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11,312 Commits 5 Branches 8 Tags 266 MiB
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5018 Commits

Author SHA1 Message Date
Alessio Morale
c6a82c5d23 OP-1370 - refactors UBX code to use a table of messages and handler instead of neverending switches 2014-08-21 19:34:36 +02:00
Alessio Morale
002c35163a OP-1370 - Add support for mon-ver ack-ack and ack-nak messages for gps hw version detection 2014-08-21 19:34:36 +02:00
Alessio Morale
b6c053565e OP-1434 - use degrees for rotation, fix Calibration gui 2014-08-21 19:34:36 +02:00
Alessio Morale
85be5ba7af OP-1434 - handle mag rotation 2014-08-21 19:34:36 +02:00
Alessio Morale
8df34b01d7 OP-1434 - Fix heapremaining data type 2014-08-21 19:34:36 +02:00
Alessio Morale
0198129a1c OP-1434 - Add 230400 to GPS port speed list 2014-08-21 19:34:36 +02:00
Alessio Morale
ce1e4e728e OP-1434 - Support for mag calibration 2014-08-21 19:34:36 +02:00
Alessio Morale
397bfdc08b OP-1434 - Add support for OP custom sentences on flight board 2014-08-21 19:34:36 +02:00
Alessio Morale
55557ecd60 OP-1434 - Add gps extended status 2014-08-21 19:34:35 +02:00
Alessio Morale
83a3822798 OP-1406 - Reenable mag offset estimation for onboard mag only right now 2014-08-21 19:34:35 +02:00
Alessio Morale
84758a6731 OP-1406 - Always feeds mag data even if invalid 2014-08-21 19:34:35 +02:00
Alessio Morale
e511190ad3 OP-1406 - Improve handling of external magnetometer, add additional settings 2014-08-21 19:34:35 +02:00
Alessio Morale
7abbf5fa5a OP-1406 - Fixes for all other targets 2014-08-21 19:34:35 +02:00
Alessio Morale
cced294760 OP-1406 - Add support for aux mag calibration settings. 
todo:
- GCS handling for extenal mag calibration
 2014-08-21 19:34:35 +02:00
Alessio Morale
9d7a493c26 OP-1406 - Allows filtermag to switch between onboard and aux mag 2014-08-21 19:34:35 +02:00
Alessio Morale
52ad63be33 OP-1406 - Add support for Aux magnetometer on flight controllers 2014-08-21 19:34:35 +02:00
Alessio Morale
bb085ddab9 OP-1452 - Auto enable COMBridge module if a port is configured as ComBridge 2014-08-21 11:43:36 +02:00
Alessio Morale
8940b7a50b OP-1452 - Apply ComBridge port speed change without rebooting 2014-08-21 11:42:29 +02:00
Corvus Corax
4653c77296 OP-1156 removed old pathfollower implementations 2014-08-20 17:00:50 +02:00
Corvus Corax
1540fe0716 OP-1156 cleaned up updateAutoPilotVtol() function 2014-08-20 16:02:48 +02:00
Corvus Corax
70460e593e OP-1156 fixes as suggested per review 2014-08-20 15:29:29 +02:00
Corvus Corax
779eb8d772 OP-1156 placed Werners positionhold speed offset back in place 2014-08-19 23:14:46 +02:00
Corvus Corax
760ae118e9 OP-1156 changed yaw math from interval [0..360] to [-180..180] 2014-08-16 20:48:56 +02:00
Stefan Karlsson
3d8d803c33 OP-922 Fix missing ppm_id to ppm_out_id rename 2014-08-16 16:58:16 +02:00
Stefan Karlsson
4ba9208727 OP-922 Comment out the unused DEBUG variable in rscode 2014-08-16 16:58:16 +02:00
Stefan Karlsson
232d9c10b2 OP-922 Make it explict that matrix_mult_3x3f should be static inline 2014-08-16 16:58:16 +02:00
Stefan Karlsson
34983a2d28 OP-922 Fix typo in pios_tim.c 2014-08-16 16:58:15 +02:00
Stefan Karlsson
22e981ea87 OP-922 Mark PIOS_DEBUG_Panic with attribute noreturn 2014-08-16 16:57:50 +02:00
Corvus Corax
8daa5dfa12 Merge branch 'next' into corvuscorax/OP-1156_pathfollower-unification 2014-08-16 13:58:40 +02:00
Corvus Corax
915c24c8b6 OP-1156 changed PID control loops to use generic pid library, readded unnecessary integral and derivative terms to vtolpathfollower 2014-08-15 21:00:48 +02:00
Corvus Corax
b1675a2804 OP-1156 added vtolpathfollower velocity limits to attitude control 2014-08-15 19:23:41 +02:00
Corvus Corax
b562fcb02e OP-1156 fix path logic to not deviate from correct altitude too much 2014-08-15 17:56:57 +02:00
Alessio Morale
30df5de332 uncrustify 2014-08-13 15:54:52 +02:00
Alessio Morale
5dbbda3adc Merge remote-tracking branch 'origin/amorale/OP-1404_ublox_pvt_support' into next 2014-08-13 15:27:10 +02:00
Alessio Morale
cefc182a5e Merge remote-tracking branch 'origin/amorale/OP-1405_25qXXX_support' into next 2014-08-13 15:25:16 +02:00
Corvus Corax
09e8b38407 OP-1156 fixed EmergencyFlyaway detection algorithm 2014-08-12 19:12:05 +02:00
Corvus Corax
56e4127bca OP-1156: add path_direction as a source for yaw as suggested by Werner :) 2014-08-12 18:18:07 +02:00
Corvus Corax
ea4e7962a6 OP-1156 fixed wrong callback ID assignment for pathfollower callback diagnostics 2014-08-10 21:17:55 +02:00
Corvus Corax
8944419b0f OP-1156 refactored pathfollower - new unified module as delayed callback - compiles but untested 2014-08-10 19:41:40 +02:00
Corvus Corax
a3d18bb578 Merge remote-tracking branch 'origin/D-Lite/PathFollowerImprovements' into corvuscorax/OP-1156_pathfollower-unification 2014-08-10 13:53:52 +02:00
Corvus Corax
ca1923f76f OP-1156: Added new (stub template) pathFollower Module as well as builkd environment changes to compile it instead of old pathfollowers 2014-08-10 12:50:38 +02:00
Stefan Karlsson
454d491e48 Merge branch 'next' into skarlsso/OP-1397_add_responsiveness_to_txpid 
Conflicts:
	ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
	ground/openpilotgcs/src/plugins/config/configtxpidwidget.h
 2014-08-10 10:06:44 +02:00
Alessio Morale
1158c70a46 OP-1404 - minor cleanup, removed some duplicated code 2014-08-09 12:49:21 +02:00
Alessio Morale
2932045e3d OP-1404 Fix NMEA data parsing for GSV 2014-08-09 12:04:25 +02:00
Corvus Corax
c5fae5ee84 Merge branch 'next' into andrecillo/OP-1317_IMU_wind_estimation 2014-08-09 10:43:48 +02:00
Gasté Olivier
dfb21482f4 DSM protocol improvement 
added item in DSM protocol in GCS
 2014-08-08 13:14:39 +02:00
Alessio Morale
a18009e875 OP-1429 Change datatype for elevation and azimuth respectively to int8 and int16. 2014-08-06 12:55:07 +02:00
Alessio Morale
d04d630273 OP-1404 fix include file path 2014-08-05 17:25:28 +02:00
Alessio Morale
23d2368984 OP-1404 Fix nav-pvt.pdop data type 2014-08-05 16:50:38 +02:00
Alessio Morale
ea63def1c8 OP-1404 fix compilation with PIOS_GPS_MINIMAL, fix some copy/pastem madness 2014-08-04 18:17:01 +02:00
Alessio Morale
240eb8e573 OP-1404 - Prevent mixing pvt and other sentence solution data. use PDOP from pvt 2014-08-04 17:56:28 +02:00
Alessio Morale
d3569927a0 OP-1404 fix unit scaling for pvt, use check_msgtracker, 2014-08-04 11:04:35 +02:00
Alessio Morale
6f4b1d5c03 OP-1404 uncrustify 2014-08-03 15:27:30 +02:00
Alessio Morale
c68dd3c00e OP-1404 - PVT will provide SOL+VELNED+POSLLH+Time. DOP will provide all dop values 2014-08-03 15:04:40 +02:00
Alessio Morale
1dd05c24cc OP-1404 - Fix compilation with PIOS_GPS_MINIMAL defined 2014-08-03 12:50:42 +02:00
Alessio Morale
0976fb6e1b OP-1404 - Add support for UBlox PVT sentence 2014-08-03 12:50:21 +02:00
Alessio Morale
a6502518be OP-1405 - Add support for 25qxxx series of flash memories 2014-08-02 23:05:36 +02:00
Alessio Morale
016ba6940d OP-1403 - drop attitude/revolution as it has been supersede by StateEstimation module 2014-08-02 20:48:56 +02:00
Alessio Morale
d856bbdb50 OP-1403 - Update targets 2014-08-02 20:48:48 +02:00
Alessio Morale
6a3cb7b808 OP-1403 - Add support for multiple hmc* devices 2014-08-02 20:48:41 +02:00
Alessio Morale
57a43a5587 OP-1403 - Migrate to new HMC5x83 driver and remove old HMC5883 one 2014-08-02 20:48:34 +02:00
Alessio Morale
2a8429320d OP-1403 - Support HMC5983 temperature sensor/compensation 2014-08-02 20:48:24 +02:00
Alessio Morale
3c1b689224 OP-1403 - Add generic I2C/SPI HMC5x83 mag driver 2014-08-02 20:48:16 +02:00
Alessio Morale
6884e9f378 Merge remote-tracking branch 'origin/amorale/OP-1395_flight_log_enhancements' into next 2014-08-02 20:41:58 +02:00
Stefan Karlsson
7f344da977 OP-1397 Round to instead of floor to uint8_t values in txpid.c 2014-08-01 14:51:39 +02:00
Werner Backes
f29f7fa680 Missing argument for path_endpoint added. 2014-07-31 16:31:16 +02:00
Werner Backes
446415457d Don't limit the path to strictly be between start and endpoint. 2014-07-31 10:56:25 +02:00
Werner Backes
70e34f44cf Revert to the original behaviour of calling "fly_endpoint" if we have a 
zero-length path.
 2014-07-31 10:52:06 +02:00
Werner Backes
9ab6299247 We don't want zero-length path_direction vector. 2014-07-31 10:18:39 +02:00
Stefan Karlsson
a7ee6fa764 OP-1397 Add initial support for rate mode response (deg/s) 2014-07-30 23:49:56 +02:00
Stefan Karlsson
2113e1a2e1 OP-1397 Add initial support for attitude mode response (deg) 2014-07-30 23:48:55 +02:00
Werner Backes
065ba1a0c8 Adds a 3D mode to path_vector. This allows vertical path segments without 
position changes. PathStatus now also contains correction_direction and
path_direction to make path following behaviour more transparent.
 2014-07-29 13:16:47 +02:00
Werner Backes
7da0034775 Improved automatic landing algorithm to better track descend speed. 
Desired descend speed is now a FlightModeSetting.
 2014-07-29 13:16:43 +02:00
Werner Backes
3e2961420d Add a 3D mode to path_endpoint. This allows FlyDirect waypoints to do 
vertical movements without changing position.
 2014-07-29 13:16:39 +02:00
Corvus Corax
5edb2dbae3 Merge branch 'andrecillo/OP-1317_IMU_wind_estimation' into corvuscorax/OP-1317_IMU_wind_estimation 2014-07-26 17:01:03 +02:00
Corvus Corax
5451003a58 Merge branch 'next' into corvuscorax/OP-1317_IMU_wind_estimation 
Conflicts:
	flight/modules/Airspeed/airspeed.c
	flight/modules/Airspeed/gps_airspeed.c
 2014-07-26 16:16:02 +02:00
Alessio Morale
e5b52d46d9 Merge remote-tracking branch 'origin/amorale/OP-1358_add_separate_rotation_calibration_offset_revo_only' into rel-14.06 2014-07-24 23:47:14 +02:00
Corvus Corax
a199fd1cb0 OP-1412 do not dicard mags after init 2014-07-23 22:40:43 +02:00
Andres
7f8e709e17 OP-1317 uncrustify 2014-07-23 08:04:52 +02:00
Andres
e195befc3a OP-1317 removed comments 2014-07-23 08:03:48 +02:00
Andres
d6a93cccaf OP-1317 added M_2PI_F and M_2PI_D constants for 2*pi in pios_math.h 2014-07-23 08:03:12 +02:00
Corvus Corax
95799cf11b OP-1412 delay ekf initialization until magnetometers are reporting valid data 2014-07-22 23:49:41 +02:00
Andres
9589167914 OP-1317 added Butterworth filter code files flight/libraries/math/butterworth.* 2014-07-22 20:05:09 +02:00
Andres
ffabbc577c OP-1317 moved Butterworth filter code into flight/libraries/math/butterworth.* 2014-07-22 20:03:43 +02:00
Alessio Morale
9bee143476 OP-1358 Revo:Implement roll/pitch trim settings separated from "nominal" board rotation settings 2014-07-21 11:01:07 +02:00
Andres
df4d211f8b OP-1317 added a proper initialization of the Butterworth filter values 2014-07-20 16:22:27 +02:00
Andres
d7d20bb10f OP-1317 merge with branch corvuscorax/OP-1317_IMU_wind_estimation 2014-07-20 15:46:35 +02:00
Andres
ddde6d1f5e OP-1317 changed int into int32_t in function Quaternion2PY() 2014-07-20 15:26:05 +02:00
Alessio Morale
62755c4cab unrustify 2014-07-16 20:39:12 +02:00
Alessio Morale
25c54ac16d Merge remote-tracking branch 'origin/laurent/OP-1063_Multi_config_Hexa_fixes' into rel-14.06 2014-07-16 20:07:31 +02:00
Laurent Lalanne
1b447ee644 OP-1063 Multi_config_Hexa_fixes Stupid typo error with OctoX in VtolPathFollower. 2014-07-14 23:29:48 +02:00
Laurent Lalanne
c26e33964a OP-1063 Multi_config_Hexa_fixes Added OctoX, define new mixer table for Octo(p) and OctoX. New motor definition for OctoX (NNE, ENE...) Fixes for svg frames. Defined default settings for OctoP/X in setupwizard (but disabled) 2014-07-13 13:58:18 +02:00
Laurent Lalanne
a46480a99b OP-1063 Multi_config_Hexa_fixes : Added real HexaX, renamed HexaX > HexaH 
Added artwork in config and wizard svg. Cleanup on svg connection diagram (layers)
DO NOT USE until mixers are fixed
 2014-07-10 06:01:28 +02:00
Alessio Morale
6c38eda192 OP-1395 - Reset log num when changing flight num. fix flight num update logic 2014-07-09 23:05:38 +02:00
Alessio Morale
61d26d7fd8 op-1395 - automatically increment flight number after disabling log. 2014-07-09 08:39:32 +02:00
Alessio Morale
03d03cfb06 OP-1395 add a vTaskDelay when waiting for dma transfer to complete when using FreeRTOS. 2014-07-08 02:54:17 +02:00
Alessio Morale
711c3609b6 OP-1395 - Add support for Fast read, explicitly set SPI clock speed to maximum allowed by all parts used 2014-07-08 02:53:25 +02:00
Alessio Morale
55b325966a OP-1395 - Pack several objects on a single Debug Log "slot", after ten consecutive failures (log full) gives up trying to save to prevent wasting time. Use PIOS_Delay for timestamp 2014-07-08 02:47:09 +02:00
rodneygrainger
3aaf1a3367 OP-1391 - Fix to prevent arming if unsafe due to current Thrust Mode (Altitude Hold/Vario) 2014-07-07 20:47:23 +12:00
Alessio Morale
4389f767f3 uncrustify 2014-07-02 23:27:58 +02:00
Corvus Corax
80d3d7c954 OP-1374 hotfix to filtercf on checking of magnetometer calibration fabsf() 2014-06-29 18:36:46 +02:00
Alessio Morale
30491c7992 OP-1374 - Autostart the relevant PathFollower for known frame types 2014-06-29 17:23:57 +02:00
Alessio Morale
3ae85f6434 OP-1374 - Issue a Boot Alarm (reboot) if frame type is changed 2014-06-29 17:23:15 +02:00
Alessio Morale
52a909185b OP-1374 - Add sanitycheck API to detect frame type 2014-06-29 17:22:41 +02:00
Alessio Morale
1b823b7b92 Merge remote-tracking branch 'origin/Bertrand/OP-1308_Set_Same_Logic_To_Alarms' into next 
Conflicts:
	flight/libraries/sanitycheck.c
	flight/modules/StateEstimation/filtermag.c
	flight/modules/System/systemmod.c
 2014-06-26 20:31:27 +02:00
Alessio Morale
4e3a68ac6c uncrustify 2014-06-22 20:34:04 +02:00
Alessio Morale
c6a773363f Merge branch 'amorale/OP-943_add_malloc_for_ccsram' into next 
Conflicts:
	flight/pios/common/pios_adxl345.c
	make/apps-defs.mk
 2014-06-22 19:31:03 +02:00
Alessio Morale
a03ad41bab Merge branch 'amorale/OP-1365_pios_instrumentation' into next 
Conflicts:
	flight/modules/Attitude/attitude.c
 2014-06-22 19:13:46 +02:00
Alessio Morale
263fd64ab5 Merge branch 'amorale/OP-1274_freertos_v8.0.0' into next 2014-06-22 16:06:21 +02:00
Alessio Morale
f30dd414ac Merge branch 'amorale/OP-1227_cc_high_cpu_utilization' into next 2014-06-22 16:06:08 +02:00
Corvus Corax
3f11f4f6b2 OP-1371 fix for hitl: turn of receiver alarm if in gcs control mode (but set warning) 2014-06-18 22:46:44 +02:00
Corvus Corax
f1b7f339b6 OP-1371 setting to disable sanity checks for debugging and testing - will set config alarm to warning if set 2014-06-18 21:39:16 +02:00
Corvus Corax
b40a114a0a OP-1371 treat hitl as nav capable fusion algorithm if positionstate is set by sim 2014-06-18 21:29:55 +02:00
Corvus Corax
7898d507ca drive-by bugfix in #ifdefed code affecting simposix 2014-06-18 20:41:58 +02:00
Corvus Corax
7933f2154c OP-1317 - project 3d airspeed vector unto fuselage vector to get scalar airspeed estimate 2014-06-18 12:44:10 +02:00
Alessio Morale
fa24d21237 OP-1365 fix comments 2014-06-18 02:01:16 +02:00
Alessio Morale
eb5deb3eca OP-1274 Remove unneeded cast from task name in xTaskCreate call 2014-06-18 01:47:43 +02:00
Corvus Corax
3d9f1ca93a OP-1317 changed imu wind estimation to actually estimate wind (and lowpass filter it) 2014-06-17 18:51:26 +02:00
Corvus Corax
205edac762 Merge branch 'next' into corvuscorax/OP-1317_IMU_wind_estimation 2014-06-17 18:14:27 +02:00
Alessio Morale
aa71df2831 OP-943 fix ut_ 2014-06-12 06:53:07 +02:00
Alessio Morale
61f71add4c OP-943 add missing pios_mem.c from previous commit 2014-06-11 23:54:28 +02:00
Alessio Morale
b3b90f1f66 OP-943 inline pios_mem function have issues with simposix. 2014-06-11 22:15:40 +02:00
Alessio Morale
6226aec2a7 OP-943 uses pios_mem API for heap allocation 2014-06-11 22:15:40 +02:00
Alessio Morale
50bef2dc12 OP-943 change make scripts to defines automatically PIOS_TARGET_PROVIDES_FAST_HEAP when available 2014-06-11 22:15:40 +02:00
Alessio Morale
d8f08a7916 OP-943 Add Malloc for "FastHeap" (ccsram) 
- Use a separate mallocs for thread stack and RTOS structures heap
- Add a pios_mem API to be able to use fast ram (CCM) when available
 2014-06-11 22:15:30 +02:00
Alessio Morale
622519b7c2 OP-1365 Flight code instrumentation API: add documentation to pios_instrumentation_helper, uncrustification 2014-06-10 22:13:20 +02:00
Alessio Morale
16cb081f5c OP-1365 Flight code instrumentation API: Sample use of instrumentation in Atittude module. 
When instrumentation is enabled at board level (pios_board.h, enable PIOS_INCLUDE_INSTRUMENTATION) PIOS_INSTRUMENT_MODULE setups the module to be instrumented.
 2014-06-10 21:38:12 +02:00
Alessio Morale
8ba5741f99 OP-1365 Flight code instrumentation API: Add some helper macros to simplify the addition of instrumentation code to a module. 
Note: Look at next commit for an example use case.
 2014-06-10 21:34:33 +02:00
Alessio Morale
698d132f9c OP-1365 Flight code instrumentation API: Changed API to use handlers (opaque pointers) to counter struct instead of an index, fix Search function, create does check if coutner exists and return existing handler 2014-06-10 21:24:28 +02:00
Alessio Morale
07d2e27276 OP-1274: Update to FreeRTOS 8.0.1 2014-06-10 19:42:11 +02:00
Alessio Morale
ee8ffed465 OP-1274: Force 8 bytes alignment for RTOS structures while using 4 bytes alignment for the remaining memory allocation operations to save RAM 2014-06-10 19:10:37 +02:00
Corvus Corax
f89557c045 OP-1287 improved deadband implementation to be jump-free 2014-06-10 09:59:37 +02:00
Alessio Morale
92b48b09ff OP-1227 Fix high CPU usage: remove oversample buffer calculation in several part of pios_adc all over the code. 2014-06-09 19:28:22 +02:00
Alessio Morale
de5aed6864 OP-1227 Fix high CPU usage: Disable Instrumentation 2014-06-09 16:29:53 +02:00
Alessio Morale
8710ff4070 OP-1227 Fix high CPU usage: Some minor to Actuator module. 2014-06-08 22:39:16 +02:00
Alessio Morale
52c1d69c19 OP-1227 Fix high CPU usage: Change gyro oversampling to 46 (400Hz update rate) to lessen the cpu load and jitter due accel rate mismatch 2014-06-08 22:14:06 +02:00
Alessio Morale
7acb0ad385 OP-1227 Fix high CPU usage: Apply missing parenthesis to prevent a fdiv for temp calculatin 2014-06-08 22:02:10 +02:00
Alessio Morale
a9f1d55fea OP-1227 Fix high CPU usage: Optimize Memory usage in ADC driver. 
- performs undersampling in two steps operating with a half buffer at time;
- Skip costly undersampling for Temperature channel;
- some optimizations to the downsample loops;
- apply compiler speed optimization to PIOS_ADC_downsample_data()
 2014-06-08 22:01:05 +02:00
Alessio Morale
843987484b OP-1227 Fix high CPU usage: Avoid several float division in Attitude module, change optimization for attitude estimation function 2014-06-08 21:48:35 +02:00
Alessio Morale
d51b7ce2d4 OP-1227 Fix high CPU usage: Changes to attitude module: 
- changed Expected rate to 500 (it was erroneously defined as 666Hz)
- use the optimized api to fetch accel samples
 2014-06-08 21:47:00 +02:00
Alessio Morale
a0d68c6afb OP-1227 Fix high CPU usage: Reduce Accel rate to 1600Hz, optimize sample reading, explicitly set bus speed 
Note: Counter 0xA3450001 is the time it takes to transfer the requested number of samples
 2014-06-08 21:33:18 +02:00
Alessio Morale
c9d97639b0 OP-1302 Renable Idle Hook in CC/CC3D 2014-06-08 20:33:35 +02:00
Corvus Corax
a19ebfec14 OP-1287 separate stick response setting for vertical and horizontal in PositionVario/AutoCruise modes 2014-06-07 23:06:11 +02:00
Alessio Morale
197d381937 OP-1365 Flight code instrumentation API: Add helper function to track mean period between its calls 2014-06-07 18:11:34 +02:00
Alessio Morale
eb35803b5b OP-1365 Flight code instrumentation API: Add support for Revolution 2014-06-07 17:44:27 +02:00
Alessio Morale
11d0bbf5f8 OP-1365 Flight code instrumentation API: Use systemMod to publish counters 2014-06-07 17:43:36 +02:00
Alessio Morale
e8a3706351 OP-1365 Flight code instrumentation API: Fix wrapper not publishing last counter 2014-06-07 17:33:37 +02:00
Corvus Corax
c3d20e72b9 OP-1287 made velocity calculation implicit in pathfollower based on distance only 2014-06-07 16:30:39 +02:00
Corvus Corax
8f9b5b2282 OP-1287 fix to lower speed limit in autocruise do not allow absolute zero speed to not loose direction 2014-06-07 16:16:55 +02:00
Corvus Corax
090db92e8a OP-1287 removed waypoint start position from positionvario logic in favor of static variable 2014-06-07 16:07:20 +02:00