2015-05-29 23:12:49 -03:00
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#include "Copter.h"
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2023-05-07 04:41:48 -03:00
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#include <AP_Mount/AP_Mount.h>
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2015-05-29 23:12:49 -03:00
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2018-02-23 05:51:17 -04:00
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#if MODE_CIRCLE_ENABLED == ENABLED
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2014-01-27 01:09:48 -04:00
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/*
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2016-07-25 15:45:29 -03:00
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* Init and run calls for circle flight mode
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2014-01-27 01:09:48 -04:00
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*/
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2014-04-16 04:21:30 -03:00
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// circle_init - initialise circle controller flight mode
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2019-05-09 23:18:49 -03:00
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bool ModeCircle::init(bool ignore_checks)
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2014-01-27 01:09:48 -04:00
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{
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2020-01-06 18:37:04 -04:00
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speed_changing = false;
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2014-04-29 23:17:59 -03:00
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2021-05-19 11:07:38 -03:00
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// set speed and acceleration limits
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2021-05-11 01:42:02 -03:00
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pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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2021-07-08 01:17:41 -03:00
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pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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2021-05-11 01:42:02 -03:00
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pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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2021-07-08 01:17:41 -03:00
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pos_control->set_correction_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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2014-04-29 23:17:59 -03:00
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2019-02-28 20:52:28 -04:00
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// initialise circle controller including setting the circle center based on vehicle speed
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copter.circle_nav->init();
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2014-05-07 03:06:34 -03:00
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2023-05-07 04:41:48 -03:00
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#if HAL_MOUNT_ENABLED
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AP_Mount *s = AP_Mount::get_singleton();
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// Check if the CIRCLE_OPTIONS parameter have roi_at_center
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if (copter.circle_nav->roi_at_center()) {
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2023-09-06 04:21:13 -03:00
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const Vector3p &pos { copter.circle_nav->get_center() };
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Location circle_center;
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2024-06-06 07:56:27 -03:00
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if (!AP::ahrs().get_location_from_origin_offset_NED(circle_center, pos * 0.01)) {
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2023-09-06 04:21:13 -03:00
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return false;
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}
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// point at the ground:
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circle_center.set_alt_cm(0, Location::AltFrame::ABOVE_TERRAIN);
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2023-05-07 04:41:48 -03:00
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s->set_roi_target(circle_center);
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}
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#endif
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2022-10-06 21:38:52 -03:00
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// set auto yaw circle mode
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auto_yaw.set_mode(AutoYaw::Mode::CIRCLE);
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2019-02-28 20:52:28 -04:00
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return true;
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2014-01-27 01:09:48 -04:00
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}
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2014-01-27 10:43:22 -04:00
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// circle_run - runs the circle flight mode
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2014-01-27 01:09:48 -04:00
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// should be called at 100hz or more
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2019-05-09 23:18:49 -03:00
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void ModeCircle::run()
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2014-01-27 01:09:48 -04:00
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{
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2021-05-19 11:07:38 -03:00
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// set speed and acceleration limits
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2021-05-11 01:42:02 -03:00
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pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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pos_control->set_max_speed_accel_z(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
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2019-02-28 05:03:23 -04:00
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2021-05-01 21:41:53 -03:00
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// Check for any change in params and update in real time
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copter.circle_nav->check_param_change();
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2020-01-06 18:37:04 -04:00
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// pilot changes to circle rate and radius
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// skip if in radio failsafe
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if (!copter.failsafe.radio && copter.circle_nav->pilot_control_enabled()) {
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// update the circle controller's radius target based on pilot pitch stick inputs
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const float radius_current = copter.circle_nav->get_radius(); // circle controller's radius target, which begins as the circle_radius parameter
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const float pitch_stick = channel_pitch->norm_input_dz(); // pitch stick normalized -1 to 1
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const float nav_speed = copter.wp_nav->get_default_speed_xy(); // copter WP_NAV parameter speed
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2020-02-03 17:23:08 -04:00
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const float radius_pilot_change = (pitch_stick * nav_speed) * G_Dt; // rate of change (pitch stick up reduces the radius, as in moving forward)
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2020-01-06 18:37:04 -04:00
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const float radius_new = MAX(radius_current + radius_pilot_change,0); // new radius target
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if (!is_equal(radius_current, radius_new)) {
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2022-02-06 12:35:17 -04:00
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copter.circle_nav->set_radius_cm(radius_new);
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2020-01-06 18:37:04 -04:00
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}
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// update the orbicular rate target based on pilot roll stick inputs
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// skip if using CH6 tuning knob for circle rate
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if (g.radio_tuning != TUNING_CIRCLE_RATE) {
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const float roll_stick = channel_roll->norm_input_dz(); // roll stick normalized -1 to 1
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if (is_zero(roll_stick)) {
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// no speed change, so reset speed changing flag
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speed_changing = false;
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} else {
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const float rate = copter.circle_nav->get_rate(); // circle controller's rate target, which begins as the circle_rate parameter
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const float rate_current = copter.circle_nav->get_rate_current(); // current adjusted rate target, which is probably different from _rate
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const float rate_pilot_change = (roll_stick * G_Dt); // rate of change from 0 to 1 degrees per second
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float rate_new = rate_current; // new rate target
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if (is_positive(rate)) {
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// currently moving clockwise, constrain 0 to 90
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rate_new = constrain_float(rate_current + rate_pilot_change, 0, 90);
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} else if (is_negative(rate)) {
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// currently moving counterclockwise, constrain -90 to 0
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rate_new = constrain_float(rate_current + rate_pilot_change, -90, 0);
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} else if (is_zero(rate) && !speed_changing) {
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// Stopped, pilot has released the roll stick, and pilot now wants to begin moving with the roll stick
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rate_new = rate_pilot_change;
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}
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speed_changing = true;
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copter.circle_nav->set_rate(rate_new);
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}
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}
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}
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2019-02-28 05:03:23 -04:00
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// get pilot desired climb rate (or zero if in radio failsafe)
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float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
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2022-06-12 11:12:14 -03:00
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// get avoidance adjusted climb rate
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target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
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2019-02-28 05:03:23 -04:00
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// if not armed set throttle to zero and exit immediately
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2019-04-08 05:15:57 -03:00
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if (is_disarmed_or_landed()) {
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2020-10-13 20:19:42 -03:00
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make_safe_ground_handling();
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2019-02-28 05:03:23 -04:00
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return;
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2014-01-27 01:09:48 -04:00
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}
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2016-01-13 03:10:00 -04:00
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// set motors to full range
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2019-04-09 09:16:58 -03:00
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motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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2016-01-13 03:10:00 -04:00
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2021-08-31 01:17:59 -03:00
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// update the vertical offset based on the surface measurement
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copter.surface_tracking.update_surface_offset();
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2021-05-11 01:42:02 -03:00
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copter.failsafe_terrain_set_status(copter.circle_nav->update(target_climb_rate));
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2017-01-09 03:31:26 -04:00
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pos_control->update_z_controller();
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2022-09-24 11:12:33 -03:00
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// call attitude controller with auto yaw
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attitude_control->input_thrust_vector_heading(pos_control->get_thrust_vector(), auto_yaw.get_heading());
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2014-01-27 01:09:48 -04:00
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}
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2018-02-07 22:21:09 -04:00
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2019-05-09 23:18:49 -03:00
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uint32_t ModeCircle::wp_distance() const
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2018-02-07 22:21:09 -04:00
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{
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2018-03-27 23:10:13 -03:00
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return copter.circle_nav->get_distance_to_target();
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2018-02-07 22:21:09 -04:00
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}
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2019-05-09 23:18:49 -03:00
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int32_t ModeCircle::wp_bearing() const
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2018-02-07 22:21:09 -04:00
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{
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2018-03-27 23:10:13 -03:00
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return copter.circle_nav->get_bearing_to_target();
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2018-02-07 22:21:09 -04:00
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}
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2018-02-23 05:51:17 -04:00
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#endif
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