01 08:37:17 +10:00
Lucas De Marchi 0f000efc6f ArduPlane: Fix use of logical op instead of bitwise op 
../../ArduCopter/GCS_Mavlink.cpp: In member function 'void Copter::send_extended_status1(mavlink_channel_t)':
../../ArduCopter/GCS_Mavlink.cpp:281:37: error: suggest parentheses around operand of '!' or change '&' to '&&' or '!' to '~' [-Werror=parentheses]
     uint32_t sensors_error_flags = !control_sensors_health & control_sensors_enabled & control_sensors_present;
                                     ^
compilation terminated due to -Wfatal-errors.
cc1plus: all warnings being treated as errors

Thanks to Ralph Campbell <ralphcampbell1@gmail.com> for the bug report.
 2016-09-29 11:36:23 -03:00
Andrew Tridgell 841828541d Plane: fixed auto ICE engine cut in QLAND final 2016-09-29 05:18:55 +10:00
Pierre Kancir 64a2fca812 Arduplane: simply invalid cmd msg 2016-09-27 07:45:48 -07:00
Pierre Kancir 04ee4141e0 ArduPlane: uniformize verify_command 
Add all handle message,
Change MAV_CMD_NAV_ROI to MAV_CMD_DO_SET_ROI
Reformate comments,
 2016-09-27 07:45:48 -07:00
Andrew Tridgell 6d09897b19 Plane: fixed VTOL motor termination in AFS 2016-09-27 11:53:45 +10:00
Peter Barker 31321b3b60 Plane: log to dataflash statustext messages from my_gcs 2016-09-26 00:06:07 -07:00
Tom Pittenger 94f83c3e78 Plane: frsky telem init to utilize default arguments 2016-09-25 10:42:02 -07:00
floaledm 4f6a8a017c Plane: consolidate into a single frsky.init() 2016-09-25 10:42:02 -07:00
floaledm 68df5b7606 Plane: change sensor health check to prevent false positive 2016-09-22 13:56:59 -05:00
Tom Pittenger b8d53e1c58 Plane: change how is_flying bool is assignment in fysky lib 
Florent had this correct on his PR but I incorrectly advised him to change it. This commit changes it back to his original method which was correct.
 2016-09-21 15:38:58 -07:00
floaledm 0b666d4933 Plane: Plane support for Frsky passthrough protocol 2016-09-21 12:12:37 -07:00
Andrew Tridgell dac7f45326 Plane: fixed use of multicopter mix_max 
we need a settable mix_max for some vehicles
 2016-09-21 12:23:19 +10:00
Andrew Tridgell 08dc5fab12 Plane: fixed pilot throttle based motor test 2016-09-15 18:09:35 +10:00
Andrew Tridgell d6890495aa Plane: added swapped channel version of elevon/vtail/flaperon output 
this makes it possible to setup an elevon plane without changing the
transmitter reversals
 2016-09-14 11:48:05 +10:00
Andrew Tridgell 9b83781b4f Plane: fixed mixer arming error with FMUv4 
thanks to Tim Gold for reporting this
 2016-09-11 08:25:40 +10:00
Andrew Tridgell 2e240699e6 Plane: final release notes for 3.7.0 2016-09-09 10:13:38 +10:00
Tom Pittenger e13d5fa0bf ArduPlane: updated Mixer error message 2016-09-06 00:25:15 -07:00
Michael du Breuil f0247a7be1 Plane: always check that the mixer has been configured as arming check 2016-09-06 00:03:13 -07:00
Michael du Breuil d0da7411b2 Plane: Fetch mixer status for assessing mixer success 2016-09-06 08:42:16 +10:00
Andrew Tridgell d50bf93ac9 Plane: update 3.7.0 release notes 2016-09-06 07:11:13 +10:00
Michael du Breuil 2843e266b5 Plane: Return RESULT_FAILED for GET_CMD_HOME if home is unset 2016-09-03 16:54:14 +09:00
Andrew Tridgell d149a2e613 Plane: updated release notes for 3.7.0 2016-09-02 16:52:24 +10:00
Andrew Tridgell 6849f2223d Plane: set initial alt target on takeoff completion 
this prevents a sudden motor spike at the start of the transition
 2016-09-02 11:12:19 +10:00
Randy Mackay 3052e8f80b Plane: quadplane calls attitude control parameter check 2016-09-02 09:27:19 +09:00
Andrew Tridgell 47c030c4a8 Plane: prepare for 3.7.0beta1 release 2016-08-30 08:39:56 +10:00
Andrew Tridgell 3d0516fd57 Plane: added Q_ASSIST_ANGLE 
this automatically provides quadplane assistance if the angular error
is over the given value for 1 second while flying faster than
Q_ASSIST_SPEED
 2016-08-30 08:35:18 +10:00
Andrew Tridgell 33f17588b2 Plane: added auto fence enable on VTOL takeoff 
fixes issue#724
 2016-08-29 18:04:42 +10:00
Andrew Tridgell c81d8364ac Plane: check for safety switch state in quadplane motor output 
get_soft_armed() will be false if safety on
 2016-08-29 17:55:35 +10:00
Randy Mackay d3f8b1b846 Plane: TELEM_DELAY parameter range to 30sec 
No functional change
 2016-08-29 15:29:18 +09:00
Andrew Tridgell a0fb426a34 Plane: fixes for Fraky_Telem API changes 2016-08-25 10:16:20 +10:00
Andrew Tridgell a5f20d8c44 Plane: fix for AP_FrSky_Telem API change 2016-08-25 10:16:19 +10:00
floaledm 43006a31a3 Plane: compatibility with revised AP_Frsky_Telem class 2016-08-25 10:16:18 +10:00
floaledm 71921f3aa4 Plane: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
murata e6bef2526c Plane: By multiple bit synthetic, can this method once access. 2016-08-24 11:27:27 -03:00
murata 0e17cff099 Plane: if statements is simple. 2016-08-24 11:26:28 -03:00
Gustavo Jose de Sousa b8e518a533 waf: use ap_library tool 
That way we avoid recompiling source files that don't depend on vehicles.
Change notes:
- UTILITY_SOURCE_EXTS: moved to ap_library
- Task generators indexes: ap_library handles that now and in a better way
- Use of AP_STLIB_FEATURES: it doesn't make sense anymore, since the stlib
  taskgen has empty source list
- Flags and defines: passed down to ap_library through AP_LIBRARIES_OBJECTS_KW
- Set use='mavlink' in AP_LIBRARIES_OBJECTS_KW instead of calls to
  bld.ap_stlib().
 2016-08-24 10:46:23 -03:00
Andrew Tridgell d26af6c25b Plane: change is_flying() groundspeed threshold to 1.5m/s 2016-08-23 12:50:41 +10:00
Andrew Tridgell cbbc4d6774 Plane: don't flare due to crash detection unless crash detection enabled 
this fixes the issue in this bug report:

http://discuss.ardupilot.org/t/auto-landing-bug-crash-with-3d-video-and-logs-ardupilot-3-6-0
 2016-08-23 12:19:03 +10:00
Tom Pittenger 2da33e41e9 Plane: add Avoid_ADSB support to plane 2016-08-17 22:38:54 -07:00
Tom Pittenger b187e1f9a6 Plane: add reason to set_mode() 2016-08-17 22:38:54 -07:00
Tom Pittenger 285e41bac6 Plane: add avoidance_adsb framework for object avoidance 2016-08-17 22:38:54 -07:00
Tom Pittenger 399fa195bb Plane: add comment to FLTMODE param to include AVOID_ADSB 2016-08-17 22:38:54 -07:00
Tom Pittenger ca32bcc58d Plane: add new flight mode AVOID_ADSB to mimic GUIDED 2016-08-17 22:38:54 -07:00
Tom Pittenger c4460a285c Plane: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-08-17 22:38:54 -07:00
Tom Pittenger 8b021c2498 Plane: pre-arm check includes adsb failsafe 2016-08-17 22:38:54 -07:00
Tom Pittenger fa326de7fa Plane: add adsb to failsafe structure and report in heartbeat to GCS 2016-08-17 22:38:54 -07:00
Tom Pittenger b564616db0 Plane: GCS_MAVLink passes packets to AP_Avoidance 
This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
 2016-08-17 22:38:54 -07:00
Tom Pittenger 46ec812d6c Plane: add AP_Avoidance to build 2016-08-17 22:38:54 -07:00
Tom Pittenger 7445fac577 Plane: move mavlink msg handling into library 2016-08-16 16:33:36 -07:00
Andrew Tridgell d482c7f4b7 Plane: decode correct ADSB packet 2016-08-16 16:33:36 -07:00
Andrew Tridgell c4c7a3051a Plane: added support for secondary throttles 2016-08-16 16:14:48 +10:00
Andrew Tridgell 7ce7eb5a60 Plane: added Q modes to parameter docs 2016-08-16 13:15:41 +10:00
Andrew Tridgell b29b609bcc Plane: added AFS support for quadplanes 2016-08-16 12:56:12 +10:00
Andrew Tridgell adb5a3ee1f Plane: re-work AFS for new AP_AdvancedFailsafe API 2016-08-16 12:55:51 +10:00
Andrew Tridgell 5d6dfd927b Plane: changes for AP_AdvancedFailsafe naming 2016-08-16 12:55:50 +10:00
Andrew Tridgell b357a254f6 Plane: use force_safety_no_wait() when re-enabling safety off in mixer 2016-08-16 12:53:34 +10:00
Andrew Tridgell 31fb4cc427 Plane: force trims for VTOL motors 2016-08-16 12:53:34 +10:00
Andrew Tridgell 76b6cbbda1 Plane: prevent motor startup on reboot in quadplanes 
we need to prevent RC overrides within px4io from running
 2016-08-16 12:53:34 +10:00
Peter Barker cb7686001f Plane: add dataflash as a bit for the mavlink SYS_STATUS message 2016-08-11 17:48:44 -03:00
Andrew Tridgell 82382a7e9c Plane: changed startup order 
this allows BoardConfig to report errors in a way that allows for
BRD_TYPE to be changed by the user
 2016-08-10 19:54:01 +10:00
Tom Pittenger e0136dc545 Plane: remove AP_Vehicle::FixedWing dependency in ap_airspeed 2016-08-08 00:02:42 -07:00
Tom Pittenger f85fc7c1dc Plane: pass in max airspeed via function call instead of using aparm 2016-08-08 00:02:42 -07:00
Tom Pittenger fc50f145ce Revert "ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter)." 
This reverts commit da1b18d918.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 8dad05d12e Revert "Airspeed: store reference in libraries and populate it" 
This reverts commit c090ba2257.
 2016-08-07 17:54:24 -07:00
Tom Pittenger 5fd3c79202 Plane: Fix typos 2016-08-04 11:42:41 -07:00
Ricardo de Almeida Gonzaga 7a9fe95ccb ArduPlane: Fix typos 2016-08-04 11:41:18 -07:00
Tom Pittenger c090ba2257 Airspeed: store reference in libraries and populate it 
- also had to move the initial definition in plane.h so it happened before the others.
 2016-08-04 11:06:44 -07:00
AndersonRayner da1b18d918 ArduPlane: Convert references to AP_Airspeed. Added automatic migration of ARSPD_FBW_MIN and ARSPD_FBW_MAX (plane parameter) to ARSPD_FBW_MIN and ARSPD_FBW_MAX (library parameter). 2016-08-04 10:09:04 -07:00
Andrew Tridgell 63317e9430 Plane: added throttle suppression for quadplanes 
this tries to prevent motor start when on ground. Motors instead go
into spin_when_armed state
 2016-08-04 09:43:40 -07:00
Gustavo Jose de Sousa f2dec971e7 waf: add "ap_" prefix to keywords "libraries" and "vehicle" 
As an effort to keep things specific to ardupilot API in the build system
consistent and easy way to identify.
 2016-08-01 22:04:16 -03:00
Tom Pittenger f90957e7ed Plane: remove all threat logic in adsb lib in favor of avoidance lib 2016-08-01 15:27:41 -07:00
mirkix 5f5c200625 ArduPlane: Fix filename in header 2016-07-28 18:24:24 -03:00
Lucas De Marchi c27ebd10c2 ArduPlane: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
Andrew Tridgell 388b7ad6bd Plane: fixed is_flying_vtol() for non-quadplane 2016-07-27 07:43:16 +10:00
Andrew Tridgell f65b46385c Plane: added engine cut on land final in quadplane 2016-07-25 15:46:17 +10:00
Andrew Tridgell 37f71bc6d6 AP_Mission: support DO_ENGINE_CONTROL 2016-07-25 10:06:03 +10:00
Andrew Tridgell 327a057ee0 Plane: added internal combustion engine support 
this allows for automatic engine start and restart
 2016-07-25 10:06:03 +10:00
Andrew Tridgell 02babb71b3 ArduPlane: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Andrew Tridgell 9602d208a2 Plane: fixed disarm by rudder in quadplane 2016-07-25 06:08:36 +10:00
Tom Pittenger 3f195df9f0 Plane: handle ADSB-Out packets 2016-07-22 13:38:58 -07:00
Tom Pittenger 5c3cca7911 Plane: handle incoming ADSB transceiver packet 2016-07-22 12:20:39 -07:00
Andrew Tridgell 3f0a8d1761 Plane: added AP_Button support for plane 
this also adds the g2 parameter table
 2016-07-22 15:01:20 +10:00
Andrew Tridgell 7b147e3941 Plane: handle PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Grant Morphett b8011fd46c Rover|Plane: Just fixing a spelling mistake. 2016-07-22 08:23:07 +10:00
Tom Pittenger 3177dc2f31 Plane: ADSB service needs to run at 10Hz for dynamic ADSB data 2016-07-20 22:46:51 -07:00
Tom Pittenger ab38b12f2c Plane: adsb specific status updates 2016-07-20 22:40:14 -07:00
Tom Pittenger 26efd90603 Plane: allow landing height adjustment on wp before land (aka approach wp) 2016-07-20 22:29:31 -07:00
Andrew Tridgell 4da3236c07 Plane: separate out landing height adjustment from barometer changes 
this stores a landing height adjustment for an aborted landing
without adjusting barometer readings, applying them only on landing
 2016-07-20 22:04:21 -07:00
Andrew Tridgell 9e812d3bda Plane: don't auto-update home and baro on large height change 
if we land at a remote location with a different height we should not
update baro and home. This also prevents us updating baro and home if
we disarm in flight
 2016-07-20 13:22:00 +10:00
Andrew Tridgell 569cc1c108 Plane: support the LED_CONTROL MAVLink message 2016-07-19 13:37:14 +10:00
Tom Pittenger 601ab9dad0 Plane: remove GCS send_statustext spam 
Plane: remove GCS send_statustext spam when recalculating glide slope
 2016-07-18 18:56:59 -07:00
Allan Matthew c479fcab39 Plane: support GPS_INPUT mavlink message 2016-07-12 15:35:09 +09:00
Tom Pittenger 7751bee3be Revert "Plane: coverity scan - variables not initialized in constructor" 
This reverts commit 9b807fa8a5.
 2016-07-11 22:02:30 -07:00
Andrew Tridgell e8976d3a89 Plane: check for optflow enable in more places 2016-07-12 09:05:52 +10:00
mirkix d018a32545 Plane: Only init optflow when enabled by parameter 2016-07-12 09:00:46 +10:00
Andrew Tridgell c926d7d41f Plane: fixed typo in quadplane landing detector 
thanks to Paul for spotting this!
 2016-07-08 18:38:43 +10:00
Andrew Tridgell b6f58bdd98 Plane: don't give tuning errors when VTOL inactive 2016-07-06 14:41:49 +10:00
Tom Pittenger 9b807fa8a5 Plane: coverity scan - variables not initialized in constructor 2016-07-05 13:31:51 -07:00
Andrew Tridgell 96d785f1c6 Plane: added auto_navigation_mode flag 
this fixes a problem where modes like loiter and auto would allow for
rudder stick mixing even with STICK_MIXING=0
 2016-07-05 12:52:13 +10:00
Randy Mackay 2484486999 Plane: log rally points on startup 2016-07-04 11:17:15 +09:00
Tom Pittenger 0597dbd033 Plane: allow SET_ATTITUDE_TARGET to set rpy and throttle 2016-07-01 08:28:53 -07:00
Tom Pittenger 85afd9e245 Plane: remove guided roll flag, handle it with timer=0 2016-06-30 07:48:37 -07:00
Michael Day 8ac433f991 Plane: Can now command roll from a companion computer. 2016-06-30 10:27:44 -04:00
Andrew Tridgell ec367d4a09 Plane: re-order channel initialisation 
this fixes a problem with spurious throttle output during board
startup. Many thanks to Marco for finding this!
 2016-06-30 16:48:30 +10:00
Andrew Tridgell 8fd31111ad Plane: fixed waf build with tricopter quadplane 2016-06-30 14:16:52 +10:00
Andrew Tridgell bf2e30f858 Plane: removed demo_servos() 
this really didn't help much and slows down startup
 2016-06-27 10:19:26 +10:00
Andrew Tridgell 66e43bf6a2 Plane: start with low integrator on back quadplane transition 
When changing to alt_hold controller in quadplane with significant
airspeed set the initial integrator to minus the hover throttle to
allow the accel controller to climb slowly
 2016-06-27 10:18:20 +10:00
Leonard Hall f1bca63094 Plane: consolidate input_euler_angle calls to use smoothing gain 2016-06-24 17:17:19 +09:00
Andrew Tridgell 1256c2f351 Plane: changed for AP_Vehicle API change 2016-06-24 11:39:23 +10:00
Tom Pittenger d2365c25c6 Plane: increase update_waypoint() distance threshold during update_loiter() 
- outside this radius of a loiter waypoint is where crosstracking is available
 2016-06-23 12:43:03 -07:00
Andrew Tridgell f514e76f52 Plane: reset ground_start_count if we lose 3D fix 
thanks to Michael for this suggestion
 2016-06-22 21:25:11 +10:00
Randy Mackay 82bd847e11 Plane: add AC_Avoidance, AC_Fence to build 2016-06-22 11:38:15 +09:00
Randy Mackay 9201a57c83 QuadPlane: include AC_Avoidance, AC_Fence 
This is required because of AC_WPNav's use of the new avoidance library to stop at the fence
 2016-06-22 11:38:15 +09:00
Tom Pittenger 9b973fb899 Plane: add ADSB_streamrate 2016-06-19 11:24:31 -07:00
Randy Mackay ef1385c9ed QuadPlane: add comment that eeprom 28 and 41 were used for THR_MIN, MID 2016-06-18 11:55:49 +09:00
Randy Mackay 413f82bac1 Plane: remove unused definitions 2016-06-18 11:55:49 +09:00
Randy Mackay b456a38432 QuadPlane: remove throttle_mid 
motor's hover throttle is automatically updated
 2016-06-18 11:55:49 +09:00
Randy Mackay 2523ba892b QuadPlane: set attitude vs throttle priority in attitude controller 2016-06-18 11:55:49 +09:00
Randy Mackay f2b0f09d6f QuadPlane: remove THR_MIN 2016-06-18 11:55:49 +09:00
Tom Pittenger f05c698176 Plane: fix compile error for RANGEFINDER_ENABLED 
Plane: #define check for rangefinder enabled in relative_ground_altitude()
 2016-06-16 14:19:10 -07:00
Andrew Tridgell 40db90cebe Plane: limit roll and pitch to Q_ANGLE_MAX in Q modes 
planes often have large LIM_ROLL_CD
 2016-06-16 22:00:04 +10:00
Andrew Tridgell b1b73e2d99 Plane: improved quadplane landing detector 
look for no vertical position change for 5s as well as low motors
 2016-06-16 18:17:56 +10:00
Tom Pittenger 773962940c Plane: quadplane for fwd_throttle integrator inhibit reverse thrust and allow min>0 for petrol 2016-06-13 14:31:50 -07:00
Tom Pittenger b6196dfa92 Plane: compiler warning in print: float to double promotion 2016-06-13 14:03:40 -07:00
Andrew Tridgell 107691b7a7 Plane: fixed initial descent rate in quadplane auto land 2016-06-11 14:37:44 +10:00
Andrew Tridgell f8e0e91cbd Plane: prepare for 3.6.0 2016-06-11 09:20:05 +10:00
Andrew Tridgell eb8cd13a50 Plane: update release notes for 3.6.0 2016-06-11 09:19:13 +10:00
Andrew Tridgell e05c7b3367 Plane: check if terrain following is enabled in AGL calculation 2016-06-10 17:48:32 +10:00
Andrew Tridgell 19834c12e2 Plane: log start of quadplane transition 2016-06-10 17:48:32 +10:00
Andrew Tridgell 8156b3f7de Plane: fixed quadplane landing transition altitude 2016-06-10 17:48:32 +10:00
Andrew Tridgell 07564aa03f Plane: fixed an attitude control bug in quadplane transition 
The motors would briefly spike at the end of the transition which
could cause a major pitch deviation
 2016-06-10 17:48:32 +10:00
Tom Pittenger 69f29b51d1 Plane: new param Q_VFWD_ALT to disable VFWD motor below this altitude. Also uses rangefinder 2016-06-10 17:48:31 +10:00
Andrew Tridgell 021aebeac0 Plane: check for high ratio of rmsD to rmsP in tuning 2016-06-10 17:48:31 +10:00
Tom Pittenger 65e0e31a7a Plane: parachute low-alt check should not require auto mode to ever be set 2016-06-08 08:15:11 -07:00
Tom Pittenger 204abfd45e Plane: set heartbeat.system_status to Critical for low-battery failsafe events 2016-06-07 17:14:51 -07:00
Tom Pittenger 263931b4b1 Plane: allow manual parachute releases on the ground 2016-06-07 09:02:09 -07:00
Tom Pittenger ef3d17cc4c Plane: parachute code can not rely on is_flying() because it is unreliable in a stalled aircraft 2016-06-07 09:01:29 -07:00
Tom Pittenger 3140ce6ab6 Plane: change MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT gcs msg to remove abbreviations. Hope it fits! 2016-06-07 08:28:35 -07:00
Tom Pittenger bd270720da Plane: whitespace formatting 2016-06-07 08:27:40 -07:00
Michael Day 429e348824 Plane: Can now change current WP alt via mavlink. 
Uses the mavlink msg SET_POSITION_TARGET_GLOBAL_INT
 2016-06-07 08:16:39 -07:00
Tom Pittenger 01e636065d Plane: non-functional: mostly whitespace and removed extra set result statement 2016-06-07 08:11:05 -07:00
Michael Day 2c0f0a04d8 Plane: Only allow speed changes in GUIDED and AUTO modes. 2016-06-07 08:22:44 -04:00
Michael Day cdeef9d692 Plane: Fence breaches can go to RTL mode with new FENCE_ACTION setting. 2016-06-07 15:46:52 +10:00
E Thomas 7d824247af Differential spoilers support, elevon offset 
Fixed differential spoilers support, added elevon offset
See PR #2935
 2016-06-06 21:55:50 -07:00
Michael du Breuil 037a7980d6 Plane: fix calculation of override PWM 2016-06-06 16:23:43 -07:00
Tom Pittenger ee29f38cdf Plane: moved takeoff flap check to NORMAL checks. 
TODP: add new flight stage FLIGHT_PRE_TAKEOFF to put this sort of thing into
 2016-06-06 14:51:24 -07:00
Samuel Rosenstein 296b279f0d Plane: fixed issue with preflight flaps. Flaps now go down in preflight mode 2016-06-06 14:18:44 -07:00
Michael du Breuil 41bb237799 Plane: remove throttle surpressed message 2016-06-06 15:24:18 +10:00
Andrew Tridgell 5a544002cb Plane: fixed memory leak in mixer setup 2016-06-06 15:21:17 +10:00