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615 Commits

Author SHA1 Message Date
Andrew Tridgell b4134de550 APM: ensure fence_total is positive 
thanks to David Buzz for the suggestion
 2012-08-24 14:56:46 +10:00
Andrew Tridgell c35530c362 APM: fixed wheeled takeoff with Jons new controllers 2012-08-22 17:34:01 +10:00
Andrew Tridgell c730d9072e APM: prepare for ArduPlane 2.60 2012-08-22 16:28:38 +10:00
Andrew Tridgell 2d8f99433c APM: removed factor of 0.5 in non-airspeed takeoff pitch 
this limited the pitch far below the specified target pitch
 2012-08-22 16:28:38 +10:00
Andrew Tridgell 4668f8b7db APM: ensure takeoff_complete is reset 2012-08-22 16:17:55 +10:00
Andrew Tridgell 95c941664f APM: fixed bug in do_jump() navigation 
this avoids a problem where the jump can cause the next command to be
reset to 0
 2012-08-22 15:29:46 +10:00
Andrew Tridgell 6ab2a861f7 APM: added RSSI to RC_CHANNELS_RAW as well 
and prevent double read
 2012-08-22 13:58:25 +10:00
Andrew Tridgell 2d5bb7c51b APM: added RSSI in raw message too 2012-08-22 13:48:09 +10:00
Andrew Tridgell c0c0b8c976 APM: added RECEIVER_RSSI_PIN option 
this allows for the receiver RSSI to be sent over MAVLink

Thanks to Burt Green for the suggestion
 2012-08-22 13:33:12 +10:00
Andrew Tridgell d445482ace APM: added optional use of new APM_Control library 
thanks to Jon Challinger for the new controllers!
 2012-08-22 12:45:14 +10:00
Andrew Tridgell 9e926eae51 APM: optional build with new controller libs 2012-08-22 12:39:07 +10:00
uncrustify 70048f3d6f uncrustify ArduPlane/Parameters.h 2012-08-21 19:19:51 -07:00
uncrustify 3bee769405 uncrustify ArduPlane/config.h 2012-08-21 19:19:51 -07:00
uncrustify d0ed723c1e uncrustify ArduPlane/planner.pde 2012-08-21 19:19:51 -07:00
uncrustify a8e5900624 uncrustify ArduPlane/system.pde 2012-08-21 19:19:51 -07:00
uncrustify 8c2d604971 uncrustify ArduPlane/test.pde 2012-08-21 19:19:51 -07:00
uncrustify d504ae680a uncrustify ArduPlane/setup.pde 2012-08-21 19:19:51 -07:00
uncrustify f7b8fecad9 uncrustify ArduPlane/GCS_Mavlink.pde 2012-08-21 19:19:51 -07:00
uncrustify 0e8a76ccdd uncrustify ArduPlane/ArduPlane.pde 2012-08-21 19:19:51 -07:00
uncrustify ff4afa767b uncrustify ArduPlane/commands.pde 2012-08-21 19:19:51 -07:00
uncrustify 43991712be uncrustify ArduPlane/radio.pde 2012-08-21 19:19:50 -07:00
uncrustify d5767ef817 uncrustify ArduPlane/Attitude.pde 2012-08-21 19:19:50 -07:00
uncrustify 0f415bbc6a uncrustify ArduPlane/Parameters.pde 2012-08-21 19:19:50 -07:00
uncrustify 39ab309b87 uncrustify ArduPlane/Log.pde 2012-08-21 19:19:50 -07:00
uncrustify b960619195 uncrustify ArduPlane/defines.h 2012-08-21 18:59:05 -07:00
uncrustify 2c56e5c690 uncrustify ArduPlane/APM_Config.h 2012-08-21 18:59:05 -07:00
uncrustify bd0146f776 uncrustify ArduPlane/GCS.h 2012-08-21 18:58:53 -07:00
uncrustify 5267ea6aad uncrustify ArduPlane/sensors.pde 2012-08-21 18:58:40 -07:00
uncrustify e212c152f7 uncrustify ArduPlane/geofence.pde 2012-08-21 18:58:31 -07:00
uncrustify 326ca1b7cd uncrustify ArduPlane/failsafe.pde 2012-08-21 18:58:24 -07:00
uncrustify 4e795d4f1e uncrustify ArduPlane/commands_process.pde 2012-08-21 18:58:17 -07:00
uncrustify 909e39d667 uncrustify ArduPlane/navigation.pde 2012-08-21 18:58:17 -07:00
uncrustify 4793162a9d uncrustify ArduPlane/commands_logic.pde 2012-08-21 18:58:11 -07:00
uncrustify 9b133019b3 uncrustify ArduPlane/events.pde 2012-08-21 18:57:59 -07:00
uncrustify 0683be294b uncrustify ArduPlane/climb_rate.pde 2012-08-21 18:57:21 -07:00
uncrustify c69772388b uncrustify ArduPlane/control_modes.pde 2012-08-21 18:57:21 -07:00
Andrew Tridgell 343f7d2de0 APM: removed DMP support from ArduPlane 
Without centripetal correction the DMP code will almost certainly
crash a plane
 2012-08-22 11:46:35 +10:00
Andrew Tridgell 6d11940ada AHRS: removed Quaternion build support from APM/ACM/rover 2012-08-22 10:42:21 +10:00
Andrew Tridgell bf2319a0fc AHRS: fixed reference to AHRS var_info for APM and ACM 2012-08-21 15:58:32 +10:00
Andrew Tridgell c5b77f3909 APM: reset steering PID integrator in reset_I() 2012-08-21 15:01:01 +10:00
rmackay9 11e946eb54 ArduCopter, ArduPilot: revert mavlink delay callback to be "unsigned long" 2012-08-18 20:34:41 +09:00
rmackay9 360c1198a6 ArduPlane: more "int" to "int16_t" and added cast to (int) in printf statements. 
Also modified dump_log function's last_log_num to be int16_t which matches return type from DataFlash's find_last_log method.
 2012-08-18 18:55:14 +09:00
rmackay9 6d489947cf ArduPlane: replaced many "int" with "int16_t", "long" with "int32_t" 2012-08-18 18:26:13 +09:00
rmackay9 9773c8ce93 ArduPlane: commented out two unused variables to remove compiler warning 2012-08-18 13:20:34 +09:00
Andrew Tridgell 0868bb76e5 APM: fixed SITL build 2012-08-17 16:28:45 +10:00
Andrew Tridgell 5e690d5680 APM: added parameter FBWB_ELEV_REV 
this fixes issue 343
 2012-08-17 15:04:53 +10:00
Andrew Tridgell 6300fa7399 math: more abs() fixes 
abs() is 16 bit
 2012-08-16 15:17:42 +10:00
Andrew Tridgell 034fb5b194 APM: fixed hil build 2012-08-16 12:53:37 +10:00
Andrew Tridgell d27e51f20a APM: allow telemetry send during parameter and waypoint fetch 
this slows down telemetry by a factor of 4 during parameter or
waypoint transmit. That ensures that mode changes and gps position are
still updated during a long parameter fetch
 2012-08-16 10:50:12 +10:00
Andrew Tridgell ed064b2506 MAVLink: enable fetching of single parameters 
this makes it possible for the GCS to fetch a single parameter by
name, which is useful for parameters that change in flight
 2012-08-16 10:14:46 +10:00
Andrew Tridgell c960db7af5 APM: allow for separate calibration of airspeed/barometer 
this is useful just before takeoff, to account for temperature changes
 2012-08-15 19:49:09 +10:00
Andrew Tridgell ad73c229ab APM: added LAND_FLARE_ALT and LAND_FLARE_SEC 
these allow you to configure the altitude and time before touchdown to
flare the plane and lock the heading. Useful on larger planes.
 2012-08-15 18:11:16 +10:00
Andrew Tridgell 1252ddfe0c APM: rename RDRSTEER to WHEELSTEER 
thanks to Jon for the suggestion
 2012-08-15 16:28:59 +10:00
Andrew Tridgell ffbd229841 APM: use AHRS position for geo-fence 
this allows it to take account of dead-reckoning
 2012-08-15 14:31:10 +10:00
Andrew Tridgell df3c8a5bc0 APM: when land_complete is true, use land_pitch 
this gives a flare on final landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 2d7fcbd14b APM: reload airspeed and throttle after landing 
this allows for restarting a mission after landing with reasonable
airspeed values
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 47be6d8ad1 AP_Airspeed: remove airspeed filter and run at 10Hz 
this saves on the filter memory, and gives just as good a result
 2012-08-15 12:39:35 +10:00
Andrew Tridgell e26e8b3b67 APM: added RDRSTEER_ PID for steering on ground 
this allows for rolling takeoff with steering, and use of rudder in
landing
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 52064772ee APM: report speed changes via MAVLink 2012-08-15 12:39:35 +10:00
Andrew Tridgell 817017658d APM: implement FENCE_ACTION_REPORT 
when FENCE_ACTION is set to FENCE_ACTION_REPORT a fence breach is
reported, but the flight mode is not changed
 2012-08-15 12:39:35 +10:00
Andrew Tridgell 8cb55eb75a APM: keep the time of the last heartbeat message 
this will be used for failsafe processing
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 0584017aff APM: expose change_command() and geofence_breached() to libraries 
this makes a failsafe library easier
 2012-08-15 12:39:34 +10:00
Andrew Tridgell ff6301fb46 APM: show waypoint number in jump message 2012-08-15 12:39:34 +10:00
Andrew Tridgell 92bdc23ab6 APM: minor formatting fix 2012-08-15 12:39:34 +10:00
Andrew Tridgell 2865434d02 APM: added 'OBC' failsafe module for ArduPlane 
this adds FS_* parameters for setting up APM to follow the outback
challenge failsafe rules.

This includes:

 - manual pin
 - heartbeat pin
 - waypoint for heartbeat failure
 - waypoint for GPS failure
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 5631b90222 APM: interpret zero lat/lng as being current location 
this makes it easy to have a "loiter in current position" mission
element
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 93f1d5645b APM: fixed LOITER_TIME and LOITER_TURNS 
These now follow the mavlink spec. Loiter time is in seconds, and
loiter turns is now 32 bit angle, so can handle larger numbers of
turns.
 2012-08-15 12:39:34 +10:00
Andrew Tridgell 3bdc7d41be INS: disable INS AP_Param table when not on APM1 hardware 
this could cause overwriting of memory with default values
 2012-08-11 22:06:03 +10:00
Andrew Tridgell c31eef59ae Mavlink: log wind estimation result 2012-08-11 22:06:03 +10:00
Andrew Tridgell d9b09d2c93 APM: allow for navigation by dead-reckoning 
we now ask AHRS if we have a position estimate, and use that if
available
 2012-08-11 12:01:08 +10:00
Andrew Tridgell 9fea3e3ac1 APM: pass airspeed sensor to AHRS 2012-08-11 08:57:44 +10:00
Andrew Tridgell 0ffc89d512 APM: support the MISSION_WRITE_PARTIAL_LIST command 
this allows missions to be partially updated in flight
 2012-08-09 17:13:36 +10:00
Andrew Tridgell dc47074dbd MAVLink: removed the need for Mavlink_compat.h 
we have now fully transitioned to MAVLink 1.0, so we no longer need
the compatibility layer and the old names in the code
 2012-08-09 12:22:46 +10:00
Andrew Tridgell 2a7b298bbc MAVLink: moved mavlink variables back to library 
these were moved to the main sketches to allow for compile time
selection of MAVLink 0.9 vs 1.0. We no longer support 0.9, so we can
move it back, which simplifies some test sketches
 2012-08-09 12:06:21 +10:00
Andrew Tridgell 5498d347f3 APM: Added RST_MISSION_CH option 
this allows a pilot to reset the mission using a transmitter
switch. Very useful for repeating a mission during testing
 2012-08-09 10:33:16 +10:00
Andrew Tridgell e2c8ec2c9e APM: removed THROTTLE_REVERSE option 
Better to use RC3_REV
 2012-08-09 10:04:44 +10:00
Andrew Tridgell e133900c68 APM: Added STICK_MIXING option 
this replaces the compile time option. Disabling during long distance
flights when the transmitter may be out of range is useful.
 2012-08-09 08:53:29 +10:00
Amilcar Lucas d34549f386 Add an optional second mount to ArduPlane and ArduCopter 2012-08-08 23:22:24 +02:00
Andrew Tridgell dc99586981 APM: removed pointless load() call 2012-08-08 16:51:23 +10:00
Andrew Tridgell dcc50b5705 AP_Airspeed: removed values passed to constructor 2012-08-08 16:38:39 +10:00
Andrew Tridgell 2114acddf1 APM: fixed default flap speed 
the default of 255 translates to -1 as a AP_Int8, so use zero to mean
no flaps
 2012-08-08 13:04:21 +10:00
Andrew Tridgell 5bfd1200d6 APM: change variables to use _cm, _cd and _ms suffix for units 
this makes it less likely that we mix up units
 2012-08-08 12:12:30 +10:00
Andrew Tridgell a823c9ceae APM: removed cli slider and dipswitch options 
use mavlink/eeprom for all config
 2012-08-08 12:12:29 +10:00
Andrew Tridgell 12cd6b68ff AP_Param: update ArduPlane core for new AP_Param interface 2012-08-08 12:11:57 +10:00
Jonathan Challinger 7815e3d810 APM: fixed rounding of altitude 
the cast was rounding to the nearest meter
 2012-08-08 12:07:35 +10:00
Amilcar Lucas f14237126a Add me :) 2012-08-06 00:40:12 +02:00
Amilcar Lucas b8c7b8a786 RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls. 2012-08-05 23:08:31 +02:00
Amilcar Lucas 9c1ac2d9e6 More work on ch9, 10 and 11 2012-08-04 19:44:41 +02:00
Amilcar Lucas 95f2af6d2d Implement set ROI 2012-08-04 18:44:29 +02:00
Amilcar Lucas 4ba847c449 The mount type must be updated periodically 2012-08-04 18:44:08 +02:00
Amilcar Lucas bbc4bdb729 More flexible RC support 2012-08-04 18:39:20 +02:00
Amilcar Lucas 50b5d33745 Enable camera triggering by default 2012-08-04 16:32:47 +02:00
Amilcar Lucas 82b82283be ATmega1280 does not have enough memory for mount support so disable AUTO GPS support, to allow mount support to fit. 
This should almost have no side effects, because the most users use MTK anyways.
If the user defined a GPS protocol, than we will NOT overwrite it
 2012-08-04 16:32:20 +02:00
Andrew Tridgell 301ab00c5b APM: added control switch debouncer 
this adds a switch debouncer, similar to the one used in
ArduCopter. I'm adding this after a flight on the weekend where noise
on the control mode channel caused a mode change away from auto.

To prevent this change adding excessive mode switch latency, it also
moves the reading of the control switch to the 10Hz loop, away from
the 3.3Hz loop. That gives us 0.2s delay in mode switch changes and
allows for spikes in the control mode for 0.1 seconds without changing
mode.
 2012-08-01 13:59:37 +10:00
rmackay9 176e6fdd68 ArduPlane: bug fix to global var_info parameter list for ahrs object. 2012-08-01 10:52:34 +09:00
Andrew Tridgell 0b49ac0ed0 APM: fixed overflow in geofence code for altitudes above 327 meters 2012-07-31 15:46:47 +10:00
Andrew Tridgell cb61c3be96 APM: fixed case of 'LAND_PITCH_CD' 
mavlink parameters are uppercase by convention
 2012-07-29 17:07:38 +10:00
rmackay9 06e35820e5 ArduPlane: allow MPU6000's DMP to be used for attitude estimation. 
Enable by adding this line to APM_Config.h:
#define DMP_ENABLED ENABLED
 2012-07-28 19:50:40 +09:00
rmackay9 842ce47219 ArduPlane: change to Parameters.pde to support moving var_info from AP_AHRS to AP_AHRS_DCM 2012-07-28 14:31:01 +09:00
Michael Oborne cb0eacca37 AP Fix Hil Airspeed calc in m/s 2012-07-26 20:21:17 +08:00
Andrew Tridgell 9eb05a2e1a APM: update version for 2.50 release 2012-07-26 11:36:17 +10:00
Andrew Tridgell 6bcfe913f7 APM: added a SCALING_SPEED parameter 
this allows users to adjust the base speed used for scaling roll/pitch
PIDs. This can be used to make PIDs work for both airspeed and
non-airspeed control
 2012-07-26 11:30:23 +10:00
Andrew Tridgell 3c2fc72654 APM: fixed HIL build 2012-07-26 10:09:07 +10:00
Andrew Tridgell 07992bc943 APM: fixed build 
the SET_ROI commands are not supported yet
 2012-07-26 10:03:36 +10:00
Andrew Tridgell 7e697e4abd APM: switch back to old nav_roll calculation 
the old nav_roll will be used for the 2.50 release to prevent the need
for re-tuning. For the release after that we will use the new
calculation
 2012-07-26 10:03:36 +10:00
Michael Oborne 39ad8b5eec AP fix sitl hil attitude mode. 2012-07-24 07:18:25 +08:00
Andrew Tridgell 9e72d4c3f4 APM: fixed a problem with wayoints completing early 
when a user forces a waypoint jump, we may need to reset prev_WP to
prevent us thinking the waypoint is complete before we have started
 2012-07-21 20:32:07 +10:00
Andrew Tridgell 85465c9126 MAVLink: fixed another two places where micros() was used for a millisecond time 2012-07-20 11:57:15 +10:00
Jason Short 98237a0e00 Added Oilpan INS group object param 2012-07-18 23:07:50 -07:00
Jason Short e574f3c8cf Arduplane: Fixed unsigned int comparison warning 2012-07-18 23:07:34 -07:00
Jeff Taylor d02655ac56 APM: Fixed bug where landing_pitch wasnt initialized properly 
this adds a new LAND_PITCH_CD parameter to control the landing pitch
when an airspeed sensor is not being used
 2012-07-19 13:59:30 +10:00
Andrew Tridgell d6e370886f APM: rename airspeed_cruise to airspeed_cruise_cm to make the units clearer 
it is in cm/s, not m/s
 2012-07-19 11:50:41 +10:00
Andrew Tridgell 1cf5057c61 APM: Use g.airspeed_cruise for turn rate calculation if the airspeed sensor is disabled. 
This gives our best approximation for auto flight
 2012-07-19 11:50:41 +10:00
Jonathan Challinger c7da63509b APM: Removed unused YAW_DAMPENER code. 
YAW_DAMPENER was defined as zero
 2012-07-19 11:50:21 +10:00
Jonathan Challinger d9d055ef78 APM: Removed incorrect nav_gain_scaler from nav_roll calculation. 
nav_gain_scaler was originally added due to a perceived improvement in
loiter performance, but is incorrect for navigation. Turn rate is a
function of airspeed and bank angle, ground speed has no effect on
that.
 2012-07-19 11:50:06 +10:00
Amilcar Lucas 3d385c0fb4 ArduPlane parameters: re-order the files, looks like the second file gets ignored :( 2012-07-18 22:52:17 +02:00
Amilcar Lucas 8a8e11fa7f ArduPlane parameters: Add base class info as well 2012-07-18 22:39:49 +02:00
Amilcar Lucas 610fdeacc1 Support up to 11 servos in APM2 
Conflicts:

	ArduPlane/ArduPlane.pde
 2012-07-18 22:01:19 +02:00
Michael Oborne 636fcadde4 fix rc libray param gen 2012-07-18 07:03:39 +08:00
Jonathan Challinger fc4f111d15 Changed mavlink GLOBAL_POSITION_INT.relative_alt message to correctly return altitude above ground. 2012-07-17 16:15:11 +10:00
Andrew Tridgell de3c9ce56d Airspeed: change APM to use new AP_Airspeed library 
the next step is AHRS dead reckoning
 2012-07-16 11:21:50 +10:00
Michael Oborne 67ecaa9252 AP fix duplicate keys in param config 2012-07-13 07:06:01 +08:00
Amilcar Lucas dfe0983e1e Merge the changes from APM_Camera branch into ArduCopter 
Conflicts:

	ArduCopter/Camera.pde
	ArduCopter/Parameters.pde
 2012-07-11 00:39:13 +02:00
Andrew Tridgell c80a88766f APM: added credit for FBW altitude limit code 
thanks Yuri!
 2012-07-10 08:36:50 +10:00
Andreas M. Antonopoulos de64c05f8e param_parser: cosmetic 
Arduplane: doc fixes
 2012-07-08 21:45:26 -07:00
Andrew Tridgell 78c51b945f APM: fixed DisplayName/Description mixups in parameter docs 2012-07-07 17:40:43 +10:00
Andrew Tridgell f6d7d1bc59 APM: changed PID library to do automatic deltat calculation 
this fixes a problem with the HDNG2RLL PID, which was using the wrong
time base and prevents similar bugs from happening in the future
 2012-07-06 19:59:18 +10:00
Andrew Tridgell 58fd91165f APM: fixed some build warnings and type errors 2012-07-06 19:59:18 +10:00
Andrew Tridgell 5abd26a142 APM: more parameter documentation 2012-07-05 15:06:45 +10:00
Andrew Tridgell 21f06f8a39 GeoFence: fixed default return altitude units 
off by 100x!
 2012-07-05 15:06:44 +10:00
Andrew Tridgell 0385932afb MAVLink: added climb rate reporting 2012-07-05 13:00:46 +10:00
Andrew Tridgell 95d9569b35 Docs: fixed some units in APM parameter docs 2012-07-05 13:00:46 +10:00
Andrew Tridgell 60caaa4b04 MAVLink: remove MAVLink 0.9 protocol support 
this simplifies the code a lot. We're not going back to 1.0
 2012-07-05 13:00:46 +10:00
Andrew Tridgell fb66899414 APM: changed test for having completed a waypoint 
the new test is that we have passed a "finish line" perpendicular to
the track between the last waypoint and the current waypoint.

The previous tests are also still used, so if we circle a waypoint or
get within the waypoint radius we also consider it completed
 2012-07-04 12:42:46 +10:00
Andrew Tridgell 6ee9f1ae97 APM: use new location functions 2012-07-04 12:42:46 +10:00
Andrew Tridgell 99b11e4f19 Mount: enable mount control via eeprom parameters 
this enables MNT_* parameter control of the camera mount code. It also
fixes the conversion of calculated angles between degrees and
integers, and fixes stabilised mount control when yaw control is not
available.
 2012-07-03 10:21:01 +10:00
Michael Oborne b2d73d8f68 fixup sitl attribute group for planner. - causing invalid advanced/standard views 2012-07-01 21:43:32 +08:00
Andrew Tridgell 82ede937e7 AnalogSource: convert analogRead() calls to the new API 
this should give us much better analog values, plus save a bunch of
CPU time
 2012-07-01 15:01:05 +10:00
Andrew Tridgell 55092c25a6 SITL: enable the SIM_* parameters in ArduCopter and ArduPlane 2012-06-29 15:10:52 +10:00
Andrew Tridgell 5bccfbd94c Barometer: fixed airstart for APM 
we need to re-load the ground pressure and temperature from eeprom on
and airstart
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 3a2594fa1a APM: ArduPlane updates for new compass interface 2012-06-27 16:01:50 +10:00
Andrew Tridgell 6639294c72 APM: update for new barometer interface 
the barometer can now calibrate and return altitude values.

A 0.3 low pass filter is used on altitude to match the previous code
 2012-06-27 16:01:50 +10:00
Andrew Tridgell 2934b4173b APM: set_centripetal() is now set_fly_forward() 
this controls more than just centripetal correction
 2012-06-27 16:01:49 +10:00
rmackay9 621e020dac ArduPlane HIL: fixed bug so g_gps->setHil calls send time as a uint32_t (was sending a float but was cast back to an uint32_t resulting in a meaningless time that never changed). 2012-06-26 22:59:24 +09:00
Amilcar Lucas b072a59843 Improve parameters descriptive text 2012-06-21 00:20:37 +02:00
Andrew Tridgell 4a50686c3e APM: prepare for 2.40 release 2012-06-16 10:11:26 +10:00
Andrew Tridgell 58379b928f MAVLink: make usage of MAVLink defines more consistent 2012-06-15 16:27:11 +10:00
Andrew Tridgell 619bcc00d9 APM: parameter enums should not be conditionally compiled 2012-06-15 11:57:00 +10:00
Andrew Tridgell 0900751bcd APM: added longer comment on k_format_version 2012-06-15 11:55:09 +10:00
Amilcar Lucas 6d2ac62006 Let's keep the same format version until CAMERA is activated by default 2012-06-13 21:28:13 +02:00