Battle of Vyšehrad
1419 CE.
Shown on the map at 50.058°, 14.431°.
The Battle of Vyšehrad was a series of engagements at the start of the Hussite War between Hussite forces and Catholic crusaders sent by King Sigismund. The battle took place at the castle of Vyšehrad from 16 August 1419 to c. 1 November 1420.
Text from the Wikipedia article Battle of Vyšehrad, licensed CC BY-SA 4.0.