                                                                  -*-*- END -*-*-

 2005/07/28 - Florian Goebel

  * videodev/FilterLed.[cc,h]
    - add GetMeanPositionCircle and FindStarCircle
 
  * devdrv/shaftencoder.[cc,h]
    - add: fDirHasChanged, fDirChangedPos, fDirChangedOffset,
           fDirection, fHysteresisPos, fHysteresisNeg

  * main/MCosy.cc
    - set faster acceleration and Velocity parameters in TrackPositionGRB

  * main/MPointing.cc
    - correct bug which always set speed to LO-SPEED

  * main/MStarguider.[cc,h]
    - add new Popup "Operation" (functionality is not ready yet)
    - add new procedure: FindRoqueLamp
    - in MStarguider::FindStar now use Leds::FindStarCircle 
      (instead of Leds::FindStar)

  * main/MTracking.cc
    - calculate DirHasChanged etc.
 

 2005/04/11 - Thomas Bretz

   * main/MTracking.cc:
     - allow to send velocity and request position twice
     - enhanced some debugging output

   * candrv/network.[h,cc]:
     - implemented PrintError

   * candrv/nodedrv.[h,cc]:
     - implemented new argument (zombie) to WaitForSdo which allows
       to mark a missing CANbus message as non-critical



 2005/03/21 - Thomas Bretz

   * tcpip/MDriveCom.[h,cc]:
     - added a missing white space behind the brightness and
       fixed the wrong units of Zd/Az in the starguider report



 2005/03/17 - Thomas Bretz

   * main/MCosy.[h,cc]:
     - implemented WM_GRB and TrackPositionGRB for GRB mode

   * main/MStarguider.cc:
     - added 'status' to FINDSTAR-REPORT
     - send STARG-REPORT only if Starguider is switched on
     - enhanced output in starguider report

   * tcpip/MCeCoCom.cc:
     - tried to backengineer the CC-REPORT because it is not documented
       in the CC TDAS
     - changed critical values for windspeed from 10/20/30 to 30/40/50

   * tcpip/MDriveCom.[h,cc]:
     - implemented handling of GRB command
     - enhanced SendStargReport. Starguider Report now:
       misszd[%05.3f] missaz[%05.3f] 
       nomzd[%c %03d %02d %03d] nomaz[%c %03d %02d %03d]
       centerx[%05.1f] centery[%05.1f] n[%04d]
       bright[%03.1f] mjd[%12.6f]



 2004/09/05 - Robert Wagner (La Palma)

   * main/MStarguider.[cc,h]
     - Start commissioning of a star guider for MAGIC.
     - Display misspointing with an MGStarg object
     - Rename the two video channels to "Starfield Camera" and "TPoint Camera"
     - Swapped IDs of video channels, since a reset (errno=5) of video card 
       changes to channel #0
     - Rearranged menu structure, added starguider relevant items: Starguider
       LED finder, Starguider FindStar (FindStar analysis of star on curtain
       for crosschecks and calibration), Starguider Analysis (write relevant 
       data to ROOT trees), Starguider (Starguider analysis of starfield 
       picture)
     - Rearranged GUI displays, added displays to show misspointing,
       misspointing from FindStar algorithm, sky brightness
     - Acquisition of center of the PMT camera from applying Caos algorithm 
       to the three LEDs visible in the starfield camera
     - Acquisition of sky brightness (average CCD pixel content in Starfield)
       and comparison to last sky brightness
     - MStarguider::TrackingError(): Modified histogram binning to enhance 
       excess
     - MStarguider::FindStar(): Now returns position of found star as ZdAz
     - MStarguider::FindStar(): Cut and ROI box can now handed over as i
       parameters
     - MStarguider::FindStar(): Scale factor to compensate for different FOV
       (TPoint camera vs. Starfield camera)
     - MStarguider::ProcessFrame(): Modified structure to accomodate Starguider
       algorithm and tools: 1) Find Center of PMT camera, find Star (if 
       activated)
       to obtain misspointing found from PMT camera.
     - Set ROI for starfield in space not occupied by the PMT camera in the 
       starfield camera FOV
     - Calculate star positions and draw stars only in that ROI
     - fStatus variable contains status of starguider (Error, Monitoring, 
       Standby)
     - Draw representation of MAGIC's FOV on starfield
     - Send STARG-REPORTS unconditionally by using MDriveCom::SendStargReport 
     - Add Ra/Dec in filename when writing pictures
     - Introduced #define EXPERT to allow for debug output
     - tracking_*.txt is only produced in case of EXPERT mode

   * tcpip/MTcpIpIO.[h,cc], tcpip/MCeCoCom.[h,cc]
     - added option force to MTcpIp::Send() which forces sending
       of message     

   * tcpip/MDriveCom.[h,cc]
     - added MDriveCom::MSendStargReport()

   * stars.txt
     - added Albiero (3.08), Iota Pegasi (3.49), Tarazed (2.72), 
       Unukalhay (2.65)
     - corrected wrong position of Capella (0.08)

   * gui/MGStarg.cc, gui/MGStarg.h gui/GuiLinkDef.h gui/Makefile 
     - added GUI element similar to MGAccuracy to display
       misspointing.

   * stargleds.txt
     - List of location of LEDs visible in starfield camera picture

   * main/MStargHistograms.[cc,h], main/Makefile, main/MainLinkDef.h
     - Filling trees with Starguider analysis relevant data

   * caos/Led.h
     - added Setters SetX(), SetY()

   * main/MCosy.h
     - added *GetDriveCom(), returns pointer to MDriveCom object

   * starg.cc
     - corrected typo

   * prepos_magic.txt
     - changed Park and Camera Access position coordinates

   * caos/Rings.[cc,h]
     - minimum number of required LEDs can be set via
       SetMinNumberLeds(), default is 5

   * main/MCaos.[cc,h]
     - possibility to set size of box and cut in MCaos::Run()
     - possibility to specify maximum and minimum acceptable ring 
       radius

   * catalog/StarCatalog.[cc,h]
     - possibility to narrow field of view in CalcStars
     - possibility to offset origin of FOV in CalcStars
     - CalcStars and DrawStars flip the field in x direction
       defaultwise
     - CalcStars adds only stars visible in the chosen FOV to 
       the star list
     
   * videodev/FilterLed.[cc,h]
     - Added possibility to return average brightness found in
       chosen FOV

   * videodev/Writer.[cc,h]
     - Ra/Dec in filename when writing pictures
  


 2004/08/23 - Thomas Bretz

   * videodev/FilterLed.cc:
     - tried to fix a possible crash in FindStar. Maybe the edges
       exceeded the area of the image in memory



 2004/08/16 - Thomas Bretz

   * tpoint/gui.C:
     - implemented TGFSFileDialog for reading and writing bending.txt
     - plot deviations vs Magnitude



 2004/08/12 - Thomas Bretz

   * tpoint/gui.C:
     - implemented TGFSFileDialog for reading the star data



 2004/08/05 - Thomas Bretz

   * main/MStarguider.cc:
     - on request of the shift-crew I have changed the find-star cut
       from 3.0 to 3.5



 2004/06/28 - Thomas Bretz

   * caos/Ring.[h,cc]:
     - added magnitude fMag
     - added interpolation of magnitude

   * main/MStarguider.cc:
     - added output of magnitudes

   * tpoint/gui.C:
     - implemented comment lines
     - changed layout of output



 2004/06/01 - Thomas Bretz
 
   * Makefile.conf.linux:
     - removed obsolete -Wtraditional and -Wnested-externs

   * caos/Leds.h:
     - added empty Add(TObject*) function for correct overload

   * main/MBending.cc:
     - added MAGIC1 as a hysteresis

   * main/MCosy.cc:
     - added header to drive report

   * main/MCosy.h:
     - added getter-function to GetOutRep (used in FindStar)

   * main/MStarguider.cc:
     - added Output to report file
     - added output of Star-Offset in pixels

   * main/MTracking.cc:
     - removed some 'unused variable'

   * tcpip/MTcpIpIO.cc:
     - removed nonsense setting of eGui when writing to the report file

   * tpoint/gui.C:
     - enhanced display



 2004/05/15 - Thomas Bretz (La Palma)

   * Makefile:
     - added MGMenu links

   * bending_magic.txt:
     - last calculated pointing model (still has the hysteresis 
       problem)

   * cosy.cc:
     - moved camera stuff to MStarguider
     - added channel selection

   * base/BaseLinkDef.h:
     - updated

   * base/MString.[h,cc]:
     - removed (now in Mars)

   * base/MThread.h, candrv/network.h, candrv/nodedrv.h,
     candrv/vmodican.h, devdrv/macs.h, videodev/Camera.h:
     - changed ifndef

   * base/Makefile:
     - updated

   * candrv/nodedrv.cc:
     - added cast to MTime

   * candrv/vmodican.cc:
     - changed priority from 10 to 1

   * caos/Led.cc, caos/Ring.cc:
     - changed Form to MString

   * caos/Makefile:
     - added include base

   * caos/Ring.[h,cc]:
     - added arguments to constructor

   * catalog/CatalogLinkDef.h, catalog/Makefile:
     - removed SaoFile

   * catalog/Slalib.cc:
     - removed some obsolete code

   * catalog/StarCatalog.cc:
     - added a size check for the bitmap

   * devdrv/macs.cc:
     - no guarding for the moment

   * devdrv/shaftencoder.[h,cc]:
     - added code to communicate with the Macs

   * gui/GuiLinkDef.h, gui/Makefile:
     - removed MGVelocity

   * gui/MGCosy.[h,cc]:
     - added weather data to display
     - added image of the camera to window
     - removed velocity from window
     - replaced Form by MString

   * main/MBending.cc:
     - changed handling in GetAnAw - Hopefully correct???
       the old handling gave problems

   * main/MCosy.[h,cc]:
     - added SetTrackingPosRE
     - display interpolated position when tracking
     - added SetMotor calls

   * main/MStarguider.[h,cc]:
     - added code to find star in the display
     - added corresponding menus
     - added code to support more than one ccd channel

   * main/MTracking.[h,cc]:  
     - complete change to the algorithm. The position which is 
       send to CC need still some investigations. For more information
       look at the code. The main difference is that the motor
       encoders are taken better into account which fixes the SE 
       handling on the elevation axis 

   * main/MainLinkDef.h, main/Makefile:
     - added MPointing
     - added MTracking
     
   * tcpip/MCeCoCom.[h,cc]:  
     - added alarm counter

   * tcpip/MTcpIpIO.cc:
     - do not write to output file if stream is locked

   * tpoint/gui.C:
     - fixed display so that it perfectly shows north, east, ...
     - added error for residual
     - simplified residual algorithm
     - read new files
     - changed displaying deviations a bit
     - display result in the display (preliminary)
     - set gIgnoreLevel to suppress strange color warnings

   * videodev/FilterLed.cc:
     - use MGMap for drawing...



 2004/05/15 - Thomas Bretz (La Palma)

   * .cosyrc_magic:
     - updated with some comments

   * Makefile:
     - added many more links necessary for current make
       (should be replaced by libmars.so in the future)

   * Makefile.conf.general:
     - added GX11 and HistPainter

   * cosy.cc, starg.cc:
     - Moved initialization of Camera to MStarguider
     - added command line option to choose ccd channel

   * leds.txt:
     - replaced with new LED positions (OFFSETS MISSING)

   * stars.txt:
     - added many more stars

   * base/coord.h:
     - added operator/=(XY&)

   * base/msgqueue.cc, candrv/sdolist.cc:
     - added more output in case mutex is already locked by the same thread

   * candrv/vmodican.cc:
     - some changes to output

   * catalog/SlaStars.cc:
     - changed some comments

   * catalog/StarCatalog.[h,cc]:
     - replaced old algorithms by MAstroCatalog and new simplifications
       to calculate star-positions accuratly by combining slalib with
       MAstroCatalog

   * devdrv/macs.h:
     - added GetPosTime

   * devdrv/shaftencoder.[h,cc]:
     - added output to report file

   * gui/MGAccuracy.[h,cc]:
     - added time development curve (blue)

   * gui/MGEmbeddedCanvas.h, gui/MGSkyPosition.h, 
     gui/MGVelocity.h:
     - changed ifndef define

   * gui/MGImage.[h,cc]:
     - enhancements in speed
     - enhancements in mutex locking mechanism

   * gui/MGPngReader.cc, gui/MGTPoint.cc:
     - changed meaning of PixSize

   * gui/MGVelocity.cc:
     - fixed units

   * main/MCaos.[h,cc]:
     - changed ring radius from 266/272 to 266,268
     - moved drawing circles to MStarguider

   * main/MCosy.[h,cc]:
     - moved big parts of the code to MPointing and MTracking
     - removed old conversion constants (Se to RE, etc) and
       replaced by more meaningful ones
     - prepare displaying starguider image
     - added GetFileName to globally prepare correct file names

   * main/MPointing.cc:
     - fixed missing SetDecelaration
     - changed to new unit conversion constants
     - Use SendStatus instead of Send

   * main/MStarguider.cc:
     - added update and support of cosy-image display
     - added channel swicthing for the frame grabber
     - added algorithm to find star position FindStar
     - commented out starguider algorithms
     - draw support lines and grid stuff

   * main/MTracking.[h,cc]:
     - changed to new unit conversion constants
     - added output of RE stuff to report file
     - some simplification to tracking thread

   * base/MString.[h,cc]:
     - added as a thread safe replacement for Form()

   * tcpip/MCeCoCom.[h,cc]:
     - changed support for Weather information

   * tcpip/MDriveCom.[h,cc]:
     - changed output
     - added SendStatus

   * tcpip/MTcpIpIO.cc:
     - changed output
     - output reports to report file

   * tpoint/gui.C:
     - read new starg_* files

   * videodev/Camera.[h,cc]:
     - some enhancements to ioctl call
     - some changes to output
     - changes a bit the bahaviour of mutices
     - replaced fRunning by mutex
     - changes to ExitLoop and IsRunning
     - added support for several frame grabber channels

   * videodev/FilterLed.[h,cc]
     - added new algorithms to find star
     - small updates to star finding support

   * videodev/PixGetter.h:
     - added a virtual empty destructor (IMPORTANT)



 2003/12/29 - Thomas Bretz

   * base/MObservatory.cc:
     - By fixing a bug evaluating the '-'-sign in latitude
       the bending correction changed
 
   * bending_magic.txt:
     - new calculation with sign-fix. AnAw became unimportant



 2003/12/07 - Thomas Bretz

   * tcpip/MDriveCom.cc:
     - log CC-COMMANDS to log-file

   * main/MStarguider.cc:
     - fixed handling of DISPLAY variable

   * main/MCosy.cc:
     - undef EXPERT
     - removed comments before CheckNetwork

   * gui/MGImage.cc:
     - fixed some image copy algorithm
     - removed nonsense ==13 check for TryLock

   * devdrv/macs.cc:
     - shift crew reported problems: changed timeout from 250ms to 400ms

   * stars.txt:
     - added Capella
     - added Dark Patch 3/4
     - added Zeta Tauri

   * Makefile:
     - added 'install'

   * bending_magic.txt:
     - small chenges to correct AN, AW correction (new fit)
     
   * cosy.cc, candrv/nodedrv.cc, devdrv/macs.[h,cc],
     devdrv/shaftencoder.[h,cc], gui/MGCosy.cc,
     gui/MGPngReader.cc, gui/MGTPoint.cc, main/MBending.cc,
     main/MCaos.cc, main/MCosy.cc, main/MStarguider.[h,cc],
     tcpip/MCeCoCom.[h,cc], tcpip/MDriveCom.cc,
     videodev/Writer.cc:
     - replaced Timer by MTime
     
   * base/BaseLinkDef.h:
     - added MTime
     - added MAstro
     
   * base/Makefile:
     - added MTime
     - added MAstro
     
   * catalog/SlaStars.[h,cc], catalog/Slalib.[h,cc]:
     - made independant of derivement from Timer
     - added old Timer as new MTime fTime data member

   * catalog/Slalib.h:
     - removed conversion functions - use MAstro instead

   * gui/MGCosy.cc, gui/MGSkyPosition.cc, tcpip/MDriveCom.cc:
     - replaced static Slalib:: methody by MAstro
     
   * main/MBending.[h,cc]:
     - added corrected An/Aw algorithm
     - removed 360deg ambiguity

   * Makefile.conf.general:
     - added defintion __LINUX__ for Mars classes (used in MTime.cc)



 2003/11/25 - Thomas Bretz (La Palma)

   * slog:
    - added this small script to analyze log-files
    
   * bending_magic.txt:
     - changed to new values comming from new fit
       with the new algorithm
       
   * cosy.cc:
     - removed old style InitGUI stuff
     - removed TROOT instance
     - changed to support gcc 3.3
     - added come log-output
     - undeclared HAVE_CAMERA

   * stars.txt:
     - added some magnitudes
     - removed Mars
     
   * main/MBending.cc:
     - exchanged order: moved NPAE and CA behind AN and AW
     - replaced the approximation for AN/AW by the correct algorithm.
       For Magic (1.5deg) the small angle approximation is wrong
     - added some DEBUG option
     
   * tpoint/gui.C:
     - small changes



 2003/11/17 - Thomas Bretz (La Palma)
 
   * Makefile.conf.general:
     - added libThread.a
     
   * prepos_magic.txt:
     - exchanged order
     - fixed positions
     
   * stars.txt:
     - added many sources taken from the CC input file
     
   * base/MTimeout.[h,cc]:
     - changed to use check system time (using timers
       always resulted in trouble)
       
   * base/msgqueue.[h,cc]:
     - replaced Posix mutex by TMutex
     
   * base/timer.cc:
     - display hour with two digits
     
   * candrv/canopen.[h,cc]:
     - replaced Posix semaphores bt TCondition
     
   * candrv/network.cc:
     - minor change to output
     
   * candrv/nodedrv.[h,cc]:
     - removed old timer stuff, replaced by a watch-dog thread
     - added MGuard
     - removed HandleTimer
     - added argument to SetZombie
     - nodedrv don't derive from TObject anymore
     
   * candrv/sdolist.[h,cc]:
     - replaced Posix sempahores by TMutex
     
   * candrv/vmodican.cc:
     - minor change to Send()
     
   * devdrv/macs.cc:
     - added to HandleSDO: 0x100c, 0x100d
     - added to HandleSDOOk: 0x1000, 0x100c, 0x100d, 0x1800, 0x6000,
       0x6002, 0x6003 
     - Enabled Guarding for Macs
     
   * devdrv/shaftencoder.cc:
     - added HandleSDOOk: 0x1802, 0x6001, 0x6002, 0x6003

   * gui/MGAccuracy.[h,cc]:
     - added fBar

   * gui/MGCosy.cc:
     - added button for Endswitch alignment printout
     - merged Move and Resize to MoveResize
     - fixed UpdateZdAz (uses Slalib now)
     
   * gui/MGImage.[h,cc]:
     - replaced Posix sempahores by TMutex
     - added DrawColImg16

   * main/MCosy.[h,cc]:
     - some changes to output
     - some changes to state transmission
     - fixed (hopefully) treating of endswitch positions
     - fixed positioning mode for tracking
     - do not display weird values in case of Zombie
       Shaftencoders anymore
     
   * main/MStarguider.cc:
     - if display is not set locally use 125 avaraged pictures
       by default.
       
   * tcpip/MCeCoCom.[h,cc]:
     - some small fixes
     - some changes to output
     - read 30 instead of 29 dummy tokens
     - added solar radiation and wind speed
     - moved corresponding code to InterpreteReport
     
   * tcpip/MDriveCom.[h,cc]:
     - added ReadAngle for interpretation of Angle in CC commands
     - added ReadPosition
     - added Command*
     - implemented CC commands
     
   * tcpip/MTcpIpIO.cc:
     - Stop thread before deleting data members
     - replace -1 for fRxSocket by 0
     
   * videodev/Camera.[h,cc]:
     - replaced Posix sempahores by TMutex and TCondition


 2003/11/14 - Thomas Bretz (La Palma)

   * gui/MGCosy.cc:
     - replaced a wrong 'h' (dec) by 'd'
     
   * gui/MGImage.[h,cc]:
     - replaced 32 by 24
     
   * tcpip/MCeCoCom.[h,cc]:
     - added fHumidity and fTemperature
     
   * tcpip/MTcpIpIO.cc:
     - added DEBUG directive



 2003/10/20 - Thomas Bretz
 
   * base/File.cc:
     - only close file if f!=NULL
     
   * base/MThread.cc:
     - added debug output (depending on DEBUG macro)
     
   * candrv/vmodican.cc:
     - do not call exit in case the module couldn't be opened
     - changes some comments
     
   * catalog/StarCatalog.cc:
     - do not exit in case the catalog was not found
     - initialize fSao and fSrt with NULL
     - only delete fSao and fSrt if != NULL
     - only calculate stars if catalog was loaded successfully
     
   * main/MBending.[h,cc]:
     - added file header
     - added class decription
     - added FLOP, TF and TX
     - changed such that adding new stuff is easier
     - changed order in correction
     - replaced all switch statement by simple loops
     
   * tpoint/gui.C:
     - full support for fitting a pointing correction



 2003/10/15 - Thomas Bretz (La Palma)
 
   * Makefile:
     - added tcpip directory
     
   * cosy.cc:
     - undefine EXPERT
     - implemented HAVE_CAMERA
     
   * base/log.h:
     - changed LOG_H to COSY_Log
     
   * base/timer.h:
     - changed order of members
     - added a new Set-function used for the CC communication
     - added new Getter functions

   * gui/MGCosy.cc:
     - undef EXPERT
     - added HAS_DEMO (undefined)
     - added demo for inauguration
     - changed bits for status to MDriveCom::
     
   * gui/MGImage.[h,cc]:
     - fixed the color depth problem (still doesn't work with
       other color depth than 32 bit, but doesn't crash anymore)
       
   * gui/Makefile:
     - added tcpip
     
   * main/MCosy.[h,cc]:
     - changed bits to MDriveCom::
     - added a 'single-positioning' while tracking for inauguration
       (WM_POSITION1)
     - added fCom and sending reports
     
   * main/Makefile:
     - added tcpip
     
   * tcpip/MDriveCom.[h,cc]:
     - fixed output to current status
     - added status bits
     
   * tcpip/MTcpIpIO.[h,cc]:
     - added some dbg output in the destructor
     - added Clear
     - set members to NULL if deleted
     - added Log as a base class
     
   * tcpip/Makefile:
     - added catalog



 2003/10/03 - Thomas Bretz (La Palma)
 
   * tcpip/*
     - added communication classes



 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)
