diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index 12d037f07653c..5243e81cee87d 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -807,6 +807,7 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che #if AUTOTUNE_ENABLED == ENABLED // save auto tuned parameters if (copter.flightmode == &copter.mode_autotune) { + // it may be difficult to remove this without loosing the current capability copter.mode_autotune.save_tuning_gains(); } else { copter.mode_autotune.reset(); diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp index 3cb3b99ea2608..ad4c48c8562f7 100644 --- a/ArduCopter/RC_Channel.cpp +++ b/ArduCopter/RC_Channel.cpp @@ -76,7 +76,8 @@ void RC_Channel_Copter::init_aux_function(const AUX_FUNC ch_option, const AuxSwi // the following functions do not need to be initialised: case AUX_FUNC::ALTHOLD: case AUX_FUNC::AUTO: - case AUX_FUNC::AUTOTUNE: + case AUX_FUNC::AUTOTUNE_MODE: + case AUX_FUNC::AUTOTUNE_SWITCH: case AUX_FUNC::BRAKE: case AUX_FUNC::CIRCLE: case AUX_FUNC::DRIFT: @@ -290,9 +291,37 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc #endif #if AUTOTUNE_ENABLED == ENABLED - case AUX_FUNC::AUTOTUNE: + case AUX_FUNC::AUTOTUNE_MODE: do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag); break; + case AUX_FUNC::AUTOTUNE_SWITCH: + switch(ch_flag) { + // this could also work as a two position switch by switching into Autotune using the mode switch. + // The switch wouldn't do anything if autotune had not completed. + // some challenges there to get that stretch goal + case AuxSwitchPos::LOW: + // load and save if required original gains + // we could leave the current save on disarm and only switch + copter.mode_autotune.autotune.load_orig_gains(); // this currently doesn't save the gains + // what we do with the mode is an open question + // can we switch back to the previous mode + break; + case AuxSwitchPos::MIDDLE: + // change to mode autotune or do nothing if tune is complete + if (copter.mode_autotune.autotune.) { + do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag); + } + break; + case AuxSwitchPos::HIGH: + // load and save if required tuned gains if tuning is complete + // we could leave the current save on disarm and only switch + // we would need to change the save on disarm anyway to save the current settings not the tuned settings, but we need to maintain the ability to run autotune without the switch. + copter.mode_autotune.autotune.load_tuned_gains(); // this currently doesn't save the gains + // what we do with the mode is an open question + // can we switch back to the previous mode + break; + } + break; #endif case AUX_FUNC::LAND: diff --git a/ArduCopter/mode_autotune.cpp b/ArduCopter/mode_autotune.cpp index d7d0d2e470095..1ea833011dbd8 100644 --- a/ArduCopter/mode_autotune.cpp +++ b/ArduCopter/mode_autotune.cpp @@ -120,6 +120,8 @@ void ModeAutoTune::run() void ModeAutoTune::save_tuning_gains() { + // is this too many parameters to save all at once. + // There could be 30 parameters right now. Maybe more in the future if we add tuning for other controllers. autotune.save_tuning_gains(); } diff --git a/Tools/bootloaders/FSOPowerStack_bl.bin b/Tools/bootloaders/FSOPowerStack_bl.bin new file mode 100755 index 0000000000000..5bbc1efdd1ed3 Binary files /dev/null and b/Tools/bootloaders/FSOPowerStack_bl.bin differ diff --git a/Tools/bootloaders/FSOPowerStack_bl.hex b/Tools/bootloaders/FSOPowerStack_bl.hex new file mode 100644 index 0000000000000..b255e7da687fd --- /dev/null +++ b/Tools/bootloaders/FSOPowerStack_bl.hex @@ -0,0 +1,1412 @@ +:020000040800F2 +:1000000000070020F1010008752E00082D2E0008C1 +:10001000552E00082D2E00084D2E0008F301000873 +:10002000F3010008F3010008F3010008613E000835 +:10003000F3010008F3010008F3010008F3010008D0 +:10004000F3010008F3010008F3010008F3010008C0 +:10005000F3010008F3010008694300089143000818 +:10006000B9430008E143000809440008F30100080F +:10007000F3010008F3010008F3010008F301000890 +:10008000F3010008F3010008F3010008F301000880 +:10009000F3010008DD2D0008F12D000831440008AF +:1000A000F3010008F3010008F3010008F301000860 +:1000B00019450008F3010008F3010008F3010008E6 +:1000C000F3010008F3010008F3010008F301000840 +:1000D000F3010008F301000805450008F3010008DA +:1000E00095440008F3010008F3010008F30100083B +:1000F000F3010008F3010008F3010008F301000810 +:10010000F3010008F3010008F3010008F3010008FF +:10011000F3010008F3010008F3010008F3010008EF +:10012000F3010008F3010008F3010008F3010008DF +:10013000F3010008F3010008F3010008F3010008CF +:10014000F3010008F3010008F3010008F3010008BF +:10015000F3010008F3010008F3010008F3010008AF +:10016000F3010008F3010008F3010008F30100089F +:10017000F3010008F3010008F3010008F30100088F +:10018000F3010008F3010008F3010008F30100087F +:10019000F3010008F3010008052E0008192E0008DD +:1001A000F3010008F3010008F3010008F30100085F +:1001B000F3010008F3010008F3010008F30100084F +:1001C000F3010008F3010008F3010008F30100083F +:1001D000F3010008F3010008F3010008F30100082F +:1001E0002D150008000000000000000000000000C5 +:1001F00002E000F000F8FEE772B6374880F30888A6 +:10020000364880F3098836483649086040F20000D5 +:10021000CCF200004EF63471CEF200010860BFF35C +:100220004F8FBFF36F8F40F20000C0F2F0004EF628 +:100230008851CEF200010860BFF34F8FBFF36F8F7C +:100240004FF00000E1EE100A4EF63C71CEF20001D4 +:100250000860062080F31488BFF36F8F04F0DEFF80 +:1002600005F0BEF84FF055301F491B4A91423CBF84 +:1002700041F8040BFAE71D49184A91423CBF41F886 +:10028000040BFAE71A491B4A1B4B9A423EBF51F82E +:10029000040B42F8040BF8E700201849184A914271 +:1002A0003CBF41F8040BFAE704F0BCFF05F0DEF8B0 +:1002B000144C154DAC4203DA54F8041B8847F9E797 +:1002C00000F042F8114C124DAC4203DA54F8041B12 +:1002D0008847F9E704F0A4BF0007002000230020AE +:1002E0000000000808ED00E00001002000070020E9 +:1002F0006857000800230020B4230020B823002002 +:10030000B4690020E0010008E4010008E4010008ED +:10031000E40100082DE9F04F2DED108AC1F80CD052 +:10032000C3689D46BDEC108ABDE8F08F002383F3BF +:1003300011882846A047002004F0F6FBFEE704F0F1 +:100340007FFB00DFFEE70000F8B501F061F904F083 +:1003500007FF074604F058FF0546A8BB1F4B9F4206 +:1003600032D001339F4232D01D4B27F0FF029A4218 +:1003700030D1F8B200F022FF2E4642F2107400F0A5 +:1003800023FF08B10024264601F0A6FC20B103207B +:1003900000F07AF80024264635B1124B9F4203D074 +:1003A00004F02AFF00242646002004F0E3FE0EB1EC +:1003B00000F080F801F03EFA00F038FF204600F02F +:1003C000D1F800F077F8F9E72E460024D7E7044685 +:1003D0000126D4E7064640F6C414D0E7010007B072 +:1003E000000008B0263A09B008B501F0DDF8A0F128 +:1003F00020035842584108BD07B541F212030221BB +:1004000001A8ADF8043001F0EDF803B05DF804FB8D +:1004100038B5302383F31188174803680BB104F013 +:1004200041FC164A144800234FF47A7104F030FC62 +:10043000002383F31188124C236813B12368013B16 +:100440002360636813B16368013B63600D4D2B78D3 +:1004500033B963687BB9022001F07AF93223636013 +:100460002B78032B07D163682BB9022001F070F9B8 +:100470004FF47A73636038BDB8230020110400087C +:10048000D8240020D0230020084B187003280CD853 +:10049000DFE800F008050208022001F051B902204F +:1004A00001F044B9024B00225A607047D02300206B +:1004B000D824002010B501F00FFC30B1234B0322EB +:1004C0001A70234B00225A6010BD224B224A1C4650 +:1004D00019680131F8D004339342F9D16268A2421D +:1004E000F2D31E4B9B6803F1006303F510439A425D +:1004F000EAD204F053FE04F065FE002001F0A2F8F9 +:100500000220FFF7C1FF164B9A6D00229A65996F82 +:100510009A67996FD96DDA65D96FDA67D96F196EF5 +:100520001A66D3F88010C3F88020D3F8803072B6F2 +:100530004FF0E0233021C3F8084DD4E9003281F3B5 +:1005400011889D4683F308881047BDE7D02300201B +:10055000D8240020009000082090000800230020EC +:10056000001002402DE9F04F93B0AC4B00902022D8 +:10057000FF210AA89D6801F007F9A94A1378A3B9D9 +:10058000A848012103601170302383F311880368A8 +:100590000BB104F087FBA44AA24800234FF47A7100 +:1005A00004F076FB002383F31188009B13B19F4B6B +:1005B000009A1A609E4A009C1378032B1EBF0023EA +:1005C00013709A4A4FF0000A18BF5360D34656463C +:1005D000D146012001F0B4F824B1944B1B68002BE4 +:1005E00000F01582002000F0DFFF0390039B002B3A +:1005F00001DA00F06FFE039B002BEDDB012001F020 +:1006000095F8039B213B162BE3D801A252F823F067 +:100610006D0600089506000829070008D3050008A4 +:10062000D3050008D3050008B307000883090008B4 +:100630009D080008FF080008270900084D09000868 +:10064000D30500085F090008D3050008D109000898 +:100650000D070008D3050008150A000879060008F0 +:100660000D070008D3050008FF0800080220FFF767 +:10067000BBFE002840F0F581009B0221BAF1000F7B +:1006800008BF1C4605A841F21233ADF8143000F043 +:10069000A9FF9EE74FF47A7000F086FF071EEBDBA0 +:1006A0000220FFF7A1FE0028E6D0013F052F00F24F +:1006B000DA81DFE807F0030A0D10133605230593EE +:1006C000042105A800F08EFF17E054480421F9E743 +:1006D00058480421F6E758480421F3E74FF01C0876 +:1006E000404600F0B1FF08F104080590042105A878 +:1006F00000F078FFB8F12C0FF2D1012000FA07F7D3 +:1007000047EA0B0B5FFA8BFB4FF0000901F088F80A +:1007100026B10BF00B030B2B08BF0024FFF76CFE78 +:1007200057E746480421CDE7002EA5D00BF00B0378 +:100730000B2BA1D10220FFF757FE074600289BD0C4 +:10074000012000F07FFF0220FFF79EFE00261FFA27 +:1007500086F8404600F086FF044690B100214046EE +:1007600000F098FF01360028F1D1BA46044641F264 +:100770001213022105A8ADF814303E4600F032FFF6 +:1007800027E70120FFF780FE2546244B9B68AB42FC +:1007900007D9284600F058FF013040F06781043542 +:1007A000F3E7234B00251D70204BBA465D603E46A3 +:1007B000ACE7002E3FF460AF0BF00B030B2B7FF484 +:1007C0005BAF0220FFF760FE322000F0EDFEB0F1DB +:1007D0000008FFF651AF18F003077FF44DAF0F4A42 +:1007E000926808EB050393423FF646AFB8F5807F69 +:1007F0003FF742AF124B0193B84523DD4FF47A70B7 +:1008000000F0D2FE0390039A002AFFF635AF019B59 +:10081000039A03F8012B0137EDE700BF0023002006 +:10082000D4240020B823002011040008D82400207C +:10083000D023002004230020082300200C230020C4 +:10084000D4230020C820FFF7CFFD074600283FF43F +:1008500013AF1F2D11D8C5F1200242450AAB25F078 +:10086000030028BF424683490192184400F07AFFF2 +:10087000019A8048FF2100F087FF4FEAA8037D49D5 +:100880000193C8F38702284600F086FF0646002839 +:100890003FF46DAF019B05EB830537E70220FFF7BF +:1008A000A3FD00283FF4E8AE00F006FF00283FF467 +:1008B000E3AE0027B846704B9B68BB4218D91F2F88 +:1008C00011D80A9B01330ED027F0030312AA134458 +:1008D00053F8203C05934046042205A901F0E6F9AF +:1008E00004378046E7E7384600F0AEFE0590F2E7B1 +:1008F000CDF81480042105A800F074FE06E700235B +:10090000642104A8049300F063FE00287FF4B4AED1 +:100910000220FFF769FD00283FF4AEAE049800F016 +:10092000C1FE0590E6E70023642104A8049300F0CB +:100930004FFE00287FF4A0AE0220FFF755FD0028EF +:100940003FF49AAE049800F0AFFEEAE70220FFF70A +:100950004BFD00283FF490AE00F0BEFEE1E7022020 +:10096000FFF742FD00283FF487AE05A9142000F0F0 +:10097000B9FE04210746049004A800F033FE39466E +:10098000B9E7322000F010FE071EFFF675AEBB0778 +:100990007FF472AE384A926807EB090393423FF640 +:1009A0006BAE0220FFF720FD00283FF465AE27F074 +:1009B00003074F44B9453FF4A9AE484600F044FE52 +:1009C0000421059005A800F00DFE09F10409F1E7E6 +:1009D0004FF47A70FFF708FD00283FF44DAE00F0A9 +:1009E0006BFE002844D00A9B01330BD008220AA9D1 +:1009F000002000F0D1FE00283AD02022FF210AA8D2 +:100A000000F0C2FEFFF7F8FC1C4804F093F813B0A6 +:100A1000BDE8F08F002E3FF42FAE0BF00B030B2B35 +:100A20007FF42AAE0023642105A8059300F0D0FDD1 +:100A3000074600287FF420AE0220FFF7D5FC804651 +:100A400000283FF419AEFFF7D7FC41F2883004F0DC +:100A500071F8059800F0FAFE464600F0E1FE3C46CB +:100A6000B7E5064652E64FF0000905E6BA467EE6CF +:100A700037467CE6D423002000230020A086010016 +:100A8000094A136849F2690099B21B0C00FB013353 +:100A90001360064B186844F2506182B2000C01FBEF +:100AA0000200186080B27047142300201023002039 +:100AB00010B500211022044600F066FE034B03CB64 +:100AC000206061601868A06010BD00BF9075FF1FB6 +:100AD0002DE9F041ADF5507D0DF13C086EAC40F2D2 +:100AE000751207460D4610A80021C8F8001000F046 +:100AF0004BFE4FF4C4720021204600F045FE02F088 +:100B0000C1F9274B4FF47A72B0FBF2F0186093E80A +:100B10000700022384E807000DF5ED702382FFF73C +:100B2000C7FF47F204631F49238407A804F008FDA8 +:100B30001D2384F832310DF2EB2207AB0DF1340C9A +:100B40001E4603CE664510605160334602F108022E +:100B5000F6D1306810603379137141460122204686 +:100B600000F08EFE00230393AB7E029305F1190380 +:100B7000019380B20123CDE904800093E97E06A3AE +:100B8000D3E90023384602F03BFD0DF5507DBDE86A +:100B9000F08100BFAFF300809E6AC421818A46EED7 +:100BA000E0240020505500082DE9F0412C4C237A18 +:100BB000DAB080460D465BBB27A9284600F082FFCD +:100BC0000746002842D19DF89D60C82E3ED80146B8 +:100BD0004FF4A662204600F0D7FD4FF48073C4F8AE +:100BE000F8314FF40073C4F80C334FF44073C4F879 +:100BF000203432460DF19E0104F1090000F0B2FDEF +:100C000026449DF89C30777223720BB9EB7E2372D9 +:100C10008122002106AC27A800F0B6FD0122214662 +:100C200027A800F095FF00230393AB7E029305F104 +:100C3000190380B201932823CDE904400093E97E93 +:100C400005A3D3E90023404602F0DAFC5AB0BDE820 +:100C5000F08100BFAFF3008026417272DF25D7B765 +:100C6000A85E0020F0B5254E4FF48A7505FB00659F +:100C7000F1B096F8D83085F8DC300024D82221462F +:100C800085F8E8403AA800F07FFD06F1090000F081 +:100C900073FDD5F8E4308DF8F000C2B206AF06F16E +:100CA00009010DF1F100CDE93A3400F05BFD394660 +:100CB00001223AA800F082FF80B2CDE90470082337 +:100CC0000127CDE9023706F1D803019330230093C1 +:100CD000317A0B4807A3D3E9002302F091FCA0422C +:100CE00006DD02F0CFF8C5F8E000384671B0F0BD7F +:100CF0002046FBE778F6339F93CACD8DA85E00208F +:100D0000F83400202DE9F04F264FDFF8A480264E5E +:100D100087B0384602F0A0FC034600283AD00024F1 +:100D2000CDE90344ADF81440027B8DF81420996896 +:100D30004068029403AA03C21B681C4D43F00043A1 +:100D40000293A146A2462B68D3F810B002F09CF89B +:100D500010EB080241F100032846CDF800A002A9DB +:100D6000D84704F5A6640028C8BF49F00109B4F5C6 +:100D7000266F05F5A655E6D1B9F1000F05D0384626 +:100D800002F06EFC86F800A0C3E73378072B04D886 +:100D90000133337007B0BDE8F08F024802F060FC09 +:100DA000F8E700BFF8340020DD630020283500207C +:100DB00040420F0070B50D4614461E4602F07CFB03 +:100DC00050B9022E10D1012C0ED112A3D3E9002369 +:100DD000C5E90023012007E0282C10D005D8012CFC +:100DE00009D0052C0FD0002070BD302CFBD10BA3F7 +:100DF000D3E90023ECE70BA3D3E90023E8E70BA337 +:100E0000D3E90023E4E70BA3D3E90023E0E700BF25 +:100E1000AFF30080401DA12026812A0B78F6339F76 +:100E200093CACD8D9E6AC421818A46EE2641727294 +:100E3000DF25D7B7F017304A39059E5638B5054635 +:100E40000E4C0021013500F025FCA4F82C55B4F817 +:100E50002C0500F007FC78B1B4F82C0500F012FC6A +:100E6000014648B9B4F82C0500F014FCB4F82C3550 +:100E70000133A4F82C35EAE738BD00BFA85E002096 +:100E8000F8B50D4C0D4F0226A4F5805343F8307C85 +:100E9000237E3BB965692DB1284600F09BFF2846AB +:100EA00004F004FB204600F095FF012EA4F5A654A3 +:100EB00000D1F8BD0126E7E7185A0020BC5500080C +:100EC0002DE9F04F8FB000AF05460C4602F0F4FA62 +:100ED000002849D1237E022B1BD1E38A012B18D194 +:100EE00001F0D0FF0646FFF7CBFD03464FF4C87074 +:100EF000DFF8C482B3FBF0F206F5167602FB10337E +:100F000016FA83F3C8F80030E37E33B9A34B00220E +:100F10001A703C37BD46BDE8F08F07F1240120462A +:100F200000F084FD0028F4D107F11400FFF7C0FDA4 +:100F300097F8264007F11401224607F1270004F034 +:100F4000CDFA0028E2D10F2C08D8944B1C70D8F8A9 +:100F50000030A3F51673C8F80030DAE797F82410CC +:100F6000284602F0A1FAD4E7E38A282B2BD010D828 +:100F7000012B23D0052BCCD1BFF34F8F8849894B50 +:100F8000CA6802F4E0621343CB60BFF34F8F00BF27 +:100F9000FDE7302BBDD1844EE17E327A9142B8D14B +:100FA000607E3146002291F8DC50854200F0A58039 +:100FB0000132042A01F58A71F5D1AAE721462846B3 +:100FC000FFF786FDA5E721462846FFF7EDFDA0E7E0 +:100FD000B2F8EC507B6005F103094FEA99094FEA3A +:100FE0008902D11DC908A8EBC1039D46EB4600212B +:100FF000584600F0C9FB04F1EE012A463144584638 +:1010000000F0B0FB7B6813B9012000F01BFB96F8E1 +:10101000D20000F027FB044630B9307200F04CFBE0 +:10102000204600F00FFBB1E0D6F8D4203AB996F88C +:10103000D200B6F82C25824201D8FFF7FFFED6F881 +:10104000D4202A44944208D296F8D200B6F82C252F +:101050000130824201D8FFF7F1FE70685FFA89F231 +:10106000594600F099FB08B9C54679E0726896F8D0 +:10107000D2002A447260D6F8D42005EB0209C6F8E3 +:10108000D49000F0EFFA814509D396F8D220D6F833 +:10109000D4000132001B86F8D220C6F8D400FF2D00 +:1010A0000FD80024347200F007FB204600F0CAFA83 +:1010B00000F012FE3D4B188108B9FFF7FBF9C54659 +:1010C00027E7BB6896F8D9000AFB0362FB68D2F8F1 +:1010D000E41082F8E83001F58061C2F8E030C2F82F +:1010E000E410FFF7BFFDFFF70DFE96F8D92001329F +:1010F00002F0030286F8D920B6E74FF48A7A0AFB99 +:1011000002F505F1EA013144204600F089FDF8605E +:1011100000287FF4FEAE3544012285F8E82001F076 +:10112000B1FED5F8E020D6ED007ADFED216A801A15 +:10113000192838BF192040F6B832904228BF10460F +:10114000B8EE677A07EE900AF8EEE77A67EEA67ACD +:10115000DFED186AE7EE267AFCEEE77AC6ED007A54 +:1011600096F8D930BB60BA6873680AFB02F432198A +:1011700092F8E81059B1D2F8E4108B42E8463FF4F7 +:1011800027AF002182F8E810C2F8E010C546736866 +:10119000064A9B0A01331381BBE600BFF1340020ED +:1011A00000ED00E00400FA05A85E0020E024002025 +:1011B000CDCCCC3D6666663FF4340020014B187000 +:1011C000704700BFEC24002038B54FF00054134B9B +:1011D00022689A4220D1124B627D12481A70237DF8 +:1011E00003724FF48073C0F8F8314FF40073C0F805 +:1011F0000C3300254FF44073C0F820340A49C0F87E +:10120000E450C922093000F0ADFAE0222946204618 +:1012100000F0BAFA012038BD0020FCE79AAD44C5C1 +:10122000EC240020A85E00201600002037B500F056 +:1012300053FD1F4C1F4D2049288102236B712368E9 +:1012400001225B682046984704F580531A49D3F879 +:10125000C03401225B6804F5A6509847002301932F +:10126000164B174900931748174B4FF4805202F062 +:10127000F3F8164B197811B1124802F015F901F084 +:1012800001FE0446FFF7FCFB4FF4C873B0FBF3F21A +:1012900002FB130304F5167010FA83F00C4B186070 +:1012A00003F0B2FF08B10F232B8103B030BD00BFA4 +:1012B00028350020E024002040420F00B50D000832 +:1012C000F0240020F8340020C10E0008EC24002097 +:1012D000F43400202DE9F04F2DED028B002493B063 +:1012E0000DF12C089FED818BDFF83C92FFF70AFD92 +:1012F0000A94ADF834400B94C8F804400026814DA0 +:10130000DFF804B2374601238DF81C302B688DF8C6 +:101310001D408DED008B0DF11D02D3F808A007A92B +:1013200000232846D0479DF81CA0BAF1000F24D016 +:10133000D9F8143083F00403C9F8143010220021C6 +:101340000EA800F021FA2B6808AA5F690AA90DF11E +:101350001E032846B84798E803000FAB83E8030054 +:101360009DF834308DF844300A9B0E930EA9DDE9C8 +:101370000823584602F052FB574606F5A666B6F516 +:10138000266F05F5A655BED1002FB7D15E4802F0F5 +:1013900093F800283FD15D4E01F074FD3368984208 +:1013A00039D301F06FFD0546FFF76AFB4FF4C873B0 +:1013B000B0FBF3F202FB130305F5167010FA83F08D +:1013C0003060534E8DF82870377817B901238DF8A7 +:1013D0002830C7F11005EDB20EA8FFF769FB062D06 +:1013E00028BF06250EAB2A46D9190DF1290000F0B9 +:1013F000B9F90AAB0393182302930135454B0193C6 +:10140000EDB201230093404804953AA3D3E90023A9 +:1014100002F098F8347001F035FD3F4A3F4D1368F3 +:10142000C31AB3F57A7F2FD3106001F02DFD024669 +:101430000B46354802F01EF9334802F03DF818B368 +:101440002B7A374E002B14BF03230223737101F054 +:1014500019FD0EAF4FF47A730122B0FBF3F0394659 +:101460003060304600F0BAFA182302932D4B0193F6 +:1014700080B240F25513CDE90370009322481FA3B8 +:10148000D3E9002302F05EF82B7A93B101F0FAFC65 +:10149000002607464FF48A7895F8D900304400F0CA +:1014A000030008FB005393F8E82072B10136042EC4 +:1014B000F2D1C82003F03EFB2B7A002B7FF410AF53 +:1014C00013B0BDEC028BBDE8F08FD3F8E02042B141 +:1014D0002B68FA2B38BFFA23BA1A0533B2EB430F45 +:1014E000E4D3FFF7BFFB0028E0D1E2E700000000F3 +:1014F00000000000401DA12026812A0BF1C6A7C1D3 +:10150000D068080F28350020F8340020F43400207B +:10151000F1340020F0340020D8630020A85E0020C1 +:10152000E0240020DC6300200004004810B5074CD4 +:10153000204600F081FF04F5A65000F07DFFBDE8D5 +:101540001040034A0349002003F0AABF28350020B9 +:1015500034640020810E000870B5104B1B780133F5 +:10156000DBB2012B0C4612D80D4B1D6829684FF4D5 +:101570007A730E6AA2FB0332014622462846B04720 +:10158000844204D1074B00221A70012070BD4FF431 +:10159000FA7003F0CFFA0020F8E700BF182300200C +:1015A0001C2300202464002007B5002302460121EB +:1015B0000DF107008DF80730FFF7CEFF20B19DF841 +:1015C000070003B05DF804FB4FF0FF30F9E70000BF +:1015D0000A4608B50421FFF7BFFF80F00100C0B242 +:1015E000404208BD30B4074B0A461978064B53F801 +:1015F00021402368DD69054B0146AC46204630BCDE +:10160000604700BF246400201C230020A086010046 +:1016100070B503F047FC094E094D3080002428685E +:101620003388834208D903F039FC2B680444013322 +:10163000B4F5104F2B60F2D370BD00BF26640020BC +:10164000E063002003F0E2BC00F1006000F5104010 +:101650000068704700F10060920000F5104003F050 +:101660005FBC0000054B1A68054B1B889B1A834220 +:1016700002D9104403F012BC00207047E063002040 +:1016800026640020024B1B68184403F00FBC00BF07 +:10169000E0630020024B1B68184403F019BC00BF34 +:1016A000E06300200020704700F10050A0F51040DA +:1016B000D0F8900570470000064991F8243033B106 +:1016C0000023086A81F824300822FFF7C3BF0120F5 +:1016D000704700BFE4630020014B1868704700BFEB +:1016E000002004E030B50F4B0F4C1B682288C3F379 +:1016F0000B030138934208440BD164680A46013C4D +:10170000824213460BD214F9015F2DB102F8015B3E +:10171000F6E781420B4602D22C2203F8012B581A1D +:1017200030BD00BF002004E020230020022802BFBB +:10173000024B4FF480229A61704700BF00040048BA +:10174000022802BF014B04229A617047000400483E +:10175000022801BF024A536983F0040353617047B2 +:101760000004004810B50023934203D0CC5CC4545D +:101770000133F9E710BD000003460246D01A12F902 +:10178000011B0029FAD1704702440346934202D05C +:1017900003F8011BFAE770472DE9F8431F4D144683 +:1017A00095F824200746884652BBDFF870909CB31A +:1017B00095F824302BB92022FF2148462F62FFF7ED +:1017C000E3FF95F82400C0F10802A24228BF224698 +:1017D000D6B24146920005EB8000FFF7C3FF95F8B3 +:1017E0002430A41B1E44F6B2082E17449044E4B2E1 +:1017F00085F82460DBD1FFF75FFF0028D7D108E030 +:101800002B6A03EB82038342CFD0FFF755FF0028FA +:10181000CBD10020BDE8F8830120FBE7E463002082 +:10182000024B1A78024B1A70704700BF24640020E4 +:101830001823002003494FF461430B60024B1868E2 +:1018400003F064B80C6400201C230020094B10B581 +:101850001822044600211846FFF796FF064A074B58 +:10186000127804600146BDE8104053F8220003F0EE +:101870004DB800BF0C640020246400201C2300200D +:101880002DE9F8430D46044600219046284640F2D3 +:101890007912FFF779FF234620220021284602F023 +:1018A0005FF8231D02222021284602F059F8631D0B +:1018B00003222221284602F053F8A31D03222521EA +:1018C000284602F04DF804F108031022282128468A +:1018D00002F046F804F1100308223821284602F0ED +:1018E0003FF804F1110308224021284602F038F89D +:1018F00004F1120308224821284602F031F804F1CD +:10190000140320225021284602F02AF804F118037B +:1019100040227021284602F023F804F12003082217 +:10192000B021284602F01CF804F121030822B82156 +:10193000284602F015F804F12207C0263B4631463E +:1019400008222846083602F00BF8B6F5A07F07F10A +:101950000107F3D1314604F132030822284601F091 +:10196000FFFF94F83260002704F13309F900BE420A +:1019700001F5A4711FD8F70007F5A476B8F1000FA0 +:1019800008D1314604F599730722284601F0E8FF93 +:1019900007F24F1694F83201502828BF502007460E +:1019A00004EB0009B046A1450DD106EBC700073096 +:1019B000C008BDE8F88309EB07030822284601F0B8 +:1019C000CFFF0137D2E704F23313414608222846FD +:1019D00001F0C6FF08F108080134E4E713B5044636 +:1019E0000846002101602346C0F803102022019020 +:1019F00001F0B6FF0198231D0222202101F0B0FF63 +:101A00000198631D0322222101F0AAFF0198A31D62 +:101A10000322252101F0A4FF019804F108031022FC +:101A2000282101F09DFF072002B010BDF7B5047F0B +:101A300005460E462CB1838A122B02D9012003B031 +:101A4000F0BD0023194607220096284601F04CFEFF +:101A5000731C0093012200230721284601F044FE55 +:101A6000D4B9B31C0093052223460821284601F06F +:101A70003BFE0D24B378102BE0D83746B278BB1B61 +:101A8000934210D32B7FA88A0734E408B3B9844269 +:101A900094BF00200120D2E7AB8ADB00083BDB08C3 +:101AA000B3700824E6E7FB1C0093214600230822BC +:101AB000284601F019FE08340137DFE7201A18BF65 +:101AC0000120BCE7F7B5047F05460E462CB1838A9A +:101AD000CA2B02D9012003B0F0BD0023194600969D +:101AE0000822284601F000FE731CD4B90822009396 +:101AF00011462346284601F0F7FD10247378C82BC1 +:101B0000E8D8012372785F1C013B934210D32B7FEE +:101B1000A88A0734E408B3B9844294BF00200120A6 +:101B2000D9E7AB8ADB00083BDB0873700824E5E7E4 +:101B3000F3190093214600230822284601F0D4FD22 +:101B400008343B46DEE7201A18BF0120C3E7000037 +:101B50002DE9F8430D460446164600218122284609 +:101B6000FFF712FE234608220021284601F0F8FE66 +:101B7000C6B9631C07220821284601F0F1FE0F2692 +:101B800094F901306778002BB8BF7F2704EB070971 +:101B9000B0464C4508D10736082010FB0760C00846 +:101BA000BDE8F8830826EBE7A31C41460822284637 +:101BB00001F0D6FE08F108080134EAE72DE9F0410A +:101BC0000D46044616460021CE222846FFF7DCFDCE +:101BD000234628220021284601F0C2FEBEB904F1A6 +:101BE000080308222821284601F0BAFE302614F8FE +:101BF000080FC82828BFC82080460027B84506EB34 +:101C0000C70106D806EBC800C008BDE8F081282649 +:101C1000EDE70137E3190822284601F0A1FEEDE7C0 +:101C2000F7B5047F05460E4634B1838AB3F5827F4B +:101C300002D9012003B0F0BD00960123102200213B +:101C4000284601F051FDDCB9B31C0093092223465C +:101C50001021284601F048FD19247388B3F5807FD0 +:101C6000E7D837467288BB1B934210D32B7FA88AD4 +:101C70000734E408B3B9844294BF00200120D9E7B7 +:101C8000AB8ADB00103BDB0873801024E5E73B1DCB +:101C90000093214600230822284601F025FD083440 +:101CA0000137DFE7201A18BF0120C3E730B5094D1F +:101CB0000A4491420DD011F8013B5840082340F3EB +:101CC0000004013B2C4013F0FF0384EA5000F6D1DE +:101CD000EFE730BD2083B8EDF7B5384A106851689A +:101CE0006B4603C36A4636493648082303F006FCB0 +:101CF0000446002833D10A25334A106851686B46E0 +:101D000003C36A4631492F48082303F0F7FB044612 +:101D1000002849D00369B3F5EE2F45D8B0F8661016 +:101D200040F2764291423FD1294A024402F15C01DD +:101D30008B4239D35C3B234900209E1AFFF7B6FF44 +:101D40003246074604F164010020FFF7AFFFA368A5 +:101D50009F4229D1E368984208BF002524E0036927 +:101D6000B3F5EE2F27D8418B40F27642914220D135 +:101D7000174A024402F110018B4218D3103B11495B +:101D800000209D1AFFF792FF2A46064604F118012B +:101D90000020FFF78BFFA3689E4202D1E3689842C0 +:101DA00001D00D25A8E70025284603B0F0BD102579 +:101DB000A2E70C25A0E70B259EE700BF7C55000895 +:101DC000DC6F07000090000885550008906F070041 +:101DD0000870FFF710B5037C044613B9006803F0E0 +:101DE00075FB204610BD00000023BFF35B8FC3606E +:101DF000BFF35B8FBFF35B8F8360BFF35B8F704775 +:101E0000BFF35B8F0068BFF35B8F704770B505460B +:101E10000C30FFF7F5FF05F1080604463046FFF7E2 +:101E2000EFFFA04206D930466D68FFF7E9FF254471 +:101E3000281A70BD3046FFF7E3FF201AF9E70000CB +:101E400070B50546406898B105F10800FFF7D8FF66 +:101E500005F10C0604463046FFF7D2FF84423046B7 +:101E600094BF6D680025FFF7CBFF013C2C44201A7E +:101E700070BD000038B50C460546FFF7C7FFA0420D +:101E800010D305F10800FFF7BBFF04446868B4FBFA +:101E9000F0F100FB1144BFF35B8F0120AC60BFF396 +:101EA0005B8F38BD0020FCE72DE9F0411446074662 +:101EB0000D46FFF7C5FF844228BF0446D4B1B8469B +:101EC00058F80C6B4046FFF79BFF304428604046B3 +:101ED0007E68FFF795FF331A9C4203D86C6001209F +:101EE000BDE8F0816B60A41B3B68AB602044E860F8 +:101EF0000220F5E72046F3E738B50C460546FFF724 +:101F00009FFFA04210D305F10C00FFF779FF0444B6 +:101F10006868B4FBF0F100FB1144BFF35B8F012054 +:101F2000EC60BFF35B8F38BD0020FCE72DE9FF417B +:101F3000884669460746FFF7B7FF6C4606B204EBD2 +:101F4000C6060025B44209D06268206808EB050186 +:101F5000FFF708FC636808341D44F3E72946384658 +:101F6000FFF7CAFF284604B0BDE8F081F8B5054682 +:101F70000C300F46FFF744FF05F1080604463046D3 +:101F8000FFF73EFFA042304688BF6C68FFF738FF7E +:101F9000201A386020B130462C68FFF731FF20440A +:101FA000F8BD000073B5144606460D46FFF72EFF38 +:101FB000844228BF04460190DCB101A93046FFF7F6 +:101FC000D5FF019B33B93268C5E90233C5E9002466 +:101FD00001200CE09C4238BF0194286001986860A1 +:101FE0008442F5D93368AB60241AEC60022002B059 +:101FF00070BD2046FBE700002DE9FF410F46694612 +:10200000FFF7D0FF6C4600B204EBC0050026AC42DF +:1020100009D0D4F8048054F8081BB8194246FFF7D9 +:10202000A1FB4644F3E7304604B0BDE8F081000070 +:1020300038B50546FFF7E0FF044601462846FFF79E +:1020400019FF204638BD00007047000010B4134649 +:10205000026814680022A4465DF8044B6047000043 +:1020600000F5805090F859047047000000F580504A +:1020700090F852047047000000F5805090F9580421 +:102080007047000050207047302383F3118800F51B +:102090008052D2F89C34D2F898041844D2F8943480 +:1020A0001844D2F87C341844D2F88C341844D2F84E +:1020B00088341844002383F31188704700F580505A +:1020C000C0F854140120704738B5C26A936923F0F0 +:1020D00001039361044600F0D5FE0546E36A9B695F +:1020E000DB0706D500F0CEFE431BFA2BF6D9002005 +:1020F00004E004F58054012084F8520438BD000047 +:102100002DE9F04F0C4600F5805185B01F4691F83F +:102110005234BDF83890054690469BB1D1F87834DA +:102120000133C1F878342368980006D4237B082B48 +:102130000BD9627B0AB10F2B07D9D1F87C3401335C +:10214000C1F87C344FF0FF3010E0302383F3118866 +:10215000EB6AD3F8C42012F4001B0AD0D1F8803403 +:102160000133C1F88034002080F3118805B0BDE848 +:10217000F08FD3F8C4302068C3F3014A6B6A482259 +:10218000002812FB0A33B4BF40F08040800418607E +:102190002268520044BF40F000501860207B4FEA94 +:1021A0000A6242EA00425A60607B4FEA4A1610B364 +:1021B00042F440125A60D1F8B0240132C1F8B02480 +:1021C000AA1902F58352117B41F020011173207B83 +:1021D000039300F0B3FE039B033080105FFA8BF291 +:1021E00082420BF1010B0DDA04EB820103EB820258 +:1021F00049689160F2E7AA1902F58352117B60F3F6 +:102200004511E3E7EB6A012202FA0AF2C3F8CC2097 +:1022100005EB4A11AB1903F5825301F58251C3E96D +:1022200004871831234604F10C0253F8040B41F8DB +:10223000040B9342F9D11B880B802E4441F26803B2 +:1022400046F803A006F5805609F0030396F86C20C3 +:1022500043F0100322F01F02134386F86C30002372 +:1022600083F31188CDF8009042463B46214628462C +:1022700000F02AFE012079E713B500F580540191A2 +:10228000606CFFF7DDFD1F280AD90199606C2022E0 +:10229000FFF74CFEA0F120035842584102B010BD98 +:1022A0000020FBE708B5302383F3118800F5805048 +:1022B000406CFFF799FD002383F3118808BD0000EF +:1022C00000220260828142608260704710B5002265 +:1022D0000023C0E900230023044603810C30FFF7EC +:1022E000EFFF204610BD00002DE9F0479A4688B068 +:1022F000074688469146302383F3118807F58054BA +:102300006846FFF7E3FF606CFFF780FD1F282DD9BB +:10231000606C20226946FFF78BFE202826D194F8B6 +:1023200052341BB303AD444605AB2E4603CE9E424A +:1023300020606160354604F10804F6D13068206001 +:10234000B388A380DDE90023C9E90023BDF8083084 +:10235000AAF80030002383F3118853464A464146C9 +:10236000384608B0BDE8F04700F09CBD002080F37F +:10237000118808B0BDE8F0872DE9F84F0023064624 +:10238000C0E90133294B46F8303B00F5815405463E +:1023900088463746103438462037FFF797FFA74264 +:1023A000F9D105F580544FF4805326630026C4E923 +:1023B0000D366764012305F5835705F5A359E663D8 +:1023C00084F8403084F84830103709F110094FF094 +:1023D000000A4FF0000B47E908ABA7F11800FFF720 +:1023E0006FFF203747F8286C4F45F4D1B8F1010F43 +:1023F00084F85884A4F85A64A4F85C64A4F85E6471 +:1024000084F86064A4F86264A4F86464A4F8666460 +:1024100084F8686402D9064800F02EFD054B53F895 +:102420002830EB622846BDE8F88F00BFBC55000895 +:1024300090550008AC55000810B5044B19780446B7 +:102440004A1C1A70FFF798FF204610BD3164002027 +:102450002DE9F84315460C4600295CD0022001F016 +:102460007DFF2E49B0FBF4F78C428CBF0A2111216D +:102470004B1EB7FBF1F601FB1671DAB221B1022B4C +:102480001946F5D8002032E0731EB3F5806FF9D2FB +:10249000C2EBC20808F103014FEAE10EC1F3C70124 +:1024A000A2EB010C0EF101094FF47A735FFA8CF77D +:1024B0000EFB033E59FA8CFCBEFBFCFCBCF5617FB5 +:1024C00017DC1FFA8CF34A1C57FA82F27243B0FBF6 +:1024D000F2F08442D6D14A1E0F2AD3D87A1E072A98 +:1024E000D0D801202B806E8028716971AF71BDE852 +:1024F000F88308F1FF314FEAE10CC1F3C701521A2A +:102500000CF1010ED7B20CFB03335EFA82F2B3FB7F +:10251000F2F39BB2D7E70846E9E700BF3F420F005E +:1025200030B50D4B0D4D05201C786C438C420ED1FF +:102530005978518099785171D978917119791171BF +:102540005B7903EB83035B001380012030BD01380E +:1025500003F10603E8D1F9E7FC55000840420F00FB +:1025600038B500F58053114A93F85834D55C4FF4D0 +:102570005472554305F1804303F52443044600217A +:102580001846FFF701F90A4B60612B44A361094B20 +:102590002B44E361084B2B442362084B2B446362BA +:1025A000E36A0022C3F8C02038BD00BFA45500086C +:1025B00070A40040B0A4004088A5004078A6004068 +:1025C0002DE9F04F00F580551F4695F85834022B41 +:1025D00089B004468946904604D90026304609B0A1 +:1025E000BDE8F08FA64A52F8231009B942F823003B +:1025F000A448C4F80C900178277499B9302383F368 +:102600001188A14B9A6D42F000729A659A6B42F064 +:1026100000729A639A6B22F000729A63012303702E +:1026200081F3118895F85134CBB9302383F31188A5 +:10263000964A95F85834D35C012B2AD0022B2FD020 +:102640003BB90321152001F0ABFF0321162001F057 +:10265000A7FF012385F85134002383F31188302329 +:1026600083F31188E26A936923F01003936100F009 +:1026700009FC8246E36A9E6916F0080617D000F04E +:1026800001FCA0EB0A03FA2BF4D9002686F311888B +:10269000A4E70321562001F083FF03215720D6E74A +:1026A0000321582001F07CFF03215920CFE79A69CC +:1026B00042F001029A6100F0E5FB8246E36A9A6902 +:1026C000D00706D400F0DEFBA0EB0A03FA2BF5D905 +:1026D000DBE79A6942F002029A61E36A4FF0000A6E +:1026E000C3F854A08AF31188686CFFF77DFB04F5EA +:1026F000825B0BF1100B202200216846FFF744F8A3 +:1027000002A8FFF7DDFDCDF818A06A460BEB060323 +:102710000DF1180E9446BCE80300F44518605960AA +:10272000624603F10803F5D1DCF80000186020369A +:102730009CF804201A71B6F5806FDCD1002304F5F3 +:10274000A25285F8503485F853341A32494620464F +:10275000FFF77EFE064690B9E26A936923F0010313 +:10276000936100F08FFB0546E36A9B69D9077FF50B +:1027700034AF00F087FB431BFA2BF5D92DE795F812 +:102780005E34C5F86C94591E95F85F34E26A013BDB +:102790001B0243EA416395F8601401390B43B5F815 +:1027A0005C14013943EA0143D361B8F1000F36D01C +:1027B00004F5A352023241462046FFF7B1FE90B91C +:1027C000E26A936923F00103936100F05BFB054625 +:1027D000E36A9B69DA077FF500AF00F053FB431B08 +:1027E000FA2BF5D9F9E695F86724C5F87084511EDF +:1027F00095F86824E36A013A120142EA012295F849 +:10280000661401390A43B5F86414013942EA0142F9 +:1028100042F40002DA60E36A4FF420629A642046D0 +:10282000FFF79EFE002385F85934E36A6FF04042BB +:102830001A65E36A164A5A65E36A44229A65E36AAE +:102840000722C3F8DC20E36A03229742DA653FF4EB +:10285000C5AEE26A936923F00103936100F012FBB5 +:102860000746E36A9B69DB0705D500F00BFBC31B3A +:10287000FA2BF6D9B1E6012385F85234AEE600BF53 +:10288000286400203064002000100240A455000895 +:102890009B0008002DE9F04F054689B09046994607 +:1028A000002741F2680A00F58056EB6AD3F8D4306D +:1028B000FB40D80751D505EB471252444FEA471B5E +:1028C0001379190749D4D6F884340133C6F884340F +:1028D00005F5A553C3E9008913799A0648BFD6F8D0 +:1028E000B43405EB0B0248BF0133524448BFC6F86D +:1028F000B434137943F008031371DB0722D596F83B +:102900005334FBB105F58254183468465C44FFF734 +:10291000DDFC03AB04F1080C206861681A4603C2B1 +:10292000083464451346F7D120681060A2889A8065 +:102930000123ADF808302B68CDE90089DB6B6946CF +:1029400028469847D6F8A834D6F854040133C6F878 +:10295000A83410B103681B6998470137202FA4D110 +:1029600009B0BDE8F08F00002DE9F04F8DB00446AE +:102970000F4600F089FA82468946002F56D1E36A55 +:10298000D3F89020920141BF04F58051D1F89824EA +:102990000132C1F89824D3F89020160703D1002003 +:1029A0000DB0BDE8F08FD3F89050E669C5F301256E +:1029B000482303FB0566E8464046FFF781FC326882 +:1029C00051004ABF22F06043C2F38A4343F0004300 +:1029D000920048BF43F080430093736813F40013E0 +:1029E0001FBF04F5805201238DF80D30D2F8B834A2 +:1029F0000EBF8DF80D300133C2F8B834F38803F000 +:102A00000F038DF80C304FF0000B9DF80C0000F018 +:102A100095FA5FFA8BF3984220D9F2180CA90B446F +:102A2000127A03F82C2C0BF1010BEEE7012FB6D133 +:102A3000E36AD3F89820950141BF04F58051D1F89D +:102A400098240132C1F89824D3F898201007A6D012 +:102A5000D3F89850266AC5F30125A9E7EFB9E36AD0 +:102A6000C3F8945004A8FFF731FC98E80F0007ADB5 +:102A700007C52B800023ADF8183023682046CDE928 +:102A800004A9DB6B04A9984704F5805458B1D4F825 +:102A900090340133C4F8903482E7012F04BFE36A15 +:102AA000C3F89C50DEE7D4F894340133C4F894346E +:102AB000012075E72DE9F04105460F4600F58054E9 +:102AC000012639462846FFF74FFF10B184F85364BA +:102AD000F7E7D4F8A834D4F854040133C4F8A83480 +:102AE00020B10368BDE8F0411B691847BDE8F081DB +:102AF000F0B5C36A1A6C12F47F0F2BD000F5805426 +:102B00001B6CC4F8AC3441F26805002347194FF040 +:102B1000010C00EB43122A445E01117911F0020FFF +:102B200015D0490713D4B959C66AD6F8C8E00CFACB +:102B300001F111EA0E0F0AD0C6F8D010117941F058 +:102B400004011171D4F88C240132C4F88C240133AF +:102B5000202BDED1F0BD00002B4B70B51E561B5C48 +:102B6000012B2FD8294D2A4A55F8233052F82640F8 +:102B70000BB341B3236D1A060FD58023236500F0F4 +:102B800083F950EA01020B4602D0013861F10003DB +:102B9000024655F82600FFF77DFE236D1B032CD55A +:102BA00055F826304FF4002203F5805322650122A8 +:102BB00083F8592421E001232365082323654FF47A +:102BC0008063236570BD236DDA0702D4236D9B07F4 +:102BD00006D5032355F8260023650021FFF76AFF79 +:102BE000236D180702D4236DD90606D5182355F88E +:102BF000260023650121FFF75DFF55F82600BDE89B +:102C00007040FFF775BF00BFA8550008286400207A +:102C1000AC55000808B5302383F31188FFF768FF2F +:102C2000002383F3118808BDC36AD3F8C40080F47D +:102C30000010C0F34050704708B5302383F311886B +:102C400000F58050406CFFF7E1F8002383F3118812 +:102C500043090CBF0120002008BD000000F580538F +:102C600093F8592462B1C16A8A6922F001028A612B +:102C7000D3F89C240132C3F89C24002283F8592401 +:102C8000704700002DE9F743302181F3118800F5EA +:102C900082511031002541F2680E4FF0010800F515 +:102CA000805C00EB45147444267977071CD4F60643 +:102CB0001AD5D0F82C908E69D9F8C87008FA06F6A3 +:102CC0003E4211D04F6801970F689742019F9F4184 +:102CD0000AD2C9F8D060267946F004062671DCF8DD +:102CE00088440134CCF888440135202D01F12001BD +:102CF000D7D1002383F3118803B0BDE8F08300002F +:102D0000F8B51E46002313700F4605461446FFF71C +:102D100093FF80F0010038701EB12846FFF784FF52 +:102D20002070F8BD2DE9F04F85B09946DDE90EA37E +:102D30000D4602931378019391F800B08046164631 +:102D400000F0A2F82B7804460F4613B93378002B15 +:102D500041D022463B464046FFF794FFFFF75AFF1B +:102D6000FFF77CFF4B4632462946FFF7C9FF2B7819 +:102D700033B1BBF1000F03D0012005B0BDE8F08FE7 +:102D8000337813B1019B002BF6D108F580530393E0 +:102D9000029B544577EB03031DD2039BD3F85404E5 +:102DA000C8B10368AAEB04011B6898474B4632463A +:102DB00029464046FFF7A4FF2B7813B1BBF1000F63 +:102DC000DAD1337813B1019B002BD5D100F05CF838 +:102DD00004460F46DCE70020CFE7000008B50021DD +:102DE0000846FFF7B9FEBDE8084001F06DB80000E5 +:102DF00008B501210020FFF7AFFEBDE8084001F053 +:102E000063B8000008B500210120FFF7A5FEBDE86A +:102E1000084001F059B8000008B501210846FFF745 +:102E20009BFEBDE8084001F04FB8000000B59BB024 +:102E3000EFF3098168226846FEF794FCEFF30583FF +:102E4000014B9B6BFEE700BF00ED00E008B5FFF70C +:102E5000EDFF000000B59BB0EFF3098168226846E2 +:102E6000FEF780FCEFF30583014B5B6BFEE700BFD1 +:102E700000ED00E0FEE700000FB408B5029801F095 +:102E800009FEFEE702F008B902F0EAB813B56C4695 +:102E900084E80600031D94E8030083E80500012090 +:102EA00002B010BD73B58568019155B11B885B07F1 +:102EB00007D4D0E900369B6B9847019AC1B23046DF +:102EC000A847012002B070BDF0B5866889B00546FC +:102ED0000C465EB1BDF838305B070AD4D0E9003744 +:102EE0009B6B98472246C1B23846B047012009B0D3 +:102EF000F0BD00220023CDE900230023ADF8083007 +:102F00000A4603AB01F10806106851681C4603C469 +:102F10000832B2422346F7D1106820609288A2801E +:102F2000FFF7B2FF0423ADF808302B68CDE90001AC +:102F3000DB6B694628469847D8E70000082817D970 +:102F400009280CD00A280CD00B280CD00C280CD047 +:102F50000D280CD00E2814BF4020302070470C20C4 +:102F600070471020704714207047182070472020A9 +:102F7000704700002DE9F041456A15B94162BDE88E +:102F8000F0814B6823F06047C3F38A464FEAD37E53 +:102F9000C3F3807816EA230638BF3E46AC462B467C +:102FA0005A68BEEBD27F22F060440AD0002A18DAB9 +:102FB000A40CB44217D19D420FD10D60DEE7134639 +:102FC000EEE7A74207D102F08044C2F38072424587 +:102FD0000BD054B1EFE708D2EDE7CCF800100B604E +:102FE000CDE7B44201D0B442E5D81A689C46002A25 +:102FF000E5D11960C3E700002DE9F047089D01F015 +:1030000007044FEAD508224405F0070500EBD1007C +:103010004FF47F49944201D1BDE8F08704F00707DF +:1030200005F0070A57453E4638BF5646C6F1080622 +:10303000111B8E4228BF0E46E10808EBD50E415CFD +:1030400013F80EC0B94029FA06F721FA0AF1FFB2C7 +:103050008CEA010147FA0AF739408CEA010C03F8BF +:103060000EC034443544D5E780EA0120082341F2FC +:10307000210201B24000002980B203F1FF33B8BF42 +:10308000504013F0FF03F4D17047000038B50C46F0 +:103090008D18A54200D138BD14F8011BFFF7E4FFDD +:1030A000F7E7000042684AB11368436043898189A9 +:1030B00001339BB29942438138BF838110467047E8 +:1030C00070B588B0202204460D4668460021FEF700 +:1030D0005BFB20460495FFF7E5FF024658B16B46BF +:1030E000054608AE1C4603CCB442286069602346FE +:1030F00005F10805F6D1104608B070BD082817D9AB +:1031000009280CD00A280CD00B280CD00C280CD085 +:103110000D280CD00E2814BF4020302070470C2002 +:1031200070471020704714207047182070472020E7 +:1031300070470000082817D90C280CD910280CD982 +:1031400014280CD918280CD920280CD930288CBF69 +:103150000F200E207047092070470A2070470B206F +:1031600070470C2070470D20704700002DE9F84390 +:10317000078C072F04461ED9D0E9029800254FF688 +:10318000FF73C5F12006A5F1200029FA05F108FA20 +:1031900006F628FA00F031430143C9B21846FFF79A +:1031A00063FF0835402D0346EBD1E1693A46BDE89F +:1031B000F843FFF76BBF4FF6FF70BDE8F8830000E0 +:1031C00010B54B6823B9CA8A63F30902CA8210BDDD +:1031D00004691A681C600361C38A013BC3824A60A8 +:1031E000EFE700002DE9F84F1D46CB8A0F46C3F3E9 +:1031F00009010529814692460B4630D00020AAB22B +:1032000007F11A049EB2042E1FFA80F80FD89045D9 +:1032100003F1010306D3FB8A0A4462F30903FB822C +:1032200001201AE01AF80060E6540130EAE7904500 +:10323000F1D2A1F1050B1C237C68BBFBF3F203FB6D +:1032400012BB1FFA8BF6002C45D14846FFF72AFF28 +:10325000044638B978606FF00200BDE8F88F4FF08F +:103260000008E6E7002606607860ADB24FF0000B7C +:10327000454510D90AEB0803221D13F8011B91558F +:10328000B1B208F101081B291FFA88F82BD0454577 +:1032900006F10106F1D8FB8AC3F30902154465F370 +:1032A0000903BCE7013292B21C462368002BF9D116 +:1032B0006B1F0B441C21B3FBF1F301339BB29A4209 +:1032C000D3D2BBF1000FD0D14846FFF7EBFE20B9B7 +:1032D000C4F800B0BFE70122E7E7C0F800B05E46DF +:1032E00020600446C1E74545D5D94846FFF7DAFED8 +:1032F00008B92060AFE7C0F800B00026206004469F +:10330000B6E700002DE9F04F2DED028B1C4683B08F +:103310005B69019207468846002B00F09A80238C57 +:103320002BB1E269002A00F09480072B35D807F111 +:103330000C00FFF7B7FE054638B96FF002052846C6 +:1033400003B0BDEC028BBDE8F08F14220021FEF724 +:103350001BFA228CE16905F10800FEF703FA208CC4 +:10336000013080B2FFF7E6FEFFF7C8FE013880B2F9 +:103370002084013028746369228C1B782A4403F06E +:103380001F0363F03F0348F0004113723846696041 +:103390002946FFF7EFFD0125D1E700F10C034FF0BF +:1033A000000908EE103A4FF0800A4E464D4618EEDE +:1033B000100AFFF777FE83460028BED014220021B2 +:1033C000FEF7E2F9002E3AD1019BABF80830022259 +:1033D0000BF1080E1FFA82FC0CF10100BCF1060F84 +:1033E000218C80B201D88E422BD3FFF7A3FEFFF7CA +:1033F00085FE62691278013802F01F028E4208BF12 +:103400004FF0400A42EA49121BFA80F14AEA020AE6 +:10341000013048F0004281F808A08BF81000CBF88A +:10342000042059463846FFF7A5FD238C0135B342E9 +:103430002DB289F001094FF0000AB8D17FE70022D0 +:10344000C6E7E169895D0EF802100136B6B20132B5 +:10345000C0E76FF0010572E7F8B515460E46302259 +:10346000002104461F46FEF78FF9069B6360B5F501 +:10347000001F079BA76034BF6A094FF6FF72A36263 +:1034800097B2E66104F1100000239A4206D80023A7 +:103490000360A782E3822383E360F8BD0660013303 +:1034A00030462036F1E7000003781BB94BB2002B01 +:1034B000C8BF01707047000000787047F8B50C462F +:1034C000C969074611B9238C002B37D1257E1F2DE2 +:1034D00034D8387828BB228C072A2CD8268A36F094 +:1034E00003032BD14FF6FF70FFF7D0FD20F0010052 +:1034F0003102400441EA0561400C41EA40254FF6A3 +:10350000FF72234629463846FFF7FCFE002807DDF8 +:10351000626913780133DBB21F2B88BF002313705D +:10352000F8BD218A2D0645EA012505432046FFF70F +:103530001DFE0246E5E76FF00300F1E76FF00100C2 +:10354000EEE7000070B58AB0044616460021282236 +:1035500068461D46FEF718F9BDF83830ADF8103052 +:103560000F9B05939DF840308DF81830119B079301 +:103570006946BDF84830ADF820302046CDE90265F7 +:10358000FFF79CFF0AB070BD2DE9F041D3690546F5 +:103590000C4616460BB9138C5BBB377E1F2F28D801 +:1035A00095F80080B8F1000F26D03046FFF7DEFD19 +:1035B0003378210241EAC33141EA0801338A41EA02 +:1035C000076141EA03410246334641F08001284643 +:1035D000FFF798FE00280ADD3378012B07D17269C6 +:1035E00013780133DBB21F2B88BF00231370BDE8B3 +:1035F000F0816FF00100FAE76FF00300F7E70000D9 +:10360000F0B58BB004460D461746002128226846C7 +:103610001E46FEF7B9F89DF84C305A1E53425341EE +:103620008DF800309DF84030ADF81030119B0593B7 +:103630009DF848308DF81830149B07936A46BDF802 +:103640005430ADF8203029462046CDE90276FFF708 +:103650009BFF0BB0F0BD0000406A00B10430704722 +:10366000436A1A68426202691A600361C38A013BB5 +:10367000C38270472DE9F041D0F82080194E1446DE +:103680001D464146002709B9BDE8F081D1E9022372 +:10369000A21A65EB0303964277EB03031ED2036A7B +:1036A0008B420DD1FFF78CFD036A1B68036203692F +:1036B0000B60C38A0161016A013BC3828846E2E76D +:1036C000FFF77EFD0B68C8F8003003690B60C38A02 +:1036D0000161013BC382D8F80010D4E7884609682D +:1036E000D1E700BF80841E002DE9F04F8BB00D465E +:1036F000DDF8509014469B468046002800F0198162 +:10370000B9F1000F00F01581531E3F2B00F211811B +:10371000012A03D1BBF1000F40F00B810023CDE95A +:103720000833B8F81430B5EBC30F4FEAC30703D31F +:1037300000200BB0BDE8F08F2B199F42D8F80C3059 +:103740003ABF7F1BFFB227461BB9D8F81030002BB9 +:103750007AD0272D4ED8C5F12806B7424FF0000386 +:103760002CBFF6B23E4600932946D8F8080008ABB5 +:103770003246FFF741FCA7EB060A35445FFA8AFAA6 +:10378000B8F8143003F10053053BDB000493D8F87C +:103790000C3003932821039B13B1BAF1000F2CD1F5 +:1037A000D8F8100040B1BAF1000F05D0009608AB70 +:1037B0005246691AFFF720FC38B2002FB8D06607CE +:1037C0000AD00AAB03EBD401624211F8083C02F0C4 +:1037D0000702134101F8083C082C3CD9102C40F298 +:1037E000B580202C40F2B780BBF1000F00F09C8028 +:1037F000082334E0BA460026C2E7049BE02B28BF2A +:10380000E02306930B44AB42059314D95A1B03984B +:103810000096924534BF5246D2B2691A08AB0430C2 +:103820000792FFF7E9FB079A1644AAEB020A154430 +:10383000F6B25FFA8AFA049B069A05999B1A0493DA +:10384000039B1B680393A6E70093D8F8080008AB16 +:103850003A462946AEE7BBF1000F13D00123B4EB83 +:10386000C30F6CD0082C12D89DF82030621E23FAAA +:1038700002F2D50706D54FF0FF3202FA04F42343D3 +:103880008DF820309DF8203089F8003051E7102C59 +:1038900012D8BDF82030621E23FA02F2D10706D5F5 +:1038A0004FF0FF3202FA04F42343ADF82030BDF8A4 +:1038B0002030A9F800303CE7202C0FD80899631E6F +:1038C00021FA03F3DA0705D54FF0FF3202FA04F4C8 +:1038D0000C430894089BC9F800302AE7402C2BD0F1 +:1038E000DDE90865611EC4F12102A4F1210326FA75 +:1038F00001F105FA02F225FA03F311431943CB074C +:1039000012D50122A4F12003C4F1200102FA03F32D +:1039100022FA01F1A240524243EA010363EB43035E +:1039200032432B43CDE90823DDE90823C9E900230D +:10393000FFE66FF00100FCE66FF00800F9E6082CE6 +:10394000A0D9102CB3D9202CEED8C3E7BBF1000FBF +:10395000ADD0022383E7BBF1000FBBD004237EE789 +:1039600030B5012A144638BF0124402C85B028BF49 +:1039700040240025012ACDE9025518D81B788DF87E +:10398000083063070AD004AB03EBD405624215F894 +:10399000083C02F00702934005F8083C00910346FA +:1039A0002246002102A8FFF727FB05B030BD082AF8 +:1039B000E4D9102A03D81B88ADF80830E1E7202AA3 +:1039C0008DBFD3E900231B680293CDE90223D8E71A +:1039D00010B5CB681BB98B600B618B8210BD04697D +:1039E0001A681C600361C38A013BC382CA60F0E7A6 +:1039F00003064CBFC0F3C0300220704708B5024632 +:103A0000FFF7F6FF022806D15306C2F30F2001D1BB +:103A100000F0030008BDC2F30740FBE72DE9F04FBB +:103A200093B0CDE903230A6804461046FFF7E0FF90 +:103A3000022814BFC2F306260026002A0D4682463D +:103A400080F2F78112F0C04940F0F381097B002930 +:103A500000F0EF81022803D02378B34240F0EC81DC +:103A6000C2F304630693104602F07F030593FFF749 +:103A7000C5FF059B29444FEA834848EA0A4848EABB +:103A80004668CE7800230022CDE90823F309834657 +:103A900048EA0008029367D0059B009302466768D6 +:103AA000534608A92046B847002800F0C881276A75 +:103AB0004FB9414604F10C00FFF702FB074690B9ED +:103AC0006FF0020054E03B6998450DD03F68002F2D +:103AD000F9D1414604F10C00FFF7F2FA074600283D +:103AE000EED0236A3B60276297F817C006F01F08E4 +:103AF000CCF3840CACEB08001FFA80FE0028B8BFA2 +:103B00000EF12000A8EB0C031FFA83FED7E9022177 +:103B1000B8BF00B2002B0793BEBF0EF120031BB24B +:103B2000079352EA010338D0039BDFF824E39A1A83 +:103B3000049B4FF0000C63EB010196457CEB010305 +:103B40002BD36B7B97F81AE0734519D1029B002B9E +:103B500078D0012821DC7868F8B9DFF8F0C2944504 +:103B600070EB010316D337E0276A27B96FF00C001A +:103B700013B0BDE8F08F3B699845B5D03F68F4E7D6 +:103B8000B24890427CEB010301D30020F0E7029B96 +:103B9000002BFAD0079B0F2B17DCFA7DB30002F045 +:103BA000030203F07C031343FB7539462046FFF7FD +:103BB00007FB6B7BBB76029B3BB9FB7DC3F38402A7 +:103BC000013262F38603FB75D0E76A7BBB7E9A42C3 +:103BD000DBD1029B002B35D0B309022B32D0039BE3 +:103BE000BB60049BFB60142200210DA8FDF7CCFDF7 +:103BF000039B0A93049B0B932B1D0C932B7BADF81B +:103C00003EB0013BDBB2ADF83C30069B8DF8423054 +:103C1000059B8DF8433094F82C308DF840A083F04C +:103C200001038DF844308DF84180A3680AA920462D +:103C30009847FB7DC3F38403013303F01F039B020A +:103C4000FB82A2E7FB7DC6F34012B2EBD31F40F02C +:103C5000F980C3F38403434540F0FC80029A2B7B38 +:103C6000B609002A52D016F0010661D1032B40F2AA +:103C7000F480039BBB60049BFB60FB8A66F3090333 +:103C8000FB822B7BAE1D033BDBB23246394604F18F +:103C90000C00FFF7A7FA00280CDA39462046FFF798 +:103CA0008FFAFB7DC3F38403013303F01F039B02F0 +:103CB000FB8205E7DDE90884AB883B834FF6FF73A1 +:103CC000C9F12000A9F1200228FA09F104FA00F054 +:103CD000014324FA02F211431846C9B2FFF7C4F9AE +:103CE00009F10809B9F1400F0346E9D1B8822A7BEE +:103CF000033AD2B23146FFF7C9F9FB7DB882DA4305 +:103D0000C2F3C01262F3C713FB753EE786B92E1DDE +:103D1000013BDBB23246394604F10C00FFF762FA90 +:103D20000028BADB2A7BB88A013AD2B23146E2E7F0 +:103D3000F98AC1F30901013B0429DAB25BD8281DD5 +:103D4000002307F11B069A4208D910F801CB06F8A8 +:103D500001C0013101330529DBB2F4D103990A9185 +:103D600004990B91934207F11B010C9138BF043366 +:103D700079680D9134BF55FA83F300230E93FB8AC3 +:103D8000ADF83EB0C3F309031A44069B8DF84230E8 +:103D9000059B8DF8433094F82C30ADF83C2083F02F +:103DA00001038DF8443000238DF840A08DF8418048 +:103DB0007B602A7BB88A013A291DFFF767F93B8BA4 +:103DC000B882834203D1A3680AA9204698472046B7 +:103DD0000AA9FFF7FDFDFB7DBA8AC3F38403013313 +:103DE00003F01F039B02FB823B8B9A420CBF002017 +:103DF0006FF01000BCE67B68002BAFD0052001E01F +:103E00001C3033461E68002EFAD1091A081D2E1DDB +:103E1000184401EB090CBCF11B0F5FFA89F39DD824 +:103E20009A429BD916F8013B00F8013B09F10109C0 +:103E3000EFE76FF009009BE66FF00A0098E66FF07D +:103E40000B0095E66FF00D0092E600BF40420F00B8 +:103E500080841E006FF00E008AE66FF00F0087E688 +:103E6000EFF3098305494A6B22F001024A63683384 +:103E700083F30988002383F31188704700EF00E083 +:103E8000302080F3118862B60C4B0D4AD96821F4BA +:103E9000E0610904090C0A43DA60D3F8FC200949FF +:103EA00042F08072C3F8FC200A6842F001020A6006 +:103EB0002022DA7783F82200704700BF00ED00E08F +:103EC0000003FA05001000E010B5302383F31188D9 +:103ED0000E4B5B6813F4006314D0F1EE103AEFF36D +:103EE0000984683C4FF08073E361094BDB6B236608 +:103EF00084F3098800F098FD10B1064BA36110BD52 +:103F0000054BFBE783F31188F9E700BF00ED00E004 +:103F100000EF00E03F030008420300080268436826 +:103F20001143016003B1184770470000024A13684B +:103F300043F0C003136070470044004013B50F4CBA +:103F4000204600F0D7FC04F114000D490094002332 +:103F50004FF4807200F094FB0A490B4B00944FF42D +:103F6000807204F1380000F00DFC084BE36500207E +:103F700000F0F4F9206602B010BD00BF38640020E4 +:103F8000A4640020A46500202D3F000800440040E8 +:103F900030B5037C214C002918BF0C46012B0CD1F5 +:103FA0001F4B984209D11F4B9A6D42F400329A651B +:103FB0009A6F42F400329A679B6F2268036EC16D5C +:103FC000846603EB5203B3FBF2F36268150442BF4D +:103FD00023F0070503F0070343EA4503CB60A3681A +:103FE00043F040034B60E36843F001038B6042F40D +:103FF000967343F001030B604FF0FF330B625105E2 +:1040000005D512F0102205D0B2F1805F04D080F8FF +:10401000643030BD7F23FAE73F23F8E71C560008E1 +:1040200038640020001002402DE9F047C66D376863 +:10403000F46934622107054619D014F0080118BF4D +:104040004FF48071E20748BF41F02001A30748BF49 +:1040500041F04001600748BF41F08001302383F305 +:104060001188281DFFF75AFF002383F31188E2050A +:104070000AD5302383F311884FF48061281DFFF7A0 +:104080004DFF002383F311884FF030094FF0000AF1 +:1040900014F0200838D13B0616D54FF0300905F151 +:1040A000380A200610D589F31188504600F09EFB8F +:1040B000002836DA0821281DFFF730FF27F080039B +:1040C0003360002383F31188790614D5620612D574 +:1040D000302383F31188D5E913239A4208D12B6C3E +:1040E00033B11021281D27F04007FFF717FF376075 +:1040F000002383F31188E30618D5AA6E1369ABB1C8 +:10410000BDE8F0475069184789F31188736A95F83C +:1041100064102846194000F007FC8AF31188F469FE +:10412000B6E7B06288F31188F469BAE7BDE8F087B2 +:10413000434B4FF4007270B51A605A6912F4C06FA5 +:10414000FBD1404B9A6802F00C02042A20D01A6876 +:1041500042F480721A601A685205FCD501229A60F6 +:104160009A6802F00C02042AFAD13749374A0A60E9 +:104170000A6812F00F02FBD1C3F8982063221A607C +:104180001A689603FCD42E4A4FF48071C2F880104E +:10419000C468E50306D51A6842F480321A601A68CA +:1041A0009103FCD5C269D20709D5D3F8982042F013 +:1041B0000102C3F89820D3F898209607FBD54269EE +:1041C000DA6044F480721A6004F0807111B11A68E8 +:1041D0009501FBD5996802691B4E22F0030501F099 +:1041E0000301294399608569356031686940090791 +:1041F000FBD1134905680D6046684E608068C1F8C0 +:1042000080006E0417D448698505FCD4996802F0D3 +:10421000030021F003010143996092009968514025 +:1042200011F00C0FFAD1E2055EBF1A6822F4807219 +:104230001A60002070BD48698005FCD5E6E700BF24 +:104240000070004000100240002002400006040000 +:1042500008B500F091F9BDE8084000F065B900002C +:1042600010B5394C3948A36A4FF0FF32A262A36AF5 +:104270000023A362A16AE16A61F07F01E162E16A61 +:1042800001F07F01E162E16A216B2263216B23630C +:10429000216BA16BA263A16BA363A16BE16BE263D2 +:1042A000E16BE363E16B216C2264226C2364226C7A +:1042B000226E42F001022266D4F8802022F0010230 +:1042C000C4F88020D4F88020A26D42F08052A2650C +:1042D000A26F22F08052A267A26F1D4A4FF40041E4 +:1042E0009160D360136253629362D362136353632A +:1042F0009363D363136453649364D3641365536506 +:10430000116841F480711160D4F8902012F4407F5C +:104310001EBF4FF48032C4F89020C4F890300D4A8C +:104320000023A360C4F88820C4F89C30FFF700FF86 +:1043300010B1094800F0AEFBD4F8903023F003230D +:10434000C4F8903010BD00BF001002403C56000879 +:10435000007000405501005134560008014B53F8DD +:104360002000704728230020074A08B5536903F04E +:104370000103536123B1054A13680BB15068984794 +:10438000BDE80840FFF7A0BD0004014034690020EB +:10439000074A08B5536903F00203536123B1054A84 +:1043A00093680BB1D0689847BDE80840FFF78CBD13 +:1043B0000004014034690020074A08B5536903F03E +:1043C0000403536123B1054A13690BB1506998473F +:1043D000BDE80840FFF778BD0004014034690020C3 +:1043E000074A08B5536903F00803536123B1054A2E +:1043F00093690BB1D0699847BDE80840FFF764BDE9 +:104400000004014034690020074A08B5536903F0ED +:104410001003536123B1054A136A0BB1506A9847E0 +:10442000BDE80840FFF750BD00040140346900209A +:10443000164B10B55C6904F478725A61A30604D572 +:10444000134A936A0BB1D06A9847600604D5104AA4 +:10445000136B0BB1506B9847210604D50C4A936B34 +:104460000BB1D06B9847E20504D5094A136C0BB128 +:10447000506C9847A30504D5054A936C0BB1D06CDA +:104480009847BDE81040FFF71FBD00BF0004014082 +:1044900034690020194B10B55C6904F47C425A6100 +:1044A000620504D5164A136D0BB1506D984723056C +:1044B00004D5134A936D0BB1D06D9847E00404D531 +:1044C0000F4A136E0BB1506E9847A10404D50C4AE5 +:1044D000936E0BB1D06E9847620404D5084A136FEF +:1044E0000BB1506F9847230404D5054A936F0BB165 +:1044F000D06F9847BDE81040FFF7E6BC00040140CC +:104500003469002008B50348FFF78EFDBDE8084078 +:10451000FFF7DABC3864002008B500F0DBFEBDE828 +:104520000840FFF7D1BC0000062108B5084600F09E +:1045300037F80621072000F033F80621082000F0A4 +:104540002FF80621092000F02BF806210A2000F0A0 +:1045500027F80621172000F023F80621282000F074 +:104560001FF807211C2000F01BF8BDE808400C21B3 +:10457000262000F015B800004FF0E0230022586814 +:104580004FF0FF31930003F1604303F561430132C3 +:104590009042C3F88010C3F88011F3D27047000036 +:1045A00000F1604303F561430901C9B283F80013C8 +:1045B000012200F01F039A4043099B0003F160436E +:1045C00003F56143C3F880211A607047F8B51546BA +:1045D00082680669AA420B46816938BF8568761AE7 +:1045E000B54204460BD218462A46FDF7BBF8A3692C +:1045F0002B44A361A3685B1BA3602846F8BD0CD9BC +:1046000018463246FDF7AEF8AF1BE1683A46304433 +:10461000FDF7A8F8E3683B44EBE718462A46FDF7A8 +:10462000A1F8E368E5E7000083689342F7B5154613 +:10463000044638BF8568D0E90460361AB5420BD20B +:104640002A46FDF78FF863692B446361A368284607 +:104650005B1BA36003B0F0BD0DD932460191FDF79D +:1046600081F80199E068AF1B3A463144FDF77AF8CA +:10467000E3683B44E9E72A46FDF774F8E368E4E7BA +:1046800010B50A440024C361029B8460C0E90000A5 +:10469000C0E90511C1600261036210BD08B5D0E92F +:1046A0000532934201D1826882B982680132826008 +:1046B0005A1C42611970D0E904329A4224BFC3687F +:1046C0004361002100F052FA002008BD4FF0FF3096 +:1046D000FBE7000070B5302304460E4683F31188D3 +:1046E000A568A5B1A368A269013BA360531CA3619F +:1046F00015782269934224BFE368A361E3690BB193 +:1047000020469847002383F31188284607E0314666 +:10471000204600F01BFA0028E2DA85F3118870BD0C +:104720002DE9F74F04460E4617469846D0F81C90E0 +:104730004FF0300A8AF311884FF0000B154665B12F +:104740002A4631462046FFF741FF034660B94146FD +:10475000204600F0FBF90028F1D0002383F31188F4 +:10476000781B03B0BDE8F08FB9F1000F03D00190C2 +:104770002046C847019B8BF31188ED1A1E448AF32B +:104780001188DCE7C0E90511C160C3611144009BD9 +:104790008260C0E90000016103627047F8B5044619 +:1047A0000D461646302383F31188A768A7B1A36886 +:1047B000013BA36063695A1C62611D70D4E9043235 +:1047C0009A4224BFE3686361E3690BB120469847CE +:1047D000002080F3118807E03146204600F0B6F94A +:1047E0000028E2DA87F31188F8BD0000D0E905233C +:1047F0009A4210B501D182687AB98268013282602A +:104800005A1C82611C7803699A4224BFC368836181 +:10481000002100F0ABF9204610BD4FF0FF30FBE760 +:104820002DE9F74F04460E4617469846D0F81C90DF +:104830004FF0300A8AF311884FF0000B154665B12E +:104840002A4631462046FFF7EFFE034660B941464F +:10485000204600F07BF90028F1D0002383F3118873 +:10486000781B03B0BDE8F08FB9F1000F03D00190C1 +:104870002046C847019B8BF31188ED1A1E448AF32A +:104880001188DCE7026843681143016003B11847EF +:10489000704700001430FFF743BF00004FF0FF33B4 +:1048A0001430FFF73DBF00003830FFF7B9BF0000FC +:1048B0004FF0FF333830FFF7B3BF00001430FFF77D +:1048C00009BF00004FF0FF311430FFF703BF0000B5 +:1048D0003830FFF763BF00004FF0FF323830FFF78A +:1048E0005DBF0000012914BF6FF013000020704766 +:1048F000FFF724BB044B03600023C0E9023343608D +:1049000001230374704700BF5C56000810B53023C4 +:10491000044683F31188FFF73BFB02232374002036 +:1049200080F3118810BD000038B5C36904460D46F8 +:104930001BB904210844FFF7A5FF294604F1140020 +:10494000FFF7ACFE002806DA201D4FF40061BDE839 +:104950003840FFF797BF38BD0023037582680369AD +:104960001B6899689142FBD25A68036042601060EC +:104970005860704700230375826803691B68996853 +:104980009142FBD85A6803604260106058607047DB +:1049900008B50846302383F311880B7D032B05D01F +:1049A000042B0DD02BB983F3118808BD8B6900222D +:1049B0001A604FF0FF338361FFF7CEFF0023F2E769 +:1049C000D1E9003213605A60F3E70000FFF7C4BF7B +:1049D000054BD9680875186802681A60536001228F +:1049E0000275D860FBF796BCA866002030B50C4B6A +:1049F000DD684B1C87B004460FD02B46094A684639 +:104A000000F046F92046FFF7E3FF009B13B168462C +:104A100000F048F9A86907B030BDFFF7D9FFF9E702 +:104A2000A866002091490008044B1A68DB6890686A +:104A30009B68984294BF002001207047A866002020 +:104A4000084B10B51C68D86822681A6053600122B0 +:104A50002275DC60FFF78EFF01462046BDE810405E +:104A6000FBF758BCA866002038B5074C0749084832 +:104A7000012300252370656000F05AFC0223237097 +:104A800085F3118838BD00BF1069002088560008E2 +:104A9000A866002008B572B6044B186500F0CAFA83 +:104AA00000F07AFB024B03221A70FEE7A866002092 +:104AB0001069002000F02CB98B60022308618B8202 +:104AC000084670478368A3F1840243F8142C0269F6 +:104AD00043F8442C426943F8402C094A43F8242CFB +:104AE000C26843F8182C022203F80C2C002203F8A9 +:104AF0000B2C044A43F8102CA3F12000704700BF90 +:104B00002D030008A866002008B5FFF7DBFFBDE80D +:104B10000840FFF75BBF0000024BDB6898610F2085 +:104B2000FFF756BFA8660020302383F31188FFF7F4 +:104B3000F3BF000008B50146302383F31188082035 +:104B4000FFF754FF002383F3118808BD064BDB6891 +:104B500039B1426818605A60136043600420FFF75F +:104B600045BF4FF0FF307047A866002003689842A9 +:104B700006D01A680260506099611846FFF726BF98 +:104B80007047000010B503689C68A2420CD85C68AE +:104B90008A600B604C602160596099688A1A9A603B +:104BA0004FF0FF33836010BD1B68121BECE7000061 +:104BB0000A2938BF0A2170B504460D460A26601935 +:104BC00000F0B0FB00F09CFB041BA54203D8751C51 +:104BD0002E460446F3E70A2E04D9BDE870400120B2 +:104BE00000F0E6BB70BD0000F8B5144B0D46D9616E +:104BF00003F1100141600A2A1969826038BF0A2254 +:104C0000016048601861A818144600F07DFB0A276F +:104C100000F076FB431BA342064606D37C1C2819F2 +:104C200000F080FB27463546F2E70A2F04D9BDE89D +:104C3000F840012000F0BCBBF8BD00BFA866002012 +:104C4000F8B506460D4600F05BFB0F4A134653F8D5 +:104C5000107F9F4206D12A4601463046BDE8F84003 +:104C6000FFF7C2BFD169BB68441A2C1928BF2C4674 +:104C7000A34202D92946FFF79BFF2246314603484B +:104C8000BDE8F840FFF77EBFA8660020B8660020A8 +:104C900010B4C0E9032300235DF8044B4361FFF720 +:104CA000CFBF000010B5194C236998420DD0D0E950 +:104CB0000032816813605A609A680A449A6000233F +:104CC00003604FF0FF33A36110BD2346026843F831 +:104CD000102F53600022026022699A4203D1BDE87E +:104CE000104000F019BB936881680B44936000F09A +:104CF00007FB2269E1699268441AA242E4D911448F +:104D0000BDE81040091AFFF753BF00BFA866002096 +:104D10002DE9F047DFF8BC8008F110072C4ED8F8D9 +:104D2000105000F0EDFAD8F81C40AA68031B9A4214 +:104D30003ED81444D5E900324FF00009C8F81C40B1 +:104D400013605A60C5F80090D8F81030B34201D112 +:104D500000F0E2FA89F31188D5E903312846984733 +:104D6000302383F311886B69002BD8D000F0C8FA88 +:104D70006A69A0EB04094A4582460DD2022000F080 +:104D800017FB0022D8F81030B34208D1514628460C +:104D9000BDE8F047FFF728BF121A2244F2E712EBF2 +:104DA000090938BF4A4629463846FFF7EBFEB5E702 +:104DB000D8F81030B34208D01444211AC8F81C00A7 +:104DC000A960BDE8F047FFF7F3BEBDE8F08700BF7C +:104DD000B8660020A866002038B500F091FA054AB0 +:104DE000D2E90845031B181945F10001C2E9080181 +:104DF00038BD00BFA866002000207047FEE7000015 +:104E0000704700004FF0FF3070470000BFF34F8F36 +:104E1000024A1369DB03FCD4704700BF0020024044 +:104E200008B5094B1B7873B9FFF7F0FF074B5A69B8 +:104E3000002ABFBF064A9A6002F188329A601A6857 +:104E400022F480621A6008BD286900200020024018 +:104E50002301674508B50B4B1B7893B9FFF7D6FFC5 +:104E6000094B5A6942F000425A611A6842F4805272 +:104E70001A601A6822F480521A601A6842F480623A +:104E80001A6008BD2869002000200240FF289ABF50 +:104E900000F58030C0020020704700004FF4006031 +:104EA000704700004FF4807070470000FF2808B57D +:104EB0000BD8FFF7EBFF00F500630268013204D165 +:104EC00004308342F9D1012008BD0020FCE7000036 +:104ED000FF2810B504461FD8FFF798FFFFF7A0FF83 +:104EE0000E4BF3221A6102225A615A6942EAC00249 +:104EF0005A615A6942F480325A61FFF787FF4FF4D2 +:104F00000061FFF7C3FF00F043F9FFF7A3FF20465E +:104F1000BDE81040FFF7CABF002010BD00200240CE +:104F20002DE9F84340EA020313F00703144606D0C4 +:104F3000304B40F241321A600020BDE8F8838518FA +:104F40002D4A95420CD92B4A40F246311160F3E7C5 +:104F5000031D1B684A68934208D1083C0830083199 +:104F6000072C14D902680B689A42F1D0FFF758FF5A +:104F7000FFF74CFF214E08314FF001084FF00009B8 +:104F8000012CA1F1080706D8FFF764FF01E0002C0F +:104F9000ECD10120D1E7C6F81480054651F8083C51 +:104FA00045F8043B51F8043C4360FFF72FFF336999 +:104FB00043F001033361C6F81490026851F8083CCD +:104FC0009A420CD00B4B40F26E321A600C4B1860B8 +:104FD0000C4B1C600C4B1F60FFF73CFFACE72D68CF +:104FE00051F8043C9D4201F10801EBD1083C083026 +:104FF000C6E700BF24690020000008080020024026 +:1050000018690020206900201C690020084908B5A3 +:105010000B7828B11BB9FFF703FF01230B7008BD04 +:10502000002BFCD0BDE808400870FFF713BF00BF9D +:105030002869002008B50649064800F0ABF8BDE82D +:1050400008404FF400414FF0805000F0A3B800BF7B +:10505000007F010000010020084600F037BA000080 +:1050600038B5EFF311859DB9EFF30584C4F3080457 +:10507000302334B183F31188FFF7AEFE85F3118836 +:1050800038BD83F31188FFF7A7FE84F3118838BD7C +:10509000BDE83840FFF7A0BE38B5FFF7E1FF114C7F +:1050A000114AC00840EA4170A0FB025EC908A0FB9B +:1050B000040C1CEB050CA1FB04404FF000035B410A +:1050C000A1FB02121CEB040C43EB000011EB0E01E0 +:1050D00042F10002411842F10000090941EA007062 +:1050E00038BD00BFCFF753E3A59BC4200244D2B222 +:1050F000904200D17047431C800000F1804000F5D1 +:105100001450006841F8040BD8B2F1E7124B10B507 +:10511000D3F89040240409D4D3F89040C3F89040C9 +:10512000D3F8904044F40044C3F890400B4C2368FB +:10513000024443F480732360D2B2904200D110BD88 +:10514000431C800000F1804000F5145051F8044BDE +:105150000460D8B2F1E700BF0010024000700040C8 +:1051600007B5012201A90020FFF7C0FF019803B095 +:105170005DF804FB13B50446FFF7F2FFA04205D02B +:10518000012201A900200194FFF7C0FF02B010BD69 +:10519000704700007047000070470000074B45F261 +:1051A00055521A6002225A6040F6FF729A604CF61D +:1051B000CC421A60024B01221A7070470030004046 +:1051C00030690020034B1B781BB1034B4AF6AA221F +:1051D0001A6070473069002000300040054B1A68A3 +:1051E00032B902F1804202F50432D2F894201A60FA +:1051F000704700BF2C690020024B4FF40002C3F837 +:10520000942070470010024008B5FFF7E7FF024BFB +:105210001868C0F3407008BD2C690020704700007A +:10522000FEE700000A4B0B480B4A90420BD30B4B96 +:10523000DA1C121AC11E22F003028B4238BF002270 +:105240000021FCF7A1BA53F8041B40F8041BECE75B +:105250001C580008B4690020B4690020B46900201B +:105260000023054A19460133102BC2E9001102F14F +:105270000802F8D1704700BF3469002008B5124B0E +:105280009A6D42F001029A659A6F42F001029A67A4 +:105290000E4A9B6F936843F0010393600620FFF76B +:1052A0005DF80B4BB0FBF3F04FF080434FF0FF3253 +:1052B00001389862DA6200229A615A63DA605A60B1 +:1052C00001225A611A6008BD00100240002004E06B +:1052D00040420F004FF0804208B51169D3680B407F +:1052E000D9B2C9439B07116107D5302383F31188D5 +:1052F000FFF7E0FB002383F3118808BDFFF7BEBF73 +:105300004FF08043586A70474FF080430022586343 +:105310001A610222DA6070474FF080430022DA609F +:10532000704700004FF0804358637047FEE700006D +:1053300070B51B4B01630025044686B0586085623A +:105340000E46FEF79DFD04F11003C4E904334FF04F +:10535000FF33C4E90635C4E90044A560E562FFF700 +:10536000CFFF2B460246C4E9082304F134010D4A5D +:10537000256580232046FFF79FFB0123E0600A4A52 +:105380000375009272680192B268CDE90223074B5F +:105390006846CDE90435FFF7B7FB06B070BD00BF26 +:1053A0001069002094560008995600082D530008F3 +:1053B000024AD36A1843D062704700BFA866002033 +:1053C0004B6843608B688360CB68C3600B69436143 +:1053D0004B6903628B6943620B680360704700008E +:1053E00008B5204BDA6A42F07F02DA62DA6A22F00C +:1053F0007F02DA62DA6ADA6C42F07F02DA64DA6E2D +:1054000042F07F02DA66184ADB6E11464FF0904098 +:10541000FFF7D6FF02F11C0100F58060FFF7D0FF17 +:1054200002F1380100F58060FFF7CAFF02F1540174 +:1054300000F58060FFF7C4FF02F1700100F58060A5 +:10544000FFF7BEFF02F18C0100F58060FFF7B8FFA7 +:1054500002F1A80100F58060FFF7B2FFBDE8084047 +:10546000FEF7FEBE00100240A056000808B500F08E +:1054700009F8FFF7F9FABDE80840FFF7AFBE0000F2 +:105480007047000008B5FEF7E3FEFFF7E9FEFFF7FF +:105490002FFAFFF7F5FFBDE80840FFF72FBF000028 +:1054A0000B460146184600F003B8000000F00EB8A5 +:1054B00010B5054C13462CB10A4601460220AFF345 +:1054C000008010BD2046FCE700000000024B0146B2 +:1054D0001868FFF7C1BD00BF5023002010B5013987 +:1054E0000244904201D1002005E0037811F8014FF9 +:1054F000A34201D0181B10BD0130F2E72DE9F041A5 +:10550000A3B1C91A17780144044603F1FF3C8C4249 +:10551000204601D9002009E00578BD4204F10104CC +:10552000F5D10CEB0405D618A54201D1BDE8F081F8 +:1055300015F8018D16F801EDF045F5D0E7E700000C +:10554000034611F8012B03F8012B002AF9D170470B +:105550006F72672E6172647570696C6F742E46533A +:105560004F5F506F7765725F537461636B0000002B +:1055700053544D333247343F3F00000040A2E4F122 +:10558000646891060041A3E5F26569920700000096 +:105590004261642043414E496661636520696E64DF +:1055A00065782E00000100000001FF00006400404B +:1055B000006800400000000000000000C125000855 +:1055C0004D200008252D0008BD20000801210008FD +:1055D000E9220008C9200008852000088920000869 +:1055E0006120000849200008A52200086D2000085D +:1055F0008D2E0008792000087922000801040E058C +:10560000054B02020E05054B04010E05054B050175 +:105610000B04044B0801060303460000009600003B +:10562000000000000000000000000000000000007A +:1056300000000000636C6B737763000000030000E0 +:105640000000000000010000000001010300000054 +:1056500013283101040704000100000000000000CD +:10566000B14800089D480008D9480008C54800080E +:10567000D1480008BD480008A9480008954800081E +:10568000E5480008633000008456000800670020E9 +:10569000106900206D61696E0069646C650000002E +:1056A0005405802A00000000AAA5AAAAA800002488 +:1056B000C1FF000000000000009009005028544481 +:1056C00000000000AAAAAAAA8000A888F75100003A +:1056D00000009009000000000005005400000000D8 +:1056E000AAAAAAAA000A00A8CF1F00000000000072 +:1056F000000000000000000000000000AAAAAAAA02 +:1057000000000000FFFF000000000000000000009B +:105710000000000000000000AAAAAAAA00000000E1 +:10572000FFFF00000000000000000000000000007B +:1057300000000000AAAAAAAA00000000FFFF0000C3 +:105740000000000000000000000000000000000059 +:10575000AAAAAAAA00000000FFFF000000000000A3 +:1057600000000000000000007604000000000000BF +:105770000070070000000000FE2A0100D2040000B3 +:10578000FF00000038640020000000007055000891 +:10579000006889096D8BB90200B4C40400688909E6 +:1057A0000068890900688909006889090068890911 +:1057B0000068890900000000542300200000000058 +:1057C00000000000000000000000000000000000D9 +:1057D00000000000000000000000000000000000C9 +:1057E00000000000000000000000000000000000B9 +:1057F00000000000000000000000000000000000A9 +:105800000000000000000000000000000000000098 +:0C5810000000000000000000000000008C +:00000001FF diff --git a/libraries/AC_AutoTune/AC_AutoTune.h b/libraries/AC_AutoTune/AC_AutoTune.h index 510fd6c59fbb4..1df9d73658cf1 100644 --- a/libraries/AC_AutoTune/AC_AutoTune.h +++ b/libraries/AC_AutoTune/AC_AutoTune.h @@ -65,6 +65,12 @@ class AC_AutoTune axes_completed = 0; } + // switch to use original gains + virtual void load_orig_gains() = 0; + + // switch to gains found by last successful autotune + virtual void load_tuned_gains() = 0; + protected: // axis that can be tuned enum AxisType { @@ -100,12 +106,6 @@ class AC_AutoTune // backup original gains and prepare for start of tuning virtual void backup_gains_and_initialise(); - // switch to use original gains - virtual void load_orig_gains() = 0; - - // switch to gains found by last successful autotune - virtual void load_tuned_gains() = 0; - // load gains used between tests. called during testing mode's update-gains step to set gains ahead of return-to-level step virtual void load_intra_test_gains() = 0; diff --git a/libraries/AC_AutoTune/AC_AutoTune_Heli.h b/libraries/AC_AutoTune/AC_AutoTune_Heli.h index a9dfee98d698b..0bdac8821e447 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Heli.h +++ b/libraries/AC_AutoTune/AC_AutoTune_Heli.h @@ -40,6 +40,12 @@ class AC_AutoTune_Heli : public AC_AutoTune // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; + // switch to use original gains + void load_orig_gains() override; + + // switch to gains found by last successful autotune + void load_tuned_gains() override; + protected: // @@ -52,12 +58,6 @@ class AC_AutoTune_Heli : public AC_AutoTune // load gains void load_gain_set(AxisType s_axis, float rate_p, float rate_i, float rate_d, float rate_ff, float angle_p, float max_accel, float rate_fltt, float rate_flte, float smax, float max_rate); - // switch to use original gains - void load_orig_gains() override; - - // switch to gains found by last successful autotune - void load_tuned_gains() override; - // load gains used between tests. called during testing mode's update-gains step to set gains ahead of return-to-level step void load_intra_test_gains() override; diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp index d3ffdefe1acfb..4a6fcbd52aa8a 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.cpp @@ -395,6 +395,7 @@ void AC_AutoTune_Multi::save_tuning_gains() if (!attitude_control->get_bf_feedforward()) { attitude_control->bf_feedforward_save(true); + // following two lines may be able to be removed, need to check attitude_control->save_accel_roll_max_cdss(0.0); attitude_control->save_accel_pitch_max_cdss(0.0); } diff --git a/libraries/AC_AutoTune/AC_AutoTune_Multi.h b/libraries/AC_AutoTune/AC_AutoTune_Multi.h index 3308ae5d8afb4..21aad9c9c49d4 100644 --- a/libraries/AC_AutoTune/AC_AutoTune_Multi.h +++ b/libraries/AC_AutoTune/AC_AutoTune_Multi.h @@ -34,6 +34,14 @@ class AC_AutoTune_Multi : public AC_AutoTune // save gained, called on disarm void save_tuning_gains() override; + // switch to use original gains + void load_orig_gains() override; + + // switch to gains found by last successful autotune + // this is more different to save_tuning_gains than I would expect + // maybe this is a sign it can be made more efficient. + void load_tuned_gains() override; + // var_info for holding Parameter information static const struct AP_Param::GroupInfo var_info[]; @@ -45,12 +53,6 @@ class AC_AutoTune_Multi : public AC_AutoTune // backup original gains and prepare for start of tuning void backup_gains_and_initialise() override; - // switch to use original gains - void load_orig_gains() override; - - // switch to gains found by last successful autotune - void load_tuned_gains() override; - // load gains used between tests. called during testing mode's update-gains step to set gains ahead of return-to-level step void load_intra_test_gains() override; diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp index da70334996757..777c23e77b60a 100644 --- a/libraries/AC_PID/AC_PID.cpp +++ b/libraries/AC_PID/AC_PID.cpp @@ -381,6 +381,7 @@ void AC_PID::load_gains() // save original gains to eeprom, used by autotune to save gains before tuning void AC_PID::save_gains() { + // should be be using set_and_save_ifchanged? _kp.save(); _ki.save(); _kd.save(); diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index 99959480704dd..e1137dca133fe 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -119,7 +119,7 @@ class RC_Channel { ACRO_TRAINER = 14, // low = disabled, middle = leveled, high = leveled and limited SPRAYER = 15, // enable/disable the crop sprayer AUTO = 16, // change to auto flight mode - AUTOTUNE = 17, // auto tune + AUTOTUNE_MODE = 17, // auto tune LAND = 18, // change to LAND flight mode GRIPPER = 19, // Operate cargo grippers low=off, middle=neutral, high=on PARACHUTE_ENABLE = 21, // Parachute enable/disable @@ -252,6 +252,7 @@ class RC_Channel { VFWD_THR_OVERRIDE = 176, // force enabled VTOL forward throttle method MOUNT_LRF_ENABLE = 177, // mount LRF enable/disable FLIGHTMODE_PAUSE = 178, // e.g. pause movement towards waypoint + AUTOTUNE_SWITCH = 180, // auto tune tuning switch // inputs from 200 will eventually used to replace RCMAP diff --git a/modules/ChibiOS b/modules/ChibiOS index 8fc176ac1d68c..cc37d7f2f772c 160000 --- a/modules/ChibiOS +++ b/modules/ChibiOS @@ -1 +1 @@ -Subproject commit 8fc176ac1d68cde532a25c9b802372063a2246cb +Subproject commit cc37d7f2f772c5eb7c17225c6467cc2ce4c49b29 diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL index 993be80a62ec9..de93d9c8bb76d 160000 --- a/modules/DroneCAN/DSDL +++ b/modules/DroneCAN/DSDL @@ -1 +1 @@ -Subproject commit 993be80a62ec957c01fb41115b83663959a49f46 +Subproject commit de93d9c8bb76de1b093050e3a31e4d4ce539c577 diff --git a/modules/mavlink b/modules/mavlink index 2825252d6d13e..130a836efbfef 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit 2825252d6d13eb347520f028b3c580ab29bd78e5 +Subproject commit 130a836efbfef0eb3287a92cd5e187de7facdce2 diff --git a/modules/waf b/modules/waf index b25b5c7d98c50..1b1625b8e7da6 160000 --- a/modules/waf +++ b/modules/waf @@ -1 +1 @@ -Subproject commit b25b5c7d98c502b07976740b0a65b9f39948c292 +Subproject commit 1b1625b8e7da6e1307d73335cb995fa8813d5950