 Complete the following phrase:  In the history of warfare in Western Europe the end of the medieval period is strictly connected to the end of chivalry, its ethos, and its method of fighting. In Poland, as well as in some other countries of Eastern Europe, knights noblemen, the Polish szlachta were called for war pospolite ruszenie until the end of the 18th century, or until the end of the Saxon times. In such circumstances the criteria for the end of the chivalry ethos - as the end of medieval times in Poland - has to be rejected. Rather, the appropriate moment is more likely the time when heavy cavalry, with its full plate armour, was replaced with lighter formations like the husaria. The painting, in the collection of National Museum in Warsaw, known as The Battle of Orsza depicts the common fighting formations of heavy, armoured cavalry, and light hussars. The 