                                                                  -*-*- END -*-*-
 2003/09/03 - Thomas Bretz
 
   * aposs/Magic.m:
     - updated to V0.69



 2003/07/16 - Thomas Bretz (La Palma)

   * bending_magic.txt:
     - new bending correction. Calculated from new stars and
       recalculated old ones (old positions where wrong due
       to a bug in the observatory coordinates)
       
   * catalog/Slalib.[h,cc]:
     - fixed a bug in the Hms2Deg and Dms2Deg (negative hours, degs
       where treated incorrect!)
     - added many new conversion functions
     
   * devdrv/macs.[h,cc]:
     - commented SetHome
     
   * gui/MGCosy.[h,cc]:
     - implemented button to write prepos
     - implemented star list
     
   * gui/MGSkyPosition.cc:
     - changed calculation of h,m,s etc to new Slalib functions
     
   * main/MCaos.cc:
     - changed detection limit from 4.0 to 3.0


     
 2003/07/15 - Thomas Bretz (La Palma)

   * leds.txt:
     - new configuration file
     
   * main/MCaos.[h,cc]:
     - added

   * main/MStarguider.[h,cc]:
     - added
     
   * videodev/PixGetter.[h,cc]:
     - added
     
   * videodev/FilterLed.[h,cc]:
     - added
     - highly optimized for speed!
     
   * Makefile.conf.linux:
     - added -O5 optimization option
     
   * bending_magic.txt:
     - changed to newly determined bending correction
     
   * cosy.cc:
     - included starguider
     - do not overwrite log file
     - added EXPERT mode
     
   * starg.cc:
     - changed from MGStarguider to MStarguider
     - simplified by use of PixGetter

   * aposs/Manual.m:
     - removed a wrong character
     
   * base/coord.h:
     - changed operator<<
     
   * base/timer.[h,cc]:
     - const argument for copy constructor
     - added operator<<

   * candrv/network.[h,cc], candrv/nodedrv.[h,cc]:
     - added data argument to HandleSDOOK
     
   * candrv/vmodican.cc:
     - return from constructor if Module not found
     
   * caos/Led.[h,cc]:
     - included TROOT
     - formated Print-output
     - Initialize fDx, fDy and fDphi
     - added AddOffset
     
   * caos/Leds.[h,cc]:
     - added Add
     
   * caos/Ring.[h,cc]:
     - added constructor
     - use hypot
     - devide by n instead of n-1
     - formated Print-output

   * caos/Rings.[h,cc]:
     - Do not calculated Center for less than 5 rings
     - included Radius filter
     
   * catalog/StarCatalog.cc:
     - Do not output Alt/Az, fAzCnt, fAltMin, etc.
     
   * devdrv/macs.[h,cc]:
     - added data argument to HandleSDOOK
     - implemented StartNode() and check for initialization
     - changed minimum MACS software version to 0.69
     - moved SetNoWait to the MACS software
     - removed StopMotor
     
   * devdrv/shaftencoder.[h,cc]:
     - initialize all values to 0

   * gui/GuiLinkDef.h:
     - removed MGStarguider
     
   * gui/MGAccuracy.cc:
     - small change
     
   * gui/MGCosy.[h,cc]:
     - added moving in Zd/Az by buttons while tracking (Experts only)
     - some changes to the menu bar
     - removed displaying offsets
     - changed EXPERT mode

   * gui/MGEmbeddedCanvas.[h,cc]:
     - changed range argument in constructor to double (problems
       with the optimization - strange!)

   * gui/MGImage.[h,cc]:
     - switched from my own code completely to tVirtualX code
       + requires root 3.05./05!
     - highly optimized for speed!
     - at the moment only 32 bit screen depth is supported!
     
   * gui/MGSkyPosition.[h,cc]:
     - fixed position of vega
     - added new bright star
     - cut displaying position into two. \n not supported by
       root 3.05/05
     
   * gui/MGVelocity.[h,cc]:
     - removed displaying numbers
     
   * gui/Makefile:
     - removed MGStarguider
     
   * main/MCosy.[h,cc]:
     - added output of time when tracking is started or stopped
     - added output of time when slewing is started or stopped
     - removed sign changing limits in LimitSpeed
     - changed EXPERT mode
     - added MStarguider support
     - fixed Calc-Alt/Az
     - added GetPointingPos     
     - removed fOffset from Update
     
   * main/MainLinkDef.h, main/Makefile:
     - added MStarguider

   * main/MStarguider.[h,cc]:
     - added
     
   * tpoint/tpointfit.C:
     - fixed reading of data
     - removed absolute path

   * videodev/Camera.[h,cc]:
     - small simplification
     - derived from new PixGetter
     
   * videodev/CaosFilter.[h,cc], videodev/Filter.[h,cc]:
     - optimized, but not used anymore, will be removed soon
     
   * videodev/Makefile, videodev/VideodevLinkDef.h:
     - added PixGetter to Makefile
     - removed Filter
     - removed Filter2
     - removed CaosFilter
     - added FilterLed
     
   * videodev/PngReader.h:
     - derived from PixGetter


     
 2003/05/05 - Thomas Bretz

   * gui/MGCosy.[h,cc]:
     - exchanged TGListBox for logging by TGTextView



 2003/04/28 - Thomas Bretz

   * .cosyrc_magic:
     - removed Time2ReachHome
     - changed Gear Ratio
   
   * bending_magic.txt:
     - added bening model calculated in March
     
   * cosy.cc:
     - added disable output to screen

   * prepos_magic.txt:
     - made positions fit the present bending model
   
   * candrv/nodedrv.[h,cc]:
     - added posibility to implement fake guarding (eg. check a 
       PDO frequence)

   * devdrv/macs.cc:
     - added HandleNodeguard to handling of PDO
   
   * main/MCosy.[h,cc]:
     - GetSePos declared const
     - AlignTrackingPos declared const
     - define EXPERT
     - implemented EXPERT mode
     - implemented Gear while positioning for Elevation axes
     - fixed some bugs in LimitSpeed - to be chacked again!
     - implemented preliminary version of starguider
     - some small changes to the tracking
     - changed default end positions
     - fixed display of fZdAzSoll and fTrackingError
   
   * videodev/Filter.cc:
     fixed dealing with values above max and below min when stretching



 2003/04/13 - Thomas Bretz

   * base/timer.cc:
     - added cast to _suseconds_t
   
   * candrv/nodedrv.cc:
     - set starting timeout
   
   * devdrv/macs.cc:
     - after requsting error[0] check Zombie-status
     - Software version 0.66 --> 0.68
     - added all known MACS error messages

   * gui/MGStarguider.cc, videodev/Filter.[h,cc]:
     - added stretching of the picture



 2003/04/12 - Thomas Bretz

   * prepos_magic.txt:
     - added
     
   * bend.cc: 
     - added

   * Makefile:
     - bend added
     
   * bending_magic.txt:
     - new bending

   * cosy.cc:
     - fixed typo
     - disable console output
     
   * testse.cc:
     - accept commandline options
     
   * base/MThread.cc, base/msgqueue.cc:
     - added DEBUG-stuff
   
   * candrv/network.cc:
     - fixed wrong handling of SDO messages with less than 4 bytes
     
   * candrv/nodedrv.cc:
     - do not switch timer off if it isn't switched on
   
   * candrv/vmodican.cc:
     - added EXPERT mode
   
   * catalog/SlaStars.h:
     - added CalcAltAz/ZdAz with mjd
   
   * catalog/StarCatalog.[h,cc]:
     - included rotation angle
   
   * devdrv/macs.cc:
     - added request for present error code
     - added #71 error message
     
   * devdrv/shaftencoder.[h,cc]:
     - fixes to support multiturn encoders correctly
     - removed velocity and acceleration from gui

   * gui/MGAccuracy.cc:
     - mega mini change
   
   * gui/MGCosy.[h,cc]:
     - added EXPERT mode
     - added TrackPos
     - removed shaftencoder label for velocity and acceleration
     - commented out MAC3
     - fixed reading of predefined positions
     - commented out everything related to the demo mode
     - changed some displayed text

   * gui/MGStarguider.[h,cc]:
     - added support for rotation angle
     
   * main/MBending.h:
     - added constructor with filename

   * main/MCosy.[h,cc]:
     - for gear display both axis
     - some more output in WaitForEndMovement
     - added CheckRange
     - added AlignTrackingPos
     - changed timing in tracking procedure from 3s/50ms to 5s/1s
     - added TrackPos
     - replaced some code by AlignTrackingPos
     - commented out CALIB and PRESET

   * slalib/oapqk.c:
     - fixed a bug checking validity of arguments for atan2

   * videodev/Writer.cc:
     - fixed names



 2003/03/31 - Daniela Dorner:
 
   * caos/Ring.cc: 
    - fixed a small bug
   
   

 2003/03/12 - Daniela Dorner, Thomas Bretz:

   * MStarguider.[h,cc], Starguider.[h,cc]:
     - removed

   * gui/MGPngReader.[h,cc]:
     - moved code to MGStarguider.[h,cc]
     - removed

   * gui/Makefile, gui/GuiLinkDef.h:
     - updated

   * gui/MGPngReader.cc, gui/MGStarguider.cc, videodev/Writer.[h,cc]:
     - changed output file names to contain mjd
     - fixed a cast warning

   * main/MCosy.[h,cc]:
     - Do not change acceleration and deceleration for positioning
       (SetPosVelocity)
     - some output if WintForEnDMovement aborted
     - some output to correct for the elevation gear asymmetry
     - changed handling of acceleration and velocity
     - changed velocities
     - call StopMovement only if positioning failed
     - changed acceleration/deceleration from 0.9 to 0.2 in
       InitTracking
     - added some workarounds to be able to reach 290deg
     - changed control time in tracking from 1 to 3 sec
     - added a flag to SetPosition indicating tracking mode 
       (not yet used)
     - added some workarounds to be able to track 290deg
     - changed deceleration from 0.5 to 0.3 in StopMovement
     - added StopTracking (not yet used)
     - changed tpoint output (+mjd, +ra/dec)



 2003/03/11 - Daniela Dorner, Thomas Bretz:

   * .cosyrc_magic, .cosyrc_model:
     - added
   
   * caos/Leds.h, caos/Rings.h:
     - changed from operator[] to At()
   
   * caos/Ring.cc:
     - changed Floats to Doubles
    
   * caos/Rings.cc:
     - replaced Expand by Clear

   * base/MStar.h:
     - added Compare
     
   * base/MStarList.cc:
     - some small bugfixes
   
   * base/MStarList.h:
     - added Sort
     - added Expand
     
   * base/timer.[h,cc]:
     - Added GetTimeval

   * gui/MGAccuracy.cc:
     - Exchanged zd/az in calculation of Residual!!!
   
   * gui/MGPngReader.[h,cc]:
     - set default lim mag to 7.0
     - added new ouput for the pointing position fPZdAz
     - added/fixed TrackingError/CalcTrackingError
     - changed Filter2 to CaosFilter
     - reordered starguider stuff in Execute
     - changed color of circles
     
   * main/MBending.[h,cc]:
     - removed MAGIC1 and MAGIC2
     - removed '-' from writing
     - fixed some bugs in the enumerations of the coefficients
     - added some formating option for output

   * tpoint/tpointfit.C:
     - removed usage of MyAdjust
     - fixed the Calculation of the residuals
     - fixed reading
     - added some correction in case of an overflow (360deg/0deg)
     - fixed drawing
     - added second Migrad turn...
     - changed the screen and graphical output
     
   * videodev/CaosFilter.[h,cc]:
     - changed RemoveTwins to accept a radius



 2003/03/02 - Daniela Dorner, Thomas Bretz (LaPalma):

   * tpoint/tpointfit.C:
     - added
   
   * main/MBending.[h,cc]:
     - adapted to Magic bending model

   * candrv/nodedrv.cc:
     - some changes to the output
  
   * candrv/vmodican.cc:
     - minor changes
  
   * devdrv/macs.[h,cc]:
     - implemented 
     - removed guarding
     - removed motor off
    
   * devdrv/shaftencoder.cc:
     - removed Gaurding
     
   * gui/MGEmbeddedCanvas.[h,cc]:
     - added overloads for Resize
   
   * gui/MGSkyPosition.[h,cc]:
     - added SetDotRange

   * gui/MGStarguider.cc:
     - write interpolated pictures
     
   * videodev/PngReader.cc:
     - removed unused variable
     
   * videodev/Writer.cc:
     - added warning if file couldn't be opened

   * videodev/CaosFilter.[h,cc], videodev/PngReader.[h,cc]:
     - added

   * catalog/StarCatalog.[h,cc]:
     - added GetPixSize

   * main/MCosy.cc:
     - some minor change sto the output

  * Makefile: 
     - removed dummy
     - exchnged caos, candrv
     - removed MCint.o
     - added cosy.so
 
   * starg.cc:
     - echanged to use png reading mode
   
   * caos/Led.[h,cc], caos/Leds.[h,cc], caos/Ring.[h,cc], 
     caos/Ring.[h,cc]:
     - added Print

   * caos/Led.h:
     - added compare
     - added issortable

   * caos/Ring.cc:
     - changed output

   * caos/Rings.cc:
     - fixed some minor bugs

   * gui/GuiLinkDef.h, gui/Makefile;
     - added MGPngReader.[h,cc]

   * gui/MGPngReader.[h,cc]:
     - added
     
   * gui/MGStarguider.cc:
     - release grabbed mouse
     - removed ExitLoop
     
   * gui/MGStarguider.h:
     - changed derivement from Camera to PixClient

   * videodev/Camera.[h,cc]:
     - changed to use PixClient
   
   * videodev/Makefile, videodev/VideodevLinkDef.h:
     - added PixClient

   * videodev/PixClient.[h,cc]
     - added 



 2003/02/27 - Thomas Bretz (LaPalma):

   * caos, caos/Makefile, caos/CaosLinKDef.h, caos/CaosIncl.h, 
     caos/Led.[h,cc], caos/Leds.[h,cc], caos/Ring.[h,cc], 
     caos/Rings.[h,cc], gui/MGMenu.[h,cc]:
     - added



 2003/02/25 - Thomas Bretz (La Palma):

   * Makefile
     - changed order of binaries
     - added make links
     - added make magic
     - added make model
   
   * base/timer.cc:
     - corrected calculation of fMs (/1000 missing)
   
   * gui/MGCosy.cc:
     - added new tab Gear
     
   * gui/MGSkyPosition.[h,cc]:
     - fixed memory leak by not changing positions or having object
       outside
     - removed fake-statics
   
   * main/MCosy.[h,cc]:
     - adapted GetSePos to present shaftencoders
     - changed speed to 0.15 and acc to 0.4 in positioning
     - changed tracking cycle from 0.05s to 0.25s
     - added WM_GEAR
     - added WM_DISPLAY
     - fixed displaying the SE offsets
     - added TalkThreadGear
     - changed DisplayHistTestSe
     - added DisplayHistGear
     - added check for second Zd-SE
     - removed lout.SetOutputGui(NULL, kFALSE) because it crashes
       when closing the spplication while tracking



 2003/02/21 - Thomas Bretz (La Palma):

   * gui/MGSkyPosition.[h,cc]:
     - some changes trying to get rid of a strange memory leak

   * candrv/nodedrv.cc:
     - changed output

   * catalog/Slalib.h:
     - added Hms2DegRad and Dms2Rad



 2003/02/16 - Thomas Bretz (La Palma):

   * base/MStarList.h:
     - added default for mag to Add

   * base/coord.h:
     - replaced kRadDeg by including MAGIC.h
   
   * base/timer.[h,cc]:
     - changed Now to call virtual function SetMjd

   * gui/MGAccuracy.cc:
     - fixed a bug causing the display to display error%60
   
   * gui/MGCosy.[h,cc]:
     - added combo box for predifed positions
     - update display of time only when time changed

   * gui/MGSkyPosition.[h,cc]:
     - added bright stars
     
   * main/MCosy.[h,cc]:
     - some changes to output
     - replaced HasZombie by a preliminary one
     - changed dT to 3s
     - removed time correction factor in Tracking algorithm
     - PRELIMINARY TalkThreadTracking



 2003/02/14 - Thomas Bretz (La Palma):
 
   * .cosyrc:
     - added prototypes for the telescope allowed range
   
   * Makefile:
     - changed test to testse
   
   * candrv/vmodican.cc:
     - added the possibility to start cosy without the CANbus card
       installed
   
   * catalog/SlaPlanets.cc:
     - fixed the ephemeris configuration
   
   * catalog/SlaStars.cc:
     - added some more comments
   
   * catalog/Slalib.[h,cc]:
     - changed Wuerzburg location to LaPalma location
     - added Height to the data members
   
   * main/MCosy.[h,cc]:
     - added range checks in positioning and tracking
   
   * slalib/Makefile:
     - added rdplan
     - added pvobs
     - added dtt
     - added dat
     - added rcc

   * starg.cc, catalog/SlaStars.[h,cc], catalog/Slalib.[h,cc],
     catalog/StarCatalog.[h,cc], devdrv/macs.cc, devdrv/shaftencoder.cc,
     gui/MGCosy.[h,cc], gui/MGSkyPosition.[h,cc], gui/MGStarguider.[h,cc]:
     - changed to use MObservatory
     - changed usage of timer to new style
   
   * catalog/SlaPlanets.[h,cc]:
     - removed old style calculation
     - added fTt

   * gui/MGCosy.cc:
     - added new tab for SE Test

   * main/MCosy.[h,cc]:
     - don't use second SE when only one is attached
     - added SE Test stuff

   * base/BaseLinkDef.h, base/Makefile:
     - added MParContainer
     - added MObservatory

   * base/timer.[h,cc]:
     - changed the calculation of the date according to slalib


     
 2003/01/23 - Thomas Bretz:
 
   * .cosyrc:
     - changed maximum time to reach home from 100 to 150
  
   * Makefile:
     - added devdrv
  
   * Makefile.rules, candrv/Makefile, devdrv/Makefile:
     - changed some ordering
  
   * devdrv/shaftencoder.cc:
     - changed Guarding from 2x125 to 2x175
  
   * main/MCosy.cc:
     - fixed StopWaitingForSDO bug (if this was raised once the
       'shutdown' never waited correctly for an SDo anymore)
     - fixed the usage of the bending correction in some places

   * testse.cc:
     - added


 2003/01/23 - Thomas Bretz:
 
   * cosy.cc:
     - changed baudrate to 125kbps
   
   * base/msgqueue.cc:
     - changed output
     - ignore pending messages
   
   * candrv/canopen.[h,cc]:
     - added Emergency Message
     - added EnableNodeguard
     - added SendNodeguard
     
   * candrv/network.[h,cc]:
     - call handles only if Fnodes[node]!=NULL
     - added time to HandleSDOOK
     - changed output
     - added HandleNodeguard
     - added HandleEmergency

   * candrv/nodedrv.[h,cc]:
     - added fTimeout for Nodeguarding
     - Enable Nodeguard and Emergency messages
     - added time to HandleSDOOK
     - added SendNodeguard
     - added StartGuarding
     - added StopGuarding
     - added HandleTimer
     - added HandleNodeguard
     - added SetZombie

   * candrv/vmodican.[h,cc]:
     - fixed a typo
     - added rtr to SendCanFrame
   
   * devdrv/macs.[h,cc]:
     - removed guarding stuff (moved to nodedrv)
     - changed 0x4000 handling to 0.63 style
     - added check for software version
     - added time to HandleSDOOk
     - set node to Zombie in case of error
     - don't do any error handling for the moment
     - removed ReqTimeoutTime
     - overload SendNodeguard
     - removed EnableTimeout
     - removed HandleTimer
     - removed ResetTimeout
     - added Start/StopHostGuarding

   * devdrv/shaftencoder.[h,cc]:
     - added 0x100c, 0x100d, 0x100e
     - added Start/StopGuarding to Init

   * gui/MGCosy.cc:
     - enhanced labels for Offset
     - changed 'soll' to 'nominal'
     - changed the demo mode for tests
   
   * gui/MGSkyPosition.[h,cc]:
     - added saturn
     - changed the colors a bit



 2003/01/20 - Thomas Bretz:

   * aposs/Manual.m
     - added support for the elevation axis brake 
     - enabled check for operation mode (remote control/pc)      
     - added 'reset' label                                       
     - moved syncv/cstart to setting rf                          



 2003/01/14 - Thomas Bretz:

   * cosy.cc:
     - added output
   
   * candrv/network.[cc,h]:
     - small change to Start
     - added CheckConnections

   * candrv/nodedrv.[h,cc]:
     - new Init
     - new CheckConnections
     - replaced virtual InitDevice by a common function
     - replaced virtual Reboot by a common function
     - Don't send anything to a Zombie node
     - Delete SDO from list in case of Zombie status instead of waiting
     
   * candrv/vmodican.cc:
     - Don't terminate when having a noisy network 
   
   * devdrv/macs.[h,cc], devdrv/shaftencoder.[h,cc]:
     - added fSoftVersion
     - added SDO 0x100b
     - moved init stuff from InitDevice to Init
     - removed InitDevice and Reboot
     - added CheckConnection

   * devdrv/shaftencoder.[h,cc]:
     - Don't display something when having Zombie status
   
   * main/MCosy.[h,cc]:
     - reworked all Zombie-stuff
     - implemented checking of network



 2003/01/13 - Thomas Bretz:

   * bending.txt:
     - changed to fit the parameters of the model
     
   * cosy.cc:
     - made the 'standard mode' the default

   * base/MTimeout.h:
     - fixed the change of the base member function name of Notify

   * candrv/network.[h,cc]:
     - don't set fNodes[i] to NULL if Node is Zombie
     - implemented HasZombie and RebootZomies
     
   * candrv/nodedrv.[h,cc]:
     - implemented a base function Reboot
     - set node to Zombie status if waitforsdo timed out

   * candrv/vmodican.cc:
     - added more precise output for CTXcon
   
   * devdrv/macs.[h,cc]:
     - if first waitforsdo fails set don't go on
     - implemented fStatus
     - implemented enum for fStatus

   * gui/MGAccuracy.cc, gui/MGSkyPosition.cc, gui/MGVelocity.cc:
     - call SetNoContextMenu in constructor
     
   * gui/MGCosy.[h,cc]:
     - some new labels
     - implemented SetLabelColor
     
   * gui/MGEmbeddedCanvas.[h,cc]:
     - implemented SetNoContextMenu

   * main/MCosy.cc:
     - exchanged all conditionals for the pointers to the nodes
       by IsZombieNode
     - implemented check for zombies in Proc



 2003/01/10 - Thomas Bretz:

   * candrv/network.cc, devdrv/macs.cc, devdrv/shaftencoder.cc:
     - changed output
   
   * devdrv/macs.[h,cc]:
     - request encoder resolution when starting
   
   * devdrv/shaftencoder.cc:
     - some fixed in HandleSDO output
     - fixed a missing return in HandleSDO
   
   * gui/MGAccuracy.cc, gui/MGVelocity.cc:
     - set label offset

   * gui/MGCosy.[h,cc]:
     - added some new gui elements and its handling

   * main/MCosy.[h,cc]:
     - impemented fZdAzSoll
     - slight changes to the output
     - implemented WM_HOME
     - fixed workaround for the encoder resolutions of the MACS

   * base/MGLIst.h
     - removed (use the one from Mars)



 2003/01/08 - Thomas Bretz:
 
   * bending.txt:
     - added (preliminary)

   * .cosyrc:
     - added
	> Az_GearRatio[U_mot/U_tel]: 5891.7
	> Zd_GearRatio[U_mot/U_tel]: 2475.6
	> Az_ResRE[re/U_mot]: 500
	> Zd_ResRE[re/U_mot]: 500
	> Az_Id-MAC1: 1
	> Az_Id-MAC2: 3
	> Zd_Id-MAC:  2
	> Zd_Id-MAC1: 4
	> Zd_Id-MAC2: 5
	> Az_Id-MAC:  6

   * Makefile:
     - removed cosy.so

   * Makefile.conf.linux-gnu:
     - removed optimization (causes problems) --> TO BE FIXED

   * candrv/canopen.h:
     - added return value to WaitForSDO

   * devdrv/macs.cc:
     - fixed a typo

   * gui/MGCosy.cc:
     - added 'Reset Bending'

   * main/MBending.[h,cc]
     - added Reset
     - fixed a problem with the units in the correction
     - added CorrectBack functions

   * main/MCosy.[h,cc]:
     - changed the bahaviour in case no MAC3 is found
     - fixed that the MAC3 didn't synchronize anymore
     - added the bending correction to the displayed position
     - added a workaround for the wrong (0) Gear Ratios --> TO BE FIXED
     - added Reset Bending
     - changed the MAC and SE Id to be a resource value (from .cosyrc)
