From c7a8589afc79cec37ba75e3be6263db7e0b12964 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Thu, 10 Nov 2022 12:23:25 -0700 Subject: [PATCH] Add ARK PAB Carrier Add ARK_FMU_V6X to RCS netman Remove arkv6x rc single wire Fix arkv6x mtd arkv6x bootloader init all pins to prevent power cycling peripherals on boot arkv6x don't power cycle sd card on boot arkv6x add UART4 Telem 4 --- ROMFS/px4fmu_common/init.d/rcS | 2 +- boards/ark/fmu-v6x/default.px4board | 3 ++ .../fmu-v6x/extras/ark_fmu-v6x_bootloader.bin | Bin 45508 -> 45260 bytes .../ark/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 39924 bytes boards/ark/fmu-v6x/init/rc.board_defaults | 7 +++- boards/ark/fmu-v6x/src/board_config.h | 1 - boards/ark/fmu-v6x/src/bootloader_main.c | 10 ++++++ boards/ark/fmu-v6x/src/init.c | 3 +- boards/ark/fmu-v6x/src/mtd.cpp | 30 +----------------- 9 files changed, 23 insertions(+), 33 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index b748f90397..e6012a2c23 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -162,7 +162,7 @@ else param select-backup $PARAM_BACKUP_FILE fi - if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X + if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X then netman update -i eth0 fi diff --git a/boards/ark/fmu-v6x/default.px4board b/boards/ark/fmu-v6x/default.px4board index 9068b52bd9..119a0fedff 100644 --- a/boards/ark/fmu-v6x/default.px4board +++ b/boards/ark/fmu-v6x/default.px4board @@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3" CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y CONFIG_DRIVERS_BAROMETER_MS5611=y @@ -80,6 +81,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y +CONFIG_SYSTEMCMDS_SD_BENCH=y +CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y diff --git a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin index 8dbf57ba2e0a4fb3a2b5016b93b37b4315f5e75c..86de46906e356a2e16d49f439bbdf5d22421b3ee 100755 GIT binary patch delta 28755 zcmZ_033wAnvN+yzNE#nt`2getBWVoCmH`<9F(C=EWX6X8nUgo zWo{(u`!rmQDbbC5s|e>!G0u5g8NK^vEFyT#tyrYFqm0(v665M`_LuIut=vI%IN=Il zcBG4RT&%0Ao2jYlj;g8dj<2y5I%FtgjAd-mrL-^76H>GyMJgNjnQB}}i!?~w)332x zwEyvN@KJg(64wQxBZ0f!N!4bNrmDM>YD&e9j0@7F>8xlppN0H_RP(sG$3~rn9EocJ zuI|!5xVl&W;exaaUD1(QD5XxBg z31Vy|o9oX>XcF7wV9h;_+%MsJm4y(914xg$zj5H)*nP&a!g5|xWoUbBOSNJgX%ZRo z4BVfW(x9wksYx`#ecHe8dmKv#@1c%p19*6Dk5o|qyFgNB%quw~=`!ZRzajFUmqGTT ziDx8ZMk$nKLxU*8Bp#l726BA8iwL&jJRWirbO~kbLAWGVXAs@rP^$~!ib@ttGd0y(tC>87TO(F^4JsBQ&iAf~LFCs5f>GlB3#1gG0-g;hALRS^g zcM2etFt@mb6!S<`R={&!nhzs4&NcNQ=-hnh+yZ>R7Vg)cf$Q^98ODss)Z>8XW%%BX z3$#!$aj*a?hyWmB09+x`U;;Fd@E;8V?1RQcBfynqkoC4gJYff@>Ae$=5(kKBnO@{V zMsk5PVK+)J8qqY8QcNHTqK0uHq(*aCE@)DQ<&4B=&Pqy}wLp1B zqR}iWfsoK7wdJgoJqg2Nn!qJzB`b}@m!+`3Gju^}gEmmPS)>5E4d5=r^UIK5fc(Ow zcxbI7Bhh?T>VUGFP<9jY+mPSRfeR5XM98l}ehu;-$a^L!n+HdL9B9t7cSD^Bg^4hM zl)`11+CJPeq68*7FTRHAalBCJBy!>%2{kV`zjPuN6Z*A=EwKJhIcc@wG!m^R<~WI| zcf2U;t{doiouULNI*(v)dC|BVZWz%zGE&mvHJr8;Vzl9Pd$&7&Gh!W@yWPs_wVzc% zd)3{_8bz^3LZ&=i=?iECX=qEb<9q{N?qUD?5uD@7Qlny~oEyT8oQgIR`|O&a%brP>OGvx?((rV)dwi%Z3@VKGmM zanzzT%9qD3$vuGbB|2uODd@ovs$!VEk)@&|2grORtTagKk@JYe63S;aQ@zW~CW%fJ z09t85T4iyJIt99RyANrH7E@{@di$Ui?Kvs!aaOdO&0>f7OSl%tvv_PvKVzC5KcNm_ z5e&M9I<~+VZ$%;ID@cir4wm?+f}^>xzf{mfjU}eRf1>bIRJ33kI=tXD4N-)|DS?*v z5%b;igkISg%Q0?JAMH+Ux}arNBT+3OwX!*SHEl_;2E2o1!=Hx^_=}1kI!o> z%xhH4LK#m2z8EJVe%eP&%ELWysOO%~!qo*QW; zS>w!H8zD~V`|%bcDDhAIG|O69p3s;5sODP`B_8QVY+gy}{qV+7oYJc1s9c*sIl1mQ;RT)18K`u*8r$ubG&3paClDdp&o(gg7+l12&GE z!DzBIZmXv`pgh}9?uT3SL`tj-%DAtcvHP}Fle=T~5xb-J{Rrh~w+2|vB#BO!UD9!s zI4h{;jU^n!LB zCl@I>66Jk#dS3fW&bb_>Q9^t*NT*M1S84F|v|vpWZb{cMk&E`J2wWC~+IKG1kB zXk4!6dkGouH%#L{gqBqWn;nO$a6NS3H+?m}w~9XiSn=5YKujcZ5*j}6 zLRVl2G9MiaOM25>#Bkq22`=4jQnoMRkotn86EDF?Ur@{ulgi+3NN9dR+l&+sQkO_{ z?BAqiO9pXayho^>lt3KSdEAsph6uweE9C`$G7UdROezq5iXV}2cc6+R_Nloj9}z`~ z9Ro89JV4TmP%9>Ebk2JjmZi{=rm_>_?ZBWgplr@-RKi+R14;c?@Pf2VL#W|J@pC1$ z!O~Q>b9n^?;tQ!~Jn`J&LfES%!cb$n>mk&VmjEKA#FhP$7cWMdLt3WsS_5U#a4H^& ze}@G|h`*QcGi4*qEpR$`HL%Zjq=R-l;+{dj407>Fc!WEI#LrIsyR_tA zrAJO7R$d}6O6G{%_w`@GzC-#LQu2iT=bMlVGegW9ZO~rXG3XlV5ME6j!Npn7m{gva zMj3|`$@m#kt`+g9>kI{CY^!}BA=Rx+bYfh+3~V>-7s9xUCxNtW%@6szup(8PPKkf( zqpcwCOj2{oW~p%mmu!)9vD`>L?Ej@-=twjg+xyj=)U4s3TczzJ$h%%Ge+Q<17=8Nz z!&F%ejU)N3^s{#C0m8#&y6%}g7qy%|km|LK0gnxrD%2?{SKX`|onC)8IW^@R76 z(lt+2taoZR>@dkalrM=eG%?W0fArBEYA%EKc`5Oda6KuLJkTd7hmB7o#j7sldOa3p zY=ML)m&m~40IZXsuxMD?jMw_gnrPpA87`{o%WHyBO+0%m9(X;-rTrk2!Yqs4JU}M$ z#YUi>@6$CU!N@7GqEFR?;VOkw!;%>~Naz&YCJ*L!k3i|)hq&w)r|x>k=;O^O*|q^oliEVb?jZ`i*& zm|1xc7Q!n*IcGd(c%`-ww@U7(1Za2jV7r^4U2;!8cW9@9(?Y|Cs+X>M(zv-Zh8$+x+8HBT zz6{VUQ3u)|Xcd1SFu)l9(f2-xv4gTk*k9d;$DJ0y>p1M+aT4<$rjfQ_e)OrNY$DX* zME@uKOhgD_8XbI^ff8R12xRj3kvD-k<~45R7lE>rQj#F$!Va12Az`h`d}+e0(e%%;cEtPT=_wOjhIel#SIpX)aYZ?82i>4qoRp179OO zI_PmsK&^st#zgqVd|2~g|HlJ$JIy_)yiUkTNwmLt0`Ob)zsah4=Qjw z#_AgZ;yuoloUJg!fJFABqLBoiNbDiS^3R2D(KRrdqY z4l+I=l#({OdJ{d3(#NzRF|m(k6+r9k79<89pg*r!0Vbmp!t~UU+Q|bC_cR#&|DmK- zZxTLDotV6NlPoLBBU_bKLrhF)$Z{Ypv4sT25EcTdIrhE%GOoypd{#yF3p!3UIfo-f zP57wE?`eS*zO^53WXRVdBgc-IJ@y4Pr<#Nzl;QUP!Uz!SA3zvoXsmMf*mc0GBM{*b zhHwBx`2z?Cw88ub#4i}a?va{T0nc0yX(ObEtJl_8230wziaS>(qi3tRq)5Z(Lm!(Y zj}3?r*CUEa@!QV_ugBez%)_`xN=5;L1UrahDAy)2yQqt>BcSG+QgwdQRIUi<=v9g4 zmNyMQh1A{NRHX0m#DF5@bBFx{14wtrLfQ;MPgtFakENjFP zfR_*^!Xx3od69My`p1Dg-q)Lk7LnrbK)Nx&_EHm$hP!QWx4?;OskyQ1N%5J`a_c(2 z&U%c$YCRm0Qw~JL2|O6YKGL|ECxA)BZ+&2Ki2j$!VZN{?eOSTuPzHYwHi{vjXB(X% ze`oj_pX6jW9x+j#klzP;X$G5?zxDko{Z`bYhlzLD@Vw8G?M2n!GiDH@H|*%sGWz56Xc`g-xR}bgi%w ztkyxckk_o@Qu$k68s6p_xQBOPR!ag9{h|1%LJ&vTF}E?djT)X#u%R5bj+EyNk~yYVSl7CVOBP1 zTJi9%5g`IrqoFwtuH!=>$t6~BrT1fPpGe5?JBc(BZ_wf$iAbj}6`K?Q6CSwXl|vo` zIp=3scyB@T#>0pyhxB_$KR}{E9iyyge9C!LFJfb?xErUzFwoLXB{KSGpDAP3)e`%f-L+5&J+u1Y#Q>8j9;W<>D88wE0@Y zOlQnYnQuMP@Hrr5CQ7;d`drpZ)r-wJ{Q8`T2o18`2|EaDxKXS-VlzsWiE-0;gzo}1 zN22vRO-6~H5b$7WatK$wlIG$$#pKbVLbkIhlVgA?g3`hAgDY#D9p#za@^U1;5UAUU z)L=iGS67|aY+iZ9bk_|wY^iP~(sz2Ud9i)!9*|$uOs0|L?{*6}+2QsZK{dY~c*0iq9R6x83Qu04lL8Z>Brb1#K%Fdy8HPj|HNI#2I|KR zc-I1X6UYYnmdWNcCBklJy!Q)x@ZK-#^76B{h9V@U1g?STtm8udoZ!`!OYJKY3(B8m zD+UeXk^#2+b!Vl1!)kFjSSsH#AolF7vRsj^dp55bPc(@)&^(n3Zx#5(w#FDBIJr0w zC~`*4rUB_We5Nz(pA*&t(sQl0=1ji%rp>rM2Z<6`k?z*eLYlW-NlLEV%6%bp#0_3ZR&LbSmNTWl3YoE}PG29-$ZEFN!9ngm5Yy<44vj2g+ z-J$=DyuANFo~^NZCAOU=ajdgyCm~Wq*grX(U7+JKLXEf*=zMl+)#JIs=8HF*IcS@8SOg^8d(_HR)F+qfY#qX`JKGGRalj$#7HN~RGs0az1YNG+`MpvN z8t|hq(&DT5NVh}&vrT!>ZFzAP_Xd=P{HH<5R5ju20e=X#uDs@9*#en0pBx_$7G#yF zWP#(-%Z3!Wy!E(LX-Jimt!j=I&q_i|*7IYZ7=Xhhbt2D-L#RY6944W#e=n%cwUFce<(g8eZJEh7gkRmL#j zf2Ut~F8c|hO878)?2zkv#Mm2Sih0-^HV8jvC(ph%kP8L_Cfnzs0omEWa`PZzgRHXA z#OGHg@}n|YaTK-J#bm^0BwDAlUsei6Q)Mhru7V&-P>|5ha zyrYB{HjSGt)Q&gUOJUo6WubCXZDEo$GtI#JwkjaA3Gk^H0sJjEJmb9AiNx*tYgFtW|6Sl^}U`TESZ;@-pzzTt&wyVuU1bIqgGnqdY`L z&y(LYV9|A9T8cZanCPMsV>Luj7O&mQuXir2Y-!k2xtu4vJfyH-!i1<28U{iHDXp+; zLdkp>6-im>AeoET{sCT9hN z_pAeRPp(2Q=q7UZ^AZDl{}9*=@O!C^OSj1 z$$3x9EOIz*RqElKO>YuuI6OsqymR2jRfw@FSy@Tq5}75w;u|^9N=)nXQ0f8y*C+6E z;}8lNMKzL@$Sukx@fF+u1L7~h>X8tYJ95O&VYVU_EF59~58;3}lf#nr_X9mbermGt ztK5X)wnp(#S2E#lUlKfLJ+4Yi*ie-O$!OK%bcj<9g6o&olyP5NR&3zV3**$CQHCrM#yTrK_+ zyn^&82|~NWh+lzXrT6TL|$QnFa%6;x~aCbMXy%3suMO16{`=N5FO z?P+M}s*8)hG`xgh&qL29r)z)?4yH*qGG>Ar-k zuzzf*gI75zUca=7X2Hfgq#0I({RlvefHV0t zT@0MxCh1_IfM)^HX?sFTVWH@ZT6PE9V=HIDdxPCfvh3Qhe@ed**0}=CjeQ16}> zR*M{gMUYhk_=@&fVeeltuon=ry88^Z1@gUsuEFaK1{gHVN~$b%h`Gl&kKJ7UYNBY3 zleuZ%Fjy&Je{pbX$8l+d?YNX|S00yA)p32Vh4xCrTbPF74X1svabw!z?lH^)DO-eN zyJ?8|^J9qVh1~xjf8%k)Tzrszf;VlS)?ajj#@_?V>gt2v?blmH}N){~;_CA_q(S;uZg#BN_LF&8GGX|KNDhk92LZ1bP)Uj@)zu-Zc z=R7UlD6ys6h~9b0*l9-Amxgr^qMefKziK-Jrn5M~|0rw6V>~n9^gjF22QS_C;?8`~ zin8AG;Py!U2oIWI?^+%B z?GvWoA9J*PBlbTa_0xOQN3|tCy$Z$_aD@n!n>&d_>{F3$(e6kzMmfzro7b_M?cR21 zBj)H2H#8edp;h_Of5JU=^qEcsZH7N3p#S}!ettu{aSlB7e~RDOWB+vUmExxliDn>x zboQRxpK5l58x$qc#!*gF54l#m`R5zpH?y|S`;gBC#ci4IIZ^H2q$vshn|oQ-BPKNTq6tWRv#O!j2>C(C9TR4FzUq!1hQ{T)uShLb zX=CKUsBQm{CapmejN+=QH>JnkISHbqQCwQ}4=H=iD=>{BrG$AY?U9JWg%q+_+X(l9ARE7PQ;0$ZfX5OYCT9tgfbupu!xWJ3Xa`QWfs+F6*q zP@>c@S$Sk9WoJ|(5jP4B7p9er02W>>k%pBUO|XPS%BoNFv`UjSi%z`(FIfsN+X^|p z23s#7gA=O1^sNLbO_8{Ay-FnGC^yMwmEaasA`=(mUKts;8XK2kq5gV+VYQK`FER=r zq47B#bSzyqICETdG7?1fKSe5uSuwV3j1Lr@O{@tE5H3~+HvMv;T2|5(r`_{`7 zoAygG1Mbug$X#B%nnBwsAa;fQ4hcUaYB7HBVIqcr1Bt-L-X9gHbr2`lZZKFlw!?ma z_W`^oAf*FcgMHzO^mSFKh@!4YXWu#Ov&x7AZHnKvt}H3-EKWTqDf3{z1s9IRQnZci zi@G<_MD9_!V0)lO8AkxwQ9_=ZgcIxS_tG?DIw|?nScIQ*2G?P&ITk4z@Qbo$M=)Hb zw-1RRXHoDC;Oh_3I^& ztv|Bac%8P#G!7lMijB4p^GV1GpS_Di3_mCV|Ny-5vzn22>&r z;KNXKL4SMIwjf579O)J;Gabx91QY(4uXnXJZPhv`d|4n6k!m!ONC@c^G51fkE zJ6OrqVcFz74?@5^b5F~>^VXBs|G!(kFg{ zaVH7VBuHtHR66ka1HZpEY2`-yGMM<4>+#Xx!=B+m{-H!_JSWBGu_9UrbO@-31saXb zTSx?3w-*`54*2^*HAMq{f8@U>^xEvOe|z{faLwsii{K2V-+wQ-rI_R>FwmsMI#!q@ zYbw&1tRZcSludlOo_vAiVuJ*oMo#>d@RMmgVH1?*Jp0n(7u5a!U_a7Pm%!|A4Eu9j z&&+hN&&;Z`Ugh!pT(wdFp$)JVNKdpAkNZ6Y%P#qqW&TWU#W~N+qqeI&8`M73FLp;%}K1~m`MURSM1d>a%m^bGh#<^l9dD+?111$nq&&>0ftfn}O4 zUkZvPRkyS_7xc6o{Le)GV6epE66TG{Gc#MuXWrtj-XY7mTuxup|}jUxFuok#%83N{L3a=WBX4 z5|HvWVwi|FBh8{E!%FrqsnYJZhWtN;Kzk0n05)mK*ze!fgxw!wK4wrXr07qh&x%SlN`)1R_{8nyp9tvtqw@h{q?|!V(n;iJ<>)Mqdn+AwTU>7T~moY#DSeA z>LNNorjJ053b7fHJ_^5OJ|+0iE$b z?~}l`J$R36<3mrrY4F}Yc>C=G011rS!{NjPiBC!&CChwq)DoT<%>on0F3Z4E3*9M1 zfimyxEg~_Q%a@qN@AEHNYpsWT44P%_u&Oze#5{F?|Cyg=o(B^?KVl%1j7Xeyf`HZz z^&VP_TeCIJSE<0U<4_zB@JQ}j3e|h)#eV_@^n&en{bI>0V}66<3F{t;ou ziM_;V@vm?KA84n=nSnC!j-bVxffjR19JqdoZv-efF`$3Mr5}P6)Z0#|uX|~6`6`p_{9fzXTjWH_d0Du_jU(!X)WXSjWG;~C z$L51C(6_2G9_bR>zguwb7Aa3GsJAlCfAD{`Ch+hyR#{L0|BHB1L?+U_$eO~uekteTxVysN z3&-Y71yOafTj3ia8!g7kj+!R48Gy$<5^n5u#7#Vh`Q7tjc^6V{spxlV`8xh1Q|9@f zdBG|eiqh=3I|go%6`O?1c?SC(M}~x($O3De)I1vWKm(Tz_cOz%y$R|cylLEjfgXv> z`%GASba2Bs@;p9-5nublhoW;jqp9dlLec9{PN3VcAr-4;J6t48?*@b?_Zw9*Qe+4*>%Ze%Zqw8Ao zyFNyN)1lP1)I6(6M8--hCo$P2ycY0VVqL`NJ;1aPhBl3_^D$9i*9uMLWWEt3rqtat z$csjp?I{Toe%)ta%Kfu95u6-Atqfxm5*%4;`u)v7p4jP8JRZx(a9~7FuHaE-a=Wl< z@0g*eAkAE0HE`nTu>ZBsg@b$Hh|0Xu`ioZtuV=je=JX{Q81PUcw6I__IuMJA05Fot zh^2kmXfzzL&peY`8j&&Ppw1gMPFbC$Jxj&d~3Vf>S-relhW*X*;{ove#XMgX&Rj_amc7lOUxFql)T2~II z{8z2YX6$!Fi{DE!?sy>DP;H6=<&u$O=YkX9l+xEuu*<86j;lO)VZ!mu893l2eW8Tb?~#IlfMezj+;$$xqNja17~2CrXjP2lwOhY9FTT3n`qb} za;*mo`~6#jPfGMO^NgPJmKpcXf#)GnTZo-qHSiGvj1R+*tuXHRs7Cpbd2k{|?4|@tEDcfn zXBvooNL(q&A|5PY{Vv3#Z-G<4J_(HhH~X^D;5LTfsLlZVrBN~pM@#f}qv3$!QLu}C z6Uv4a^l8O$lOiHBwS_*e$gEhFf)`0w#apH^o++slISt42l=u{EnnNzVA(;%=g0>ZM zu+xNSewhi+$f?jZFI_MtCC-V)U%#xc7*lX$$#K&K_mPT4X&)^~k_df@?Y8(6oTu^_C0M z&k*h>9y@HU7$6LkyACF@&Wde>Lqil#>qWQZjj~YIn2K_zQ!*M9C5b%_yTZb_5;?OK zu`Rb2kU6$O$|Aw`l3I$GL`a!sh%u$dOT;u%BBmofKK7)z6!340uSA)B9%YKHP}xWp z(3~ZG7aWr&O2jAxKIACV?@34r`WM1-Q#K2x*-zLnlw>r84e!^}FFjX*bxRusVjsAFEILM#nL3OByNY z`8mKgi7DT4wS}X9+AR?Wcc$T|q~LSIM#V&H3%LS2H$8i1+ex23?g@7y5T!3|>yXWMkwGS}Ky=V#Q1OVO*Vq|bSe_ab}K`IEkv*L14|8sE~PezYp*}Dw|J?dpG-jlwp zxHwOTY$2>CvX$+;S_wu#{Rb}G;ZfXgOa)>M{Ru#gkGlj=$Y-gBx2}H|N>?*~2E$`ai-W9-dhL^#rZQFLNy00Z(jkq$>knj7!k^8t+HG!Nd>#Fa#w=Ih$`al!lg>miUFcylqBv(Gjp01$J@7Z)T znu7)l;xth{MO0j-{BWkIh|#&?G^cKpF-X(~-ncetRNiLeD*i)w1OB%%oU6dl~!U+yM;Xw4SEj-~P7|HWQ0UC=TX*+o86-UUV zwh%W@!+fnRNd)b7jV0E#i>u|{?_#2&x)`|%=(nQjF%D%L#rHQqQE-tX_no~_Dvpc# z5{~NiQ7&(+Q$6*Y20bjc+QRGJGYvmVs)K}JwGjK$OsSqkPW~aC8&g2+OLhXaBpWib z-6=jh9XGyx&y4I#m~`;y$#&wv{u#PU(a=xgKwTHZuwVh9gwI@Aot^7sERl=*jod`; z3CKsd86QC=7MwC2cZE~X*d#G3F3mHI16$g@qVz8sh~0k!>5%e;^V*@4h-vfwEH82q zxi`ER8?>;?UPwc9Qx-@?_W>!RxCm1I11Bt;b~JHxN0cu-)eu3Tp2sj4x|E|JaBbct z=-7s@eTe#~D~hBcs13u?`}Uh2amkOAiU#I@N|0oZb!ppYP_QV|E?oolwaFKrPI<;_ z>=;?ppT3?ru|M*8MKPHRv=7z z=8Pd8uHg6$V*0;me8#(73icfCEyk{5R-8Hg9mU=wb-iRm|B2``JId(`Em`=s4h z5%-ekSg(5ZQV(8su;ik?<1R|Haxo~lz!4Ur%uG=kCBI}e6~o<-Q500#!mXa({8I7x_z_K&~L<$(RKd;WQCW^@@91ic5Rwb=M;EHd=#eVQ?n{D!IfgNOSd&BeI{CjdTrIU=C-cxb38`{9@oPai>y5z8(oig>dKjak{-x|#S2G=!i zD9%Gn`GR|AhVJs=E*cfg_}Yck@`8d>#DVmJZPyQSv*2~;H*y~-*YioP1)9ppI=PNt zN~LsCaUJdyuoB9BMC7?%qt-yHzfrlyX*!`R_&u06)E55WEl-dANXO0Xvsd4{3@kGN z6z|%?Zy)yevD(72>jrK}#5WkZusdR65899h5_lY!=3-&n!OL_Q#711JG(aGYmNSD8 z>yx6gj&su@P*Il+6W^U715s*S7en0!H3&N{V%9~tADQU${(9nFIHB<`C(F~<0QQTCDljrZp}-uho!UitGK z^UCADaIZwlf5f}@Pu@S@F+$m2Bd|}m8jBe=ZZx6(^PR_p_ytqr4Hl~Fuas~Hy<+%9 z5%cFeS;FE4srG{huSf^$=iFAt(BezdYB=QD&Y@lHsW?X143Qdpew@oK=1^@hjB=KQ ze1_PCTp5S(V{1 z5?*v1fJ{On{(j3ln(G0*iH^9Sj+GWa=$8Rx z(28y+?rBGbwqh4Vw%1kcmCVXiPz282l7n8mFlCEmhG1YM4uLLGm#}0G&|aKB4^CD; zdR1Jz7porFm;%bKaBm!&U0mEQmZ^DugAGXg zi`NM{)`<})L)pm8w1WEf4p<;tLE)p@!3zO&ghWsc%RwygdHTGk0q(fqT%5Rc9rT&_ z6pdb{4*S~yTG38SmPguVlcOo(91m7Cjpx< zAkz61HgMuzC>!HvLI7s&NcU1c&a&sJ;oK1kuY$1u#V{>a!SxK#c4!D}dFV^F0pflT zBAIZQU=qNU5gc^cn3?k>R;_j7f8x;s_!q2CCE1?{Ol0d|DByPrgQ$;~z}l>rc$C!- zItwntio_|)&U!Rj0Us>5y?LaKd;`3ljkK5|U6H^5<%EDS+Z9RN0~0glTZt*#4$*Cd znif%Dtn(6h$3hUln7tVRO7g?hE-Vw>1G^F}c1V={fM%Lff3uA^G*<#Ur_1*=gi<_% znAMP8g6oHg_|4$;pCNzRikO{{zJrv!1TkHZW4LO#{u|UI;YBRq9wLmZ$OC3LkRXNM zbd>hIYzzB|uq?ghUV9aWi3gZWB(_%Z>9h{r^Hg2Ai9{-9XnYc)H4ZRyj|}7LBz470 zYhD%JetLvmCD9t$F4^I*UmngL*WCff4v zB|x;F>@c#A{R9pV!~U;Bg>V=_Os2rHavoLLn9EwEYq^(Q1^GURW&lDbCjP_Q4pD%(QyalN zMv3+?2pjrcCZpKppeMCOFg7#tGG!GSJ%JnFfyPbstVw&sEqilxaS8ur)9YNKF!DDU z_K7n=l7quWyVnDQ*D67sCMLdOq_f%^=18oex^u+X9uGYkBk_po`!<-G!?HhuRW5{k ztE6tvQ!v5|7J9t%yM;&;E zuY+=p#19>GEhQ#|AJV}6fsx*a;FkfyDAq=x|0@E$2cS1AjN4e*^QK4FEl_{i}xbab<0|`Pbmy;x6rR+bHp)P&F8h&%xDuA)V#GjOiYo zrPlPA=Zf@JJ%*Uk856S*u(m5y+GEER_JkJ9nBH^bQ=q{_OoM|2`0_yD`rv|EI3POL zr48|58kHR;HG|Ke8(5}}!NN%?xH&ZAb&*P?>Z3e45Kc;oOGEg7d1#yIs{0(sMhUt9 zZh00M@?ZsAhuSiTQbjJowj`xAwQoqV+DeII`eH4}slwae#F$xTjf&5*LTCYOtFm?- z#G+#(U&z1mWM1?4;9c*A>FtLp{~mG_VT1HcHQ0j_o6KzknX2zz#uBAGd?sBrSu70HkO+iObV1wnn65Tq>@no)Z5O zNG+BF3cn1Qfcom>;GMunq1H+q&ZubiGvi))uf&jgs@b0oQGT0~F zU-lw7H7Gp4d?LgwytDkh=oGX=BEi=i&L+xMlrh5@BVa(=CmdeEk(GUdxMIGE-LQ0n zSyWNE#zb@Z8jF+oumkXac>uOdJ$V^lKh}5Dbkl=l4zRFW%?|~m`coA&oYvyjjs=8m z&yKO@E+NGq0_CqC4~$W#HW0b{O>Hj39(p~YVZUj#r-%cqauf*x=0#AYDe&{}*xwg% z2@R?6G~JcEfr6c4q!~M(U#%3JGenha&_nQ#;UOJFF0DV~K`eNODRP&{Iwo(BiL|U0 zzUOhgSr9xH3q@kr~9E6PT z%DIG#4hv^0SRzgER*X(iMR!LSEGfqJfls6xr#~9i#|RD7yO|8CcZHpwUYZ?Vi%!RY}45+s8b+L$FW_B$&+ccOi2MEg{VkiR@Ic%Kd4;ZHxf9uC*P z4j^#ypnWOwc!-`TgF6G5!$W?{1DG^`nGrymJSck#as%WG0<0Y@9Hl+&Ysq3@FZqP{ z;ped*N2s2|5}+YeS2+#B453+6XB!Mddi4Z^K7d?C!*g}0{K0b-Du3|&x9}W703MJO z`+RCeZK2Ya44U*&$7j92v&UTetapcfeEa*oJ6@EH*Jgp9D;J;Nm6`d+KY!M1vg_T( zdr`T6GMOP)K%U|eo?AJE1UJt^E5EeQ40lJOD*p)EwCSF5&EWY|S2G&NwjU3GCy;*B zrS~@1L@-*nd5ah6sy#Ti=uf5?_h-FTc6-mpqc1?DZ5>3*UbS}d?2>if$<8`n4+q0= z{#(&yT?tDOya*nM%MUzx9|pY&cUC3Zbpz#Pk=0Q1h3W6?DJ}_ z9q_;47^pCgxV{?c@Qf5U`#kZXnp+Iz7-cPB@6%s8JmaSO>hFk0maa@~a5cE+>l=v4 zSGOJyOaxf~w{+19Gx;3Scen{Hl!8D4_8r|t_Xs%h4Etk4PdIbnKqm=?6B--o5*vbdIIH?Jc4s=KRJ?lUQmM|-MY zuMdn-l2CFi=<6YZNx7*F)m!k%KzuH>EX6q(E_1SZFcJpb#!s(K6K=0IlG}sAc$;>} z)1QNvv&O-P{R=*q1R^y#+AZz19)~!E5h1~0dn&;eiNRaogoqQKae^~&P^f%SOAZVO zZ@tKo7YBrEFXqt${tx;D^-G7+9v#SsBe?7C!LW#u@LuUv12Jt2`~$o0cxgD<8WN-7ubbOPI6a56>*_uaBs0WucET9m+n0EeTh|+#!yOuXKYSOuT4~onO-?9W2{b z^N*TWJo75$(`0&d?|TQf7*XHmPc1Jw4~kHRo6_su1jx@WM>dbd#Sk_BvdO*<_AD>> zSBO=a{H{s}#}2~LPbLjl=X`?#DMyUVpB{E<2z@356Z}7B9 zUmI#oB-n&&O=~?U+Xg%v{7DAjxe{OL!bts@w<>d4qz2Mk|FcHC=~qx?K7@*=+0J=S z!wHCBcqPSNYcd1WHnl>n2TA#av_rk$Q7gT!-oNHGuO@S{M=?GZx1!!d` zO}qYpn^gY=^fW}bVmR1JBl2aZ{zFG#1$#x;Q@QmTR4fd1E>{D|$Ug5v=@Xc;N6 z{&HOn2O0!$g96IXYJUG_LsY{~lggw0eFBuqJ$U62TKELRR3ttd7#>-B+P=S-QrpVF zCE-Tj;0{|C{@VK&)3u8?ey5bk7GmO(l~WoBh(<|e%UNFAu zLYZ_LdRp&hIkMzyO%ZUN*Mc8%9G4;qe!el@tU>BUa75D{TfPPYekwUKmea3kq+(;HH(0 z#^-S~t8G7LhB>0(kK*UBs_;LYIP&I_~MH3K- zHyDGm1E>PWptz-4#|cSpup>4hP;WcHZ(aKthTjVCNON4$ zw*0=~Q2gt0eXsW?H0+&0y3v7Srj#~e_PXKrK_byf5o0yf`D@eL5^ccW1RFFnzW@56 z=cY95dD=Ap5Ek^TIMn=2)1fUmkO@(BTZo*$dTHNrh(B{l!28q-LGmIV1^x#Hrz4Ww z`kkb-?UZPB8yK1rDt5u9@V5I0Z@$y`yy^Ao*As?BUU@F~All`1W9%z&I|d>b z^HA)0)(Cz8ES!T6?&ZIB*_v@|7_79?Kh$Sv6(H+@x~d6)7afHAF*I8$QVHzn9dhA^Tg-<)+=|}O?|**)Vs4w@BP=qxa}s>5C=P2)e=y%$ug5#^S=k~kVD~>N z4e=>sw@7x|>6>vV?yJH7w{BACOE$e^E96_G*9;7+)bK!#uNz8xhOYy%JXpSs?)?*7 z)$A%SH{I_j-y%`Fu5O`wm#?c^8gDs!OErn^HO{M+DmR~z)q zfKLYD%;01WdX&Fp;8X8Y1#0k>djviMbr|^kV<33Vhm;M;(73gJD<4y$)Vv|t4K!3I z#AQJqtdLz0{~W2~dl&Wjg8?1fWemu`K#J?x;M;7pP7g8_d|g6EWsE_?X6b-6%n2Yk zD@o>ld5Tz^>#>m&YfZy#(q*J8?KDztE|RTHqu7>)a+}&F@1R&(ZLvkMjBTgwYn!cE zHtR<(){$hhE=Gi-Ug+#Q@Uk@UlcxK$sq&CRZu&x8C(`(`ur!t*x^zMni>+HXp$PME3v(Ir`@DJw;dTlwfa_)bG-At zN(VR%-UxEiXk=?59+a$YW0KAi1v#92=6iRuYdZ&RO|>|A)X5u(w^nFP=P#Y-7s#wuOcQK4lV>K2)+27jALTo7c(*N$6>!Syb>foW-|5dA=3x_r6=O}k-MLQVGlfZPpT8tI$ zZW%#5DJZt;?K|KLZsXg@KL@wNC%PaEW|C)Gg>Y<6>ha`XADC`P+YI~idhwadquNQ}5UeoSiAh(Pqg1|f$9`Zxop+fst>C69e=#8x0!6OLL5Y^9ql7o zsMZc96|8e?b{tB4c(NB{uc&Q?@3(Z9TjJnLd z%QUztjzr3jy0ny}=EnMNnDb?BI*dZid-Cq*gD63>=QGv zur{9#-(ZI&KA_XiQf3Sbc#L|9c!h%6=@i#sBmf!5NjkALm?n_i*sGTH-1&&=AIVH9nv4tAfW!;Ws4zwjcN`%B&Y<8~1{mdqfYqz_1I=ozlr)|JZUxOmuOUyXqF8CQ-k|cW+T?vtKJ(@zHpwXe@TO?7 zy&8nM{YOCo;Cca{-SGqc)JQL$LVoNm!3}{3{Y=1vr07Hm=*MK~q8FRSjUZQmh)a=h zsTl&@XmWMqK>5d9fAAF`(c%Pqe<+D-<(xs@Jk&qa)NotVyD!CaAnO z42VR8?<2KRZJNB{T0i@#)|z{2t;Ik$iK?uc$=gQfz8=KJ;|$3gxXL_4$8UW& z^F)t7&+~&HBzGF7q08yx$6i#GnxI^}Es0+Ud>>U=9F%u#o9qT&S48~}P!Nuh1g~IL z7Sve6ifd>Dnj44Vz6$s~P+`i5;)AjPy$LE`2AK?iauTefDu)=PO}z$i7209+{p;~s zOT3%bbFf&VNPD%@DS}z_mDje#Q!3!K2puUes~zD`m0w~Gx_P3>yK%j#iURCtiaToM zj3st58mkO7Z>9Kq97FfYs?uF8z^p#|3eEUI5;*1-R5yy!Ef1SjZN3Y^%Qpn?! zkhz-Ef>`7l!byc^jn-Qfzsn%PCd3&OtY-*AL{O13RX$ zm0|ho9XaE^2tw-x##f~x)YI4`ZjiDP-e%LvAcMePL^px=2`S z^{BrPh?RXVs1PVehi{Yu6LVm?5hCJUVhX@*{uTXhfPJ&7TnQK0DV5IbX!0^gRON_9 zX*X4wtEGCK;1g~FpV08Ks=T04I=(<;-I19c{N);|s#W9zv$#Olml>1xSl3vHYtQXZ zPN__tNr|blK4=?jq?#%de0#@6Egxo9Vvt=1!^{8zCp}b&8O;jvXpx!N(#N;dBwQ>( zHyt1HcoF9!`Jef&t(@Spy|CPM&Tqh=2rBxJ+mBBs))2ryXSf-e&mO@TCKno~(y`pU zokARuz*LAC=(ZaIcnBoBf#qYIv7~yWaG+X&ErZcEQm|Fijhmv(|2RC?NY3n_a5{I* zGuV^VJcDj%srvm$F{7O-+N-lQCCUBqsCG?h*OI!~zOfwi?c)|ykp45C<~~3kDoeDd zRDMNkh3TTMa{-iK&fIYo1gKCw5$C&!1QM2>1r; zyC8j`nuL1C!Cp=`y(?Dgv=o)cx@@jk$pPK{#V%Bc@0Zw})GnJsd#emwu;Nxlus#T_}fL2y@}BvyO> zm;@47bW&}59h;yL;#i4HEb|pDbGEyG83~t9!4>5?LR4-=TlLWF?0dcqd3}T_HfgB9WXWWd2-GL?~Gwh&$ zV3?TTeH1@3T72?J?0U(Un68q@1^>OnC9E8U(BSTHiT~)OHskxuQCMv(CwqpJHQ1OM zE(3-_Wa?pL^3$#WsMEuw0cB{_+PULy`c|W+2<={TI}ci(?+nxz+1v7RA3KXJbJ(Zo*ns=o>kHa-^^LxYWYpiG_vc^ul8J;}h_a zm!9OLPX|1-UxG>dBs~n57^g1ll(xv4)gd@QtXcM)(HbrUznMSeXiyr%yvvjZ0Df4tu-y&6L|q zw^f>wsL7u+KEQk{-)`K)?3K6fTk75>k_nG?Y;o)smvx;8ZS0@xWkT%0`96UWfYW0N zv3JUPxcJ@n**z(h8KzG(buc~jrowCYT|>Onpc(rb9I;&~m?aH;;Q~(}eM5u8-k-98 zeRxUvLd(Gut(qF(HFHsU4_8h!qjETsTc;y^;UZ5UHgCgWWH)Z8DQ8RUJqG)C<4AU@ z_rL5Bn%-H6!4-I8t0Sh1V5n-|Yj{``A@K+aCU!HlO6$ z1G_xUy(R_?o{pvtG1-F2t0@CUEiu8~!<5BqT%gXuqsa_IRodCkIw<`7hsP<#pt;By zFly$6@*buEw+nY3YcXMw%)9m)h%X-Nim!UH%t~*h8?4O{DtweuH@J`y^5QzN+GAXL~Qp*Yuj=nUWU2DE2^Lup294 zhu0+^9)F+$8NRe3Rl6>Uj{@JH2Cj2&F4Tu_ze z;0n<&J@^D7gm~{1D~%F=73Xug#CN?AY0H97>Jqo0AF=5yQ^iAeF4MI!jK z3$hlc#fjzeQ%z;rnUsCo7oJ0IZ#VnYC@vh6!}{19oevGkU@KMS*>?Fp9Kb$ZC8I=be^kBOlxpD#N-7L8A?AF=0NI@-3*z2YhKkB?y3%mZhX_Kpp zaORAsguCrdURzYICC_1ftC$2 zAaCiQ@}!nk33z$zyfWeQnhhFX@f}%#Fl()9bi_R0aTBUyhKqFMkn9TQF-OVSJTV3% z?MrAdx!Qk$iNgf!(?K9yj;KnQnTH{6!EJMaBmg)8W#f-*#whsfF<+BRO%aDcy#1&` zudA+@$^HXYCSoV^Nq1lRC^_Lkx?sXOl?F#y3-g`y#R~zqeSS3^`wyXSjL1hF$VQCnU!WlXkZx3RVO3M;!V>LD4rfKYOUIj;}MDwzdvi}$k>vE#2 zMdC&JG;2fh7YCAO<4Kl==uVMtyfl9$T1MN;l6rF&CNJBmsueUHZxm(oUShMHk)3 zXgzDkSNhEXh%#t<%=s}N5da1!-@pU}E75bly zEhqEbz(x|Aq0_ibK>cyM9b6yFL2Gx8!Dr0Tbx?8Pp0MD(>7?vAVuJ-0Vtx%7A~3vh z@9c5%&|!<)!GL-pCZdBg!zI93;cRe=;MTycg>xZaVLeX@;8NjI;4COrO&GEmZV6ls z^32BFo`?SodNfdq#PK29Lvtp?*uX@dL z0twIXkFr9LpHQ}l{vJPaXa&NQ(?ipX;ll&}Kk6@gVcA-F&5``4ae@#{|BD4A>9EfY z`vxSuk9Z@()aMa?4}R=$dJMv}T-}dt;h$Pf_=>dz_JdFosl~nF{tRuCF1X8ZJE3th;-zT$X%Oer_PhjN z?mIdiz`;#^X|S{kNd#UZ1nfd@bwrso)wP9r4IX9YbIr_ zk-vF=+Sus3Hy$@0XNmDRA^h>|DKW?M2XU-@i(eSAUSzI{x@rCMG~7iI^1_d6jpJ WnUD#Xi0B}mgYTu}eR-F6^8W$%+^)+2 delta 29258 zcma%j2~<!Z0US`<8WX$>(Sq8(I<<|WeV5WI4sEeo6GSal z+fuLXL+Ies4z{*RQ2L3MLaXiT_`by9eH7X!)wWTv_D0ZLlED4<3Hsjq{D=#rCeL0W<=YZas*G}t+(o{kW%xQW!;vhgRZ(pde^>9SZJc;5R9wbh z64TsBU;~X;L&d|njn~z?%%)_4hLX-crpDP9QB&O)T~m>NK!#G8<}pP`H^#}`%aSxDeQNVpAE zo(@?>IYzdd6Ll>tND!E#?PAybApaGIp+NZ!Pi$K5~GzD2% zHoZQK|xvsio}&kA(zx-1U$xq%pwX#VP0hIM~f&7c)xiA+;51rkGI8hy8iAt zbNZbN;_cyk9o%Qd+oL(10Ph9of@nJdWz5lY`W+~mz#0AKtZ3*!FPLF8WMf5s0{03v z`_{w9hW@Ew$Hk^^i|PKAqXgb=sL$ z)P@JcRG|eJFzuiJ80tYtA~NBj1JaL>x*)_&&(c~PvLF!XrQM6cTb z&m=rw_L@Ga$OlLORR{Rr2{(P34LNZN7Ny~9E@v0hD^?A*RoWj z3GnbXEZ#r*;;O9zO;z{B)!>#7-ulOSgJ8CPE`FGW`>6mdbj3iBKvcY>6Bs{>gD;=6$523Xm{!AQKu% z!wnrq%r|R@45pcJlNm~PLdyj`vlaSB2mxloG-(wn>EW!2luD1ZBcQLD~>efU6`0W#OtbM0xmnOeBP< zp^!I+TZWndpN%ky^W-R11M@H^3NeS_c{x0Z!$F{C_5OJWhTdpBZaNqDkRs^niP z$!x{_x%aMIr9=B@fcOVd%aV`~5XKn-UfU zY1ZvRx-YA#SEBZluSD)AUQzD<3G&b@=`0d*L|L+|6V|#gDVWB}8!KA1?5`XWHVyc_ zYlTQzKfgn5bL@1~url@)Hj7PRe-hIUAmPmcI(cRn)DS2+5<1~2s_S{zLUsn524s9X zKqt!}7YSP+C${q;7rs9{pzF?N7lcb(hW9r*kCY>$&z%*1Ge2Ez2@QT21!Gz{oLcvG4Nko5zRCS*1 z6j2G%c8Ew#Ow9$pRc9H|rRLg!)?W`yDUz`$jrB-P&jZ?FtY~I8F)@}q*+z^bW*N;3 zL_;mnTRpPHhg2rd-$i7Wntru^3oYXEmv`T8dP6j+fj>3qg;J6bC}RA^(iKW8;ebIr zw(-!4%hj|mk3>Q>z`I>cswIS#0m=X6&=^>olrT9&>-En_{=W|u0HcM`yi80bOdok; zxsip-P^=y4BRK#ZQN8CkH1(FM=q^gg4txdO@AH<3dPHPLa+FWH?+iDxhoa_+2J{=O z8N4nW_rM=s7D0LJ&ht=pSOqB4*kePj6tT9unt6nBpMlYMwp=9@(PgCa;}X>KPF%^HV}hQ~fp>pH}Bag-geM+{@o zThR>Y>VK(%66^ysTMJC^cuyhDzJr@=w5*mUIe90cbP058B&=4ie3*rCK z1HE1()SX7cYp12_$Uqm-g%&YKP2{|540t5}&Qq9gVSbg{OtYHf?OdY^7|%9jaE=>h zJv;8Oo+uj{m&g&bD05^1;>@C<^4tKg9y2M45)x0MHg_aS{R&cUvy3HDb>Z2s z2=GhCB+dPFprnQNJs`sbadIHH1q7Jvv)7{W2!&H25Y>eL3JG3}K;%=0OT9CY)}on$ zF>zo((}K%w<4=!?XR-rCnu6Wx;cKHuPc%4gH_44Lp7cuER{)$RF<^HYIW2o-bvb8v z3>gls0=0fR$f{KI3cWQ^B6_|2CCSG{<WtxzrTXkJc;Qm^o9zbdhMF>|{gfc14)CmawwDxKUX>#=>>?&%0%N z=k%j>KUdFz&N9RcVqRl2XX}y4RY~bWRV-z8)H*K!V$6eC(GU!^pZMf5I&?&ul z4tsgGiPb~5m-(uM*b=2EYv{Tok+%<;00+9@0WTKdWU%EY!IJn}AdIVl)~jkWhzqAM z{WHy^jnF1SZtcMEvy;;TcYa;udlDv*2M+TIi3xHoTF!ma0!(mBginirLkWvSeraM_ zW|sJS6JESp7O%tuz$*cX)}0(Mtog+P8KIqafZfq(f>BNr`J;&%$IgKnEPjj>i7Cv~ z$jlz#+A@r!YFt^}d}cSzCdx)#nAzgw(p*+xM5HGZ;F$yqA3-g={40U$Nd5zZS9XJr zQF^6X-KxgRLeN4k9vkfSC-Dl)1#*0QkY-ITLXUK$@T!Cy+Uvm2hPkG?`7A61th5bR zBZaN4sU{?>JB192W|Adp37rN+jAari>;}1x(8`4eC1fD#@0bO0 z{-`!7gL2TbC}U&?68;>Z4GJLg((Oo?9~j1VZmU9vgrT6{JG?VRA>oVA-JOX)FiJm? z6m|{KcHkkvAJnb9ARkRq4u1XE?0C{4%ZTvEp2(;nvSXSuoJc=sI|)qS8NPLF)|{gu z8C&2&KD#3GsWetIHH#&MnM21cevciH`BsQ#7vo$RIbqEG6Q0ttnkl$M`p`R2!VD!| z;wLAMF>C(y{M?-yW~jm3KVbtv6Rx2Mmk?VUff=5J)DG$HQoXa=QiZ=XkwVWP)?2ac zjEmwGI*R>MQA*m5#&aTSRDj^sB{B!-AAmccFde--r)36P0@K4rUC=~EM=Z~*oc$-iIvn-}SaTls$Qckgv9Oz(E;kzsgG+XirBae90KDZBwx z_-J5vAJ!e6`b%O>Be8e63%90aCu}5zCkI#CH*kmS$GI!^*S#fx$iIW+{FMW5lhs5$ zH2A{$k8y)9K!eCvLTcG1Y}}OZuaO2)C>|v1sfK-)e$Vjo$8|`aXnp#X_*1+9j zn5U(KWCP6(mud@(92lv{Fui#jM_}HzOD&(Zt7A{7m+YZ%zP%d6=o+C z@TP`UC(@yAUL3FfH`SKzS>?%Wzsvm1q0Bd72^fqqyMmaKuvzIPJ0ht)njbGgmc zE*d`$qsJNz;&!a0vQ&72^K6E&FB(r+d;626gdq{Au$V^Zh{{9 zu;M?6K(56jCWPcRY>fTm(~thSe-aiumGj2Ic)dZBi^1kfSI=Ym@VIhY4V)}Is@AKy zFs7{VnDBVi4%kzi^8>#wXkC zvX&pQjQrtDc?OGM;~<55LYK=aHY4wH>B{nji7QJrc#|{)y%eitNo_oPcR14Z3fQe8 z=Z%M5*g1%`+GPOfy~B{+yaQ);*%53UYj9P8l0p%Z|F3*> zTD(KLUfXN=RUUMu`eE5(V_uzGvB;nIB@fZwzL#bfiUhQ|JQBi@(cQO z_JHpK)m^U1>vlXw3a;Rl@)hNm*F@&U+DpqWufeAE&&BN~5U$o=S#w6L(XJInlULT% zuN3t7`MZ)UYnH+m9eNM1IqMpb#!e@~lx?$&^(4$QaIr0zpD_7{d>7E?*WzO@=;K+f zeaQdAfB_WJ3t*FtDKc zTtQxhJH{1o*H_m366TDU23{SHX=el|dV=AdHN%F#(luJPE*~#1H8P~JrH=u!hlX{D z;}vPC#MtLR%EBVUH70nn8RkUbm8#3{|REd2Wm6Z z(P%*$Voc4^0wa6AF^-LL$2@W9395G?b!ZjsI}BRa^UyXeY!B+Xzm?y*$UhPDL~P#5 zCqRbJxWOAU?j;wb@sDTJ6YF@Hv2gJdfwSUvurWyf7l$r*w~JfVJz>W9K1dCDYxapX zXwZL9LVA1`9R_*G-_w!{Aj=Cg*jM50kRJ>stfmFu5Bd*;+5EZ;{$1k(WK4h$8A~+R z22P02niAylizmcNQ=*)_hygr2z^}?&Gofklf>^7?4vP_Bp}ipPLz4eg@Pb$e*N@@) zI$~Us-^CAPmM4}$S)9K=Fr5D?T!-^(dB?=r#8SR(;&jdaA*90=p1%!2%Lw*b9b+2w zj~e7hPP&h{#m}EKVZ@va#5kHG3prST8~Lh9@%JAb$^k?lrGjjTYsjq-fXR;KX<<0(Mt<|XPWb@_4P$f!Yo)}VUQubyG!l0cwTC#3d1QXgf|6)v(0 z&EILhUB0>!HtOwYymJCTf~3Nc2Mw|@fGqZAJ@ z?$(3D(&6%?1h;A)-AlzrrP4t%I(iSc(e-d;d(*B;viBmnn&U&J$q_ah+&M&$%;u+L z6+J)~-9dr@Sg);t)8u2QDo*58CXJ`(Ls42Dq#yW&dz-EJ#2(HA#6bf|hDBDQ==|d0 z^47{E9Tjeg2vP?AT-Mg;DaT{kRYY9zuS+J;qb?k!V)zx=6K64nluu0(hA56V8?2Fb zp;gBk*na>&LXnIaiG5NM!)19aH+@}c>7n%2t(Z%8$%%`S|7@G&f2ob1lJh{p^O~V8U%TY#`VJ6C z0)#Ki>~Rs}K4hZ;vc7oBo2=SBzGtNTm!_eOSSC#}lw0*KdyXbgXw71;d8u1_H-JTF zs$wGV&S4!IuDx#rwyd`?&^NVZMc*8X+K6qjFnvxief(c?jRFjWGh7CNgr#yOtQ6p~ zR(QS*W2d1Frr9iLk=!OP(tykC1%RHI8SqfrLI2GG>=RHU#%vxzAvGA0;EWrDO?P-srl$>V-voU3}uO6Hjw;X(ttOe#WL;Iq5eB61^>vj7(Mn0$XdYkq$R*p z3Y@^Dfh9)>T_DD&Tk*EVZ`F);P+L0XBQIi8ahF1QG2(uib_$mVd_Gkm=o~vCG>cR0 z!-@+G2{;`_2p*8!rYHhOp3iPMCtjUN-oB~_FAsReFw)d8*&4*yg=X1SZSj*t?-EKt zR+N$B{<7wQF znLm-^FHFyvO!PWw@<*YSNd3Dvl_N|^_I|*u8dC@)43yYBvP=Q?qeogIw@&8g=gxSj zv9)yTM+s~DcE+NKrB5q=x>9q*qWE#NCnqdImTt9zAGY*q-ByjQh&Z>nH)(HEQ|}=a z(>bb$FsQlRW(tP$wRbH0yEo^B3^oh&&G~B%8y()2~c1NG?1n+ z{IgSM^7g4oax4=>vHaC3sbm^3xTy(56rVoTqzJDAbtIoKV<|g0WMcck%<{5?S-T2> znWzn+7bF^XObb{Bus=3N5xR&miZPzsY~2b9fPCgfYU`B3WyG?@W9jURcoO;7r>XPO zi>R$j2(s52tKpnbZTDhKf4fVxTb&?NxCg;rvy}kL@HVrdhomCyYlSC4fsy>ZgLkJl zw>3-=lK(x4+!|Y`)Gj0zEjIKct5vAAE-DH6-;oSkM;4K~Wkh7b{*r^Y=B&paJZEXF zUB8v$NYID~{jPBHl>N&)h+zORcmZPuz+fhz$NGLWYd1;$#G%qHw0>ouBDQoR-gPBE z`cz#6*^>V;070o$7Ge;rg41g4N3j@$Rg%02!L~HqEuKRL<`4_|xC4wP%T|g#CnqjQ z{!ae<%zGWL{!6)*{1+t=mIzr!v-%e6)|GwRC@Ze3ll&dQ(yeRZx%BB}idz?SEE!gP zfV+IERf8!U`ULegKbFgxHymFe`KiHfPUE6D9oxm#dJ}tAfGHJSAm`5(H zko>_=`6k6AgD{UOU)SjwgT12JNEcU-0D=(_v(z4Ghy_nC2z>V}6yxqO^beI<;A++z zb`3`((3D{t*y9ZACI3HyX1v`NfR!!?8x$C_vjAflTX=L%NE*10gOnEyW+j-iiP!q_ z(XG8t(d=4*C9oWFB1HS_2tN_ElK-R7KJnhH$DUi;cZMSBMhkY;c6i<=ZZhFF+u;ge z02?WG^iYe6dtxDuz`V$?P3ES3qrzl2JDAsfXzM;Pse7L|rhUTJ63o)DF`r@7I8h~ zB)@)WhZjw9^yeNUpw84|6uYvIjx}t&+wScC^~X?#qp*MNvEjyJpz-@W!%fc&12|G% z+*6JIv+1-UkN2_D#AM227Su?)@f$BWIn@&_NGhF&FSu6^dT#l>ItQU}+?sIgpTFId zJNgaB7WIsz9Q`TB9Fu3?PC8b)g@Q;K(m1<+^f3c$oS1U0JyEf-cCAgnE7pwV9s(j8 zwrwzM+v@Fu7RX~Qzv;FVLz{y~1$Yh|T?~#ZNB`}kM24fk@8}1=>9;I^+#5%6f4xT+ zIl>)!kKQFV*gVr5{a23acWD4p#zp}LjBB&@lMvG4gl;bWHq6CAIX4FdN%BL&&ad5t zdu&mlnC~v4dT5knCVLPB(13~3IgT26@p;?xMPs=bZj^aqlv#M+2__5O_M*fnWOSH? z24^Xyy13QmxKre#CN$A3L{#BITZ$T*AbLo+>_nOB&P_#xZqxi&E{z>#Eg}CC(p66D zBDsZSN>@5to3E28FRm;6D$H&Y%P3bJxcr|i2>BOFm*vYZmfOa1GC{?h^vP8Z{wV7g zVvjp+p~*6q=ale#DkEULIto?PvcXPFaU0n}wpP*Tj4N zdI}J47R*)u5Hr_phDj1AH2|4gWu9nc6~3|PaGTkX5~vO$ehH9QV-Pi5O_2Ow1z&@e zPwF2B?zt20Hg9=PbUf0Cx%%dfxDhQ_fpek4(ZM7G6=dq_pb%!YHE_MpmSjP~+$zaG zVGtW+fjPb0p&%}*xoG<`Mw`9Vi^g9P+ntxhjsw768~;#DzgXPE#xD_>3h>aHQp}zuLS5cV3UqN8;5cs_ zNOBI4e$2{Hqlnom-u>{-huP{~maBz)q;?|AZZX>}7VMG50%C3`He7tNsJN#f;Yk~e z`;|m)GzacIF`|MDFgLR;Xs@OXwnHk#JOg$Qh<6R zLDHBRP#YZhWiH5-M1!pbHOwl&(B;~2fn>YnPY*c5)t+Rq<2KTl6j|-r@*8wRk{K5O zp!k5ti?^IN0^Z+pUl^*H#Z61lIQjc;iSrqq%r^>D)Wv~U2S!1Jgt9Bc(Ytj~4{4CO%eN3= zA*6g`%WvgdNWJJiL_2QDj;f)BgSY!hL%#&UeF_T8i=T`Ax#vW2I_4Xn!xgiy3fSD* z7sc9pf1LtTsfHATx7D!919Lt+?|hF%8+$uQfHy$$*NLRTu)YsOBrQMInnJw7-)o&X zwke1eWXaEgZ}h4it0`FE#!Xc;r}58QwT@JzO98i?nv z@{QO{=ztIpfCdi;k5X*jhwX6!T5kbM4Hj1yKy+el!JvPN^fLTsh5si>FBQXXDZK;`WRRefvL9Nd zUQPQdW&8MJd0Kd?mo73o<%T| z8FmWFy*)6CLq?*DxX14yAarTDEt@+BY=)SHbug3~^78|W0X}DTTsVO2bMe8VY%FC8 z?NqGY2u2VD8obkL1m1r_EVdOp0MAMGL$}&X6SzY+f83z&Z(n#u{Bgp0NH~@f-$N_` zMAMPC_L58Oh1qAsZY}=*CH#Li{C_?CFNFX5wL|^|(vZJYnh}=tBwdnS$gzso=UK(? zAYILzQe+i>nWy2jIVdgVL|d@{EJSM+wNX}44FxnwyhZS2LKvK+HS%NG6h~^|xB?~i zBW0(8LP>H4n_h5O^!-5M{aY-0K_X+VReH*vY>O(0gs{MoPzu}wLlWquPiZk$L;e{M zONQevBR^zN6eQ)*2vqR_VlW*%0M~0EWf9)_tq~a_3K5U$w^@kuI5?ExiTYg@>IYO$WTU+|y$~dtP3*-g-$xq= zq+|(}D!^fI3q=y*&T!1-9sq`kL8;&o4aZ;n?W6;g)&F>r*z&)h*WGy*!;X>BK$A;F znJ?VjKjga#CSchq(eTn!ktLusdLX>BgO!(m;aT!-+su)5D*d?b^w2&V{ zX;Bc{L<^4vQ5sM!vOQr}ItdDXWD704b-E&d*y1l^87>M&Jxa7B z$$F7m)=S1z^Ggb>#Jl_(1yf@PDi2hP2Vg|sXiB&*6|ooiUkbEy36iufwI{F-K<2jz zi@A1%`oj5Zq`Jx;;p*VN0^%u?M{1PU0V) z_s(bq=&BHwuonq?acHFaKz_)dKfo`ZpAq$pG#V(h`0BB4Qq0u42E;AO5M}i*iXkQ6J!r1WL>u{%mh=r>qxD_(WOAb))QrMd88u|07;6D=S-- zfH7=*{B_HC&$PsBR>yK21rA@7Hlp)Ykp-QJq;|kn@_#x+bE_=4<|*+PFP%3nLFGb| ze*Lk$Y{I)2&@jY-AjOXN=ChE@fUMt6_;89vs@>_N}1Ui0)XCh=PdeNR;ODEKVSD)vb{%yffl< zZi5pq0m?^LqV#}Aoluca<`FX}7Gf7H3ODpn48Yh>rr*O`P=rU_iXR8O{Kv)jIrhOe z(_U7QpVACG_!X#mRskobNkNK<@>y9;4r46;5dSWVAI4`MKf>|eIyvkkU)w54sUw7k#;};;7_8x zkq3(sR@acA*nY}4P6aVmIV5l3765e-Q-1&_SLV;WNF1n7!nx#LAkYa){eA37_M~sN z%GPnpXH?zmj)SXKHOqawJ>|<#sXe%ZWq?r9ZRol3%*PNZ@?IN;IGKIKQXteYA3?cE zs*Z3uv#_BWIRJjjwxp1y??cH2d2^~YOliT5i@mHwG zwln}@_$8{`=Ka988pdAp!zo`WOvp!7O5qZ<2sG!8svp?5Y)eG?2*wf9R?lL9OV~K@ z;lk?6f|#I?f_?qxQ@+Pkj{c{QDOmuaK&6ZHDI!$q%;9uF5s}uW(zRSCBax67d_zoi zfPxx95*Ze^Mj%xdk0yL%3N%MBIck-$LX;{G5QbE7ZM1$+E}xh^;F+3-#^aK-`!3bg7A#c1&jl-i)d(=o7x%aBNRl#r9@Sr zrVkk@{$od*v8Q)~%s}K|*bz|ud#-1bV)Kq$PPE-lK;tz+geuXK!^U+J`wNmkYa(9x z#!ECjn*2{Mn((7n14q#`ZA6aOi}677wfS@dF-s4k(rv&;GW&ny1LH2r)5OxAiX`wUgQ}S*bc=#z{*@n~KGtDcqZqWS&XT4S_*>gJ?KCSLt~}9H*U{ zk))$|ud1d5$FE258^~bkHb#}F4AWr0HmpP`9J?g z)MKC*&fV2E@&l7@VV=@QC~Mkc#MmUvG3xUF7M>)+Lrnd`ivb{^R=d}z^LUA@BR-`g z^6MtI_Xn1kFaj72EUj5DLZmjHr%|3pR@Tk;E1cih%P5_os z8Z5xiXAB(ZWf(Boh`7x6BJD&%v(pIZJ~=l9FyOrDa^~GslfkCQ9+FgprP?S&D{)Q& zOgwT3A38^VV9ARS<1MvgaHHIht34pRb}qu7U#_`oc@Hqru@7^ zy|PG%VGGuE{{Tz~IWXol5T$=*T|MTGYyaYgw`-%?G);?}J{wc(#UoA#kNEC@(*$|s zDW7Ap3XhM4&0;Op*%Xmc*b!mO@3?doqSD8+@EgOj({TrpJ~{$oyb<9>x}Uwci@=>O zoK5Xb{oXWTbfgljiNm;}++#4V$VqODsd6vbkXZRAqtZh*;BC#yC2)$p1Wc3UfcVib zf3*S169FBB8<1{O8-5xl8hC04C7#}J(TnGFoDLJuFn6oVKk_SM_}Y7t>B>PId|W zKjcm5cNPPw<)Cgdr>n{CopV!8CiIZ1+5O9o_2D*vjtFQYvR4K><8jNaF2`L)gJ&ZZ zSSMx*b@{lV7@*lxtb4Ap>%CqEot*m>Xlb%M%oEc+M1wJJEW7&Ge0COeiXN5uNST3) zYg??V4A;MmyQUI=L;mDW0LCu!5#fBJPOF2qAJw!?)b#*BCI=M9%%m>=8!ym$&d3k6 z?7~3x%|`>(qJfJ6BS2mL7k43_U6()c*ECiYwyI9NCKku`qfH97h8@i&wHe?nC#>>_ zB=)B7H^23JUipa|?B?+MpYjBn{-^h?-{)*TapP~{vJYRh z6fy?YI70i@@As9z^1FJo_J#s-zufHOZ!I=PXWOXWFDd?awApk+5&72dMm}pvqT_9_ z8^7JS;JP{z3(x>1^#Y4(yAr{|&|rnbBrpH8kX^>2x8oqwe$%eV1!*$N}2Fm1Ah>E)<|bjW^iH)p^7$X2x;g#MeECK;Atz zt`9k-@b3=?LQ}@yDvz=vXZQ3?XXaSB4-seqKl$ik! zR;89HZiiJf$$t_`2%X?3)`G~&f=QxzmnD`ZJemY`Yf>dxN-}SIL@&&=)yb-0mMtwq z{u&9l7y-H{j%*UEo5IST{KAlbvxMK`Tut|)vRRH6Y*wk@Na2+sI{9knO|Kej&I33Y z{eI|pL?T!_?+DnbTza~!)+G^lkh{7=lV;Qt&NLbv6%#LAqO zL!6<7)Y8I?K(^tKUEPYoj{^`$TZg@qLm45^=J30T4u}%JB&w@lY((Qu-LHU;1u%zd z;OH9t>Ise(Gy{0cY-ClgZ$wma99v4KeIqg@``NJ-1T-HQnBc;GA!I~?aU0UYv0X`4 zD+4j@CYZ)(IBh6v(9KdCuXYdz0Z;+86+VoZMC&PeMmIpb3J$wvBGUmMEHkw7a!D^1nk3!E#OP4Pppism~%6R zB6W(xXu?Ng64+DD46)#*ApoS4;yGA1wD6Tkn9Rb1RrHh#-fRGB-w+=AvsI(OByJX- zt}@0$XX@P+bhDxg%zO@X^NFfUa3*dE`++6S^A*&1MIIi<3jW?l$2c%58ESzSBND>p zAxxum2xhYmrM2J8uaebK`^kC&_7fueA6^hPK&A!K1tSqHY!*Q;G}cAVw}@J_TN*a98u^AB}Tl%>z-% z1+aQOFmjz5><>iNW;31M)dU1&s_q#xq2EJK#YjA2`K|+|=CI-~l7HL~1|A~Tf5Rxx z6cx2+ym+l(nr{TYe-GT7A>oysG#V1T$4e5g0mTte=px6mtF$B!(E*pisMdb-D<>#J zkz~VZP?qo>DtHtPBovVRS0Nt>C!J)22D&1|C9I+r+natFRC)iiDaqd&Zt2kfv!yfP zmUw8XUSSqqb}~lfxVguPo6Y!Fvn_*oWM<0o8z#FCpvtpuN&sWn9in_cobRO8hV$zo z|8ckC{Ww7FCz6b%b@Ey{knU@P=`1GUy|^^^(iZ==3R-&-N-ygAqA7V|Ne6Cy^C0XB zHg|EqyMhvSOVw~t@*Ldll*Zc{=Fawvx7Ath@mv!3HR2L;dm|F4*vA(@WPxwD7ZExjqqTyRvadE!}&#n7?Ae{M}(y&SdMV)j!HB} z00RXFwP2O-KP&CDTydWRsVyew-%U>(1lt;a^w+y5`4ODx2Oe)z%|mHSn+8C8A~>Q@ zYlq|VK{zbw(u938k@KxO4VPgjg-HRh#C4_FwH&rT4*4%ZfZy2d5bin!h~fkgjR~#@ zhz87F^R!@Hzrin9sdLDn8ihA!2t`r1M%c7=4L9UJK0xS4_!NW|cG5`!BJBpKY6=`< z2K8|}xJ}ZAw|othSa=G*PqtMw4})6MNC`|Zu}}^`#|7au)^SZC9{9+h={P>(NV8Tj z7L&r?2Ect3+Z8jvj5WfzrUuCdumrP){*xQ5f{7yeA^*j}$HD%Z2G(I?(8Mx;)(RNg zs+QvZpQp&?cfsQR85SsN!vn>GqydnR;d*zFYxo7FI--r=P?|$@^6!;Sb&U4}{L8@a zL9;1fOCR#T8W^^vYq}|+Rl4bo3~zYzDv3;p^~q%1t6X43r>}VnIcFuDE(rbXwZR!T z4IuE%a4h6nK|^tb|er0`7$LC_{L z6!&+nCkx2}Qc%NrmhS-U&mi%pRrT@&@SBeh@$OY6t)f8jBfWP^OtpC7Q4atFZ!siAVrvDQO&8+d@UWkY_` z00G+>`J)!VPzH}#u6pqK4lMLlb0gVN?D8_&mmF@bIlwpldAxkX3Q~YWu>btCR(~N- z0KJ?JTz=8;QUM#&l-N{nNp9N!qa&!XR#G?{;I&-xnhh&t-A_SG2`#$_UlqCT!JvH* z$PLSn8_K|1;vQ>%Y6ZkDUdKUk)!eYO`EXeQIGGHt-pV6@a0flE8%_=ZZQl0CKvyq; zHY{+qKcTA^B8(+s_i_Bj5xC~XXN&lk%0?TFW!T8n0mpkrq{}=B3fTqB#tsZ#^D5H^ zJh4KmigJ$#d&pno|GR8l{C}2LLV4u{OW4s=!;g4eM?Aw%empBaBJg_H|AhfXpj+b8 z{&+b5#c$%KjI^PNDcpWGs}sNakw48Di0%9(Zk!`Q*%#h*Ncc?A53qlBB_6lP&l%wO zK;jc%CrA_AUxJfjgA7MG-UBNMR$mS_{qDBIS&&WeeH53i42uD_6*5EQ3hd6KeOg5O z5)^~}m!#q6ObE-bxpS|9`)v@;pUcv|Bzd%h9R%?lf$9_ucTe9blnjL`B&5rQcW=Vg z1lM}W0An5|L$EK;A%yqat`DysmVga&($JyGSuSkzPeO+(umnd6g)PH}E@{Y59xA<) zpMXm5K8-Bz=1-P? z?yyR?n{af&U%Zx^>UCKB-ZE6t0y64E5}zAJ1KvYmp&RIY$G#JvFv>Y(-{!@w&F)`% ztQTfMgTT`s`=%w*{qe0T$7K(ic*SkxuGry>^om}tbVWJPa3}aJjCMm=Ih zRf6MJp%wVvC#Mq&dBd8yj*}po9RcGa8i(n&s|?faWcT=&rZpY4Xx)Z2z)sj@@RrcO zC{k#Ik0NlNFG)u&PWD&#l^2QWZ-|sSv1w&_Ta)JjV-qp;%8nBQ*&ycNHZORAE*?k5 zPB)>4w;+4r_RqV=xNs{!51xz%AxiF^!yW)W`!@JvAO5ROn^0`DcIjf2V)J1P1W16|0p_#S{3iYCm1AuLo2>kp7&$ zc|pxJ!I@P}9*kN0K`*5QJmp~XTtgEN@kz*_f9b`h7`Qij3@;_ZRqnyqA@pELnt_CJ zaa0&TjiC?bCU+FT0&WXtIlz329p5tcYwxcwf`r*lWUVZp*hGr5_Jk%P=kkt*Cfwa{ z2Y>f|Ft@iOf&FiYN*|jywQ8-9C<72pMwfw=7k#BO18w<+hCfY$RX*W)2rifX?w!6K zpNHDcF=hCy=zpGJ;9t_ndGgsfW5|L*tW8FTOuBo{*(vT&V@rhq zpI_P02mn<($CEs|bNUu@1AO|{E!NdyQJ8wIMU=U2UX0Zh^cI5qiJ#OHu92UN;hU5^YRbEv%C_ z+~0fog3aT}#R0xzbCToHwu;s{F7q18p6Wfr+cM#n{13F@&w5mI%gZoV-4BtHz0Q~) zF=xg1?>Sw-apCm16Z60QmWgf`@V_OPlv+6QD( zuZX$upQN!34re2SmVH~?1|)QPkiVyL5?MOPKT+w9sR&2qEOsq$F&yIx`JEE~Wrdzh z4)Q$}EEx#!+3RxYkY5gGW!D{?RwvHkQ2MX#;p1mTu#BHG5wigMrmnD%A{KAwMzBuy zuYb02X5H&{4p@RJ#OJLy5o`IU)-NKz3-aHr&mcbz^0(KgLc2a#0~@lFe_xB3pVuMg zrwxdi4pyL1ECZh7GJqN)*aG~T4U>ol{*4VUJ2nqAh7Cu>Lm$G9G)ne9$OX6}7RyxZ zUXgBJu<5l;^LmI(&n7oSEAADkTDFH6Ut1YnY3_-b)FB=yi5Bd%D)7>f!?OrHjxY7g zXWAH_$XB-{1ag7|J0eu!55W?0e;s;i{oPmbN1qJxaxFx zI|IJMgwoBzOU_3FFZs;CVsc@9I^oR@r;)1@w`dcb;KM_MkgvvfV?h1+*jtre8m@tikN#&3)!YZ6$|8@EOR4~SKqkNZ zsf3Kz=UP3B#hsHCS|fZ(@1#g;>z#F?TwA}c#;Z%8>QPL}!EI>w&E*d~l{Bx#jkI<7 zA468sou)OOkpeZcL##E`h|X?gJnSa4ze9f1oqPtawZODrcaz$m0r^_Q!T%#@wU@8m z9Or;zk|O??1#Kt>Qw#QM755jFd@rhN<^1>8m{Z?hQ#OSBC*e~Exh?Q%35DD>#h!b| zW^TQ?F%1HQ##w+*JH!z_^+?)x7UK9F6`x*Jp|jT}K6v)plJ5ihs%>YlX{M-byF|J+4>-{*Hf)O#7KN~GHRS(fND=-%P$nDlKM;D?Tf#m7cgBE% zJpg1E^${qHkdh#on)$t3VjQLr2S(iYfk)$FGT+-M;GY1W77F<%g=Ao9##JidoIRap z1Wo}VVLEDT3K}&(4aN<@sD^_{@ocq)^pRv-ml;t8(o|Z}-lVONcT)yhYpaMbFcrHi zzN)BbjhO$7H)8%}NZsBW%fWdg5=o>%B%ip1mj#0Dp{)u!y9uch(sPhdK}G)FkB+m? z)e>-kKMqz{H0)p>fxS`P%D|?4`BNlVTEyn+N-VqYwiwQRizK7I;{{{}$>O~M12qj!NQQ#W_0{@^?XC7!HFR0QSeXJCc(B7WfsL*NgFo%xb{b zHI{{M!U*ocD)@hAhz~gQQLjLV7u8t+FWw&F)0_**XNUML&NN~^|BiEpLk4zv2(=Xc zG$>~U7ib?{)s@Y?XH-FG=)9~h2kWVVf3zx^ zL__@gsx(K){}mipM}l_{6UUT+UqI9Zo8FxWwUGbG;J+i(kgy!&S0r=|scba6lpD*| zLKIRm00p1wfX)=1A^(Fx#L;OGgOt|iHd}Hb2I&dAv5M+WcmX11vJ#3Zv_Wrf?_{1A(WLPQ#a^szApMSAtJUz}G7@;SipT7L=F- zFn=0Gv`Ub*;>$&x=X!z352zM7~ zB5`2cUn@kRihKr)Y zL>IUK*8(W-0w_FJfMtf&#bZ} zZc2;1?m!Ee3d6<};ra9)hFZwtRu1I<=q12ZHLENU;Oup$v314y=ekUsoOHB430|oT za4jc9Q}|9X9pBhD}2WJ`yR~R}t3j+uI!z=XahMs$@#oP@Bw8;1|}>4TTRM zgwxKHEfYN5Zz1iBc84?jIw7}DsX%|a>faV^kiB&2&$7j10%5Zr*d!*0#@0gN6?cQm zxc-CU67g*?Z<-pJ(x#PzN+nQWpg0(7mo3FiILYspOA@F;da&9;G_6`HNzR(!@Ho! zQ(U{Ft{6+yb4EL#Lg~^~6%gCfH;v~*e&g8+o=oZqbS)Qtk&A1Y12l>@p)pVHVs7|Z z-sO3(?T|Q%2cxaTsN!Cn3lSUS1-zabx_BL9krH@Scx_ugoPGVol%+!a) zi!w9O+U67K(D_hSTAoA4jo^n1mxEfnn$JEss(E3Zp*g@Dpu^CZmjVr*YXs&sn$h7w zQAn-&_#$h9&L-INlwW1FYs!oP178zlHUUmk*e`Cwpx>)rzzDqq0B=}|!LiH5d~rg& z6V%$tHfoV*&RYkhjC}siu8a_H9l?f#N!&T+Eh<6$3q{Qf;I-St5;PNIB2#X}p1EAO zp_|%^yxN}*u9VeuS!S>OLghAD--@K({>bIyBXKJQ(GaZ(1;v@RBO<|C(;hC3UovIo0GP(>0nC*0`xV}#k z*4YBzV^3y6gHcSZK_!GFU=gFNb&%rFM<{v^)zYkiwDSOMg04O2$vx=F|I~^QXW}(r z|IlZ5;Mrt6JE+`)4|-SIgQA3#5>g(~a{Ibu?zB2#AG^UFH;6+V4V= zW8fY^53Q9c9}DxfJu9Qe)yfruvnx7{z-I}*?K}~V= zOZPO^1k?{8JB-!=Xb>R95IiQ##VG@g>ZflLNwA=#{$`3yGeUqk3iI0GOS8b+_FkbnXo)(2Ike_&@YB3)QNg(e=ofwwJL9a9($2zJ21 zjACW|8RI95L{Mnyj~ncxw)N{1E+pQ>-iMwhMN`{#oA9FNt$~DP_oLDE*t8qgF=b*z{uUpLF>gQ$YvcOM?YRF3FP` zewMML%EKDel|Nz38AXXh#o7oqNiDw-bKgct5;v->osm?9BA3y4Y1GEjKy*kU7MLrZ z5dE4uJ*pDKyz$eKok2EWt)`e$nxghm zC_TzlDCJef-@hvWjt_t;sJKH_Vj&u<=X$IF*irxA`=n7Xlm=Ag!@>Mn%+yDOH1Q*> z2zj9*OiO?0o77!`7ZBHGabY&|qjIvm?a`q3>;(vwoD*0Z$Z_*NFyS;wo)6 zMZldOPw%FEn9;pieA%-n!Wi~O48~m%BePlfDQucWCzOi#K_S64BKBi`s47$RE!2IE zORNqyiG@JIVQy>^Tw-Q$2dE2juKpM;()E2VKuZQ%&Xi_a87%Ob)wy2c0|BMfT;+2K630 zakBTvl)r~4+RKd;j27!;DxidOfi99WI$(j0m#T;Z)7(&}QS`79InETvi{W$m4+v4lACs_+?b;L&s+&pxj{ zd3@~b%E)(*5!a7e8Ux9Cp9`|GF|+9|_-icZ=71xn{8@G5RqqaLQ5U5XSN?=OOEX}^ zqA4T$)&&tJkjWpn&sP_r2uo0exc*p7ncROx9+vw7o~xCE(3x&&R$^ft!8<|}Oh}!p zDJ$N~2x&@oJiD76vd}pIvHj78T`)ZWK@+&um!5aJo+@(!W=VZ-%XNtJP7P!@yB9sc8=#Da^UZ?_= zps|DsvTWW@z-7>2(r51BjOT(W5sq{LY_Cbk2zIH~lFxxtzTaQ$D-))6?vI#EJ=s@k z%EW4n-Gms-kGwQxd5r$o#y;?DgR&#XPRFQHFcEK-_xne8?2B*#*3Z8y11_xaAaKW% zBL;REq;-s;R9Geq7bTMxrR06Nf`4E3K+MX(;?65{$TaJUm_u)^lb~Wq(ac}(e|I`h zU!*9X#it{t5|%Iv<>*nXn1WqqYEG?q%98U%_MKl|WXBZwLV^Tq&FdLsuGc4&@X-%6 zB|StDIG*<;eZD<=ukF>E*@8{j0q_jQP$&E>M{yni9aK}|?mFrCOZLEp5RQ8gvIY8e zK_LG4Caw1}t7VcDfvxs>iM<*zbVSy-_#g;k!Tjc`FO1=;zSCI0Wwt#Vy=d@97PQrn$tAnXL=K4O5KlJ#gZPXaBChaU?vblVYi#!?O> zZ)aiTqbW!FlJtbs3XsN4ibb(mcmar7sb~h{egiUd#+=w7824++jy?-41Jgl1#i0dd zeN@LRQEv3xQ(wAHESuQ4B-7;g;Hg!SJ=Qo@& z>_`u9_opG%c~z>~I-gl8y|#6FfRbLv#k$(DHVN2mnLH`Z<&)19*E;!Zp8{EKM4VVl z94=o(2+yaa9AIuCjxC`T~v` z)tmrTbpkzSfI*I-deulIq_^Nk4keJj+Im-6EmYpr@HnCV7_8woX-YWGl*E+{0On2y zysoC~1LGrM5y#Aih7!P!-O}Qh>zIww>6a&PPr_tLQ{IhB125YHOIwN4-J3NM29K@L zmbE}*)|KT%GG$(SdF_diyEnD$HBai<7HkI7y7pbEd?IObGPq2p=)@%bH`+PQ-8*95 zYo3X^tkBZE5EAC^+Doyqp;Eqov{UNWC0-va1@s?PJOSwk@E;ehV!#pBkzlSs<<$is znjU$0tK11_c)Ir}Q_sug$S~Yav;DN4IpFTK{yrhB>gYNKBDbvJQ_RC0`9w}Tx}wE$ zh+|u% z?B0eB*t~&?Zz!sertFU`&MVG_q0*EL>4EK&nJ#JT_N~k&skrIB!1EYl?&zw9^`0^O z&7DW$&-QwPe}(M1AWov2-LJUaml*37_uNZks$A9&H1%qJeC+_IjsDPkiSe4Xw4Uvr zq)si{+%s6x5Y1V+-Q(^Zy^@_#?ptWvd!$)Yp%s!|=DTF@5iM=t4S!N+MGk=;azoU# z@(sVcmkq3Br&ajem(1?Hku)P2cTMmMx6XI*UWYXyx|R(M{(}~ZOsoliG8V!u;Nv;ebh8-~J^TRm)& z!?!Dv%(VThm2SSo+>BzVt!O1VCxCKXcWp$z97$szh%gpQ+}hXco&!S!#f_F4PsSxW@mlZ}Qe-oK@rP`_{|B%CLPu+aO{)bt z$xJ&hb9{#^@Ehfod`P~Ze?l(dXUhkBSnG6OWng1ttvS&pIuc($G{q#?GiGfj6m8Na8eFEJqO^ab`m`jGegn;>H02lffot|F%ta@ zz}Qr)wgpz*(}uW=rxD%)*fbJt!at3Nw5$W}0t+Ns5{FDdr^3K}eUGlNN3=vt`fp;A-vb5t z9ut7EI?aq8Iy0hZOB)UmDZ$Elvo|lTm~OunMJxc!yJ8(KZ4Fk`nC znl$3PUCesAvKKm9&<61IGVt@@)BD`^O8uT|yQ}ctycB-9WO=>PS%qe0s*f+wTjQTS z`AiYp&K4QlaqnQOR3)`ldgS$7qoVY;NiV#fm;IgE0LtvcBW6HpQ5y9^n+d7TsM5*T z?SZL)svsq53lOz#@#=>Fl~$MH2qeRmK&Ii!zs=jhN}zK)2CuCGJ*5Bt*C1oRsyr1Z z0I0jFJQ1H*{i>%jj3OcQk@$F!XH$i%z&0tYqQ}pe_yYK5%>@;~v~VG?4xH6Zo}}L4leOYg+*n zvWR1zT3C|fHC5-J%74NaGfgL%G&vVGskB-Q7}S8A4^zCfPH1#oRi49s`5fe zn!me%-5isi-ko>DDR8HZI-lwd;9;CWTT{^Y3}YPJ4WI}?O=1C1tp6RUOnR!1fGaSd zoRmJ>{RFd2^6z?7tmZ>^fWPk0xHxsaw^jxa}*^1sW zlDMhJIp~NhJCxCab1B%g&RlHK_+_&mp8uJj`w3bom#eCKTw&Z4y zt-bTX^`5LS<17N!=d&c)0c6gpfZt?a)#YW7;?$ViEk(w#9s9ge;VO#d-%TQ|9-2K z4NO^j-yf$u^29?Ak-@}UP>&^qI}JB{A0E1X<$l5~ei-jwioC=`d}jKqXjD)@(Y(uDO`q^RW_nvYk@KjN8?@V(4cD)*SM9E4&9VR z!!3s`hgtj+!W|xWW76SP>Fz^Q((P%9p@9VK_u%8;?L}NVY}XM$Z?dFs4$WkU3w#I(^Lm diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a12e8eb8a7979955f29ad98d82433933..51403914013d2f9cecc849dfda750db977a95303 100755 GIT binary patch delta 16986 zcmc(Gdwf$x+VITD$)#ya)0RSSlw4X!8!jy^Qf?B`_OvC%a?uq5HBc_6!a@OM!3zl# zw1DoSqi&_3V0FEKuT7y!!ICQYdf!bzc7e)TMU8E}oRrErX`1AFCaJ6M_xt|({(1BJ zO=ix_oM&d9dFHv!`LvxGc$=}CMuR z0fq4D5EfPpl}K#H&)!868w;h_pS{R+fI(U|9%&Im+EuS1)e|T7;| zS`G`lq#s-NKwEK#0qSGen7FVwKRnllKxG+%r&*g*AgLm)cItNYDnfTyaMVkt+=uNVplshLh4g+C+u&(n)E# zHc277q~(xsf|Mv1ro8LYbRb=Eo1ELdUd!#4Y?`pRg1n}j9(z1^WMjwo#W2@b$dAfR zN;N!(MI~9SD!`chRrSo+$3`QSrY)ul>9jEW#vsxuE5hQ_K}7}9g~bEJ8l#&!J*cTn ztU$ul;0S1YJQ9F0jHapVwE zy#eVIr1OW!dof%_K~Oz`@x*Jx;>SbXfd3DMIwXZg27ptELETi~kmy9(!g#7}8xp4b zl@nQ?hVAv#b+llly*nML6jn`}tPhRUa!fuJEaYc(3Z75ovDc@r=duMQ^9&%STheh2 zmKZnkO~B6Yg#^s&dW3|Q?}w^!w-f%e1U4bgweyCmVJDHtwZ(1?=W&`!nHC9~$op}H zG5IXgJ~0NV9w0cr+OBE?>Zy-X&tp0asF);~4u!1}RH;qD#dC_P@x0C!7Tw`|E*IvT8P@XSZBhqv(LSm+ zMleZOi-n@Wd}k~1#*fc4OQQ@jTeT3*7rhvIU?F8t(^itDE`8F1JerO~30q|nt`@zd zbi{(pB{03t+PZRjwisz-zN%wv8`9#}=uqVJh-Yy>S(q>fUm#B=%*8%(G2t^jj~vy^ z!Fl8>%`|))NlUEO8n&<8KGU3BQnShG?B?-njIc3)n~;h5qMJv;=n!d0%)}p(mlJd4 zg)5NIMJ^`l?A^f%SkMQ-uOBx&k<^;edeD;UD%@VdWx8YnmW?Sv!asszoVgs`=7V8# zq;D~t38@|zvL=@Y88!+D%EA>s@6_#bft6qI7SI$!SVvkUce5opyGjk*0 z-P)i$YeE-n&tuW;LFAF-@yz@n`CD>!!h=C002Usr9(b@02^Yzg;ijlnOF*km34Gntq?p8aa*X)hT{*4u?4tVcT5myN<=?{HZI!ZMEU0yA0O`X}&uh|q9XP!mIeI9c^h9T83jh*&-&jU^qUt?RxH{1I7>$ZoyQ=K)u z$=1xTvt8%=Y+EAywGQ|z%OPD7a2z$DjUoUE@*xbRR4AcHDH}?G0P7otuvJHyFA@gM zP+Z6X7rS0~FlSipXm$Rv z34pG5AffGav=4Ao4g?REEMZe#JIcreuIeW{Q>V$lZ$_$Fq$71PevTxj)ibY$$+KzC z+G+KAAir5K02YLHW?nLn3zKbi<;X>k7dD{ms@v+@3hSz>tE{tZ58E<0W=VI3A;@?Yyg7z=L&Si`I;gU!HW(}HVSz7s_0dmwCKtq+gpZn37?w0s(Wz*6>w zo=4g7whTVE;*cZPj)boQ<14VRWH42i19@iP7~jOpYQwBUK7nk&&ip^i#qDrNH&s-AHxvd9p7f9UmnxXBg!3 zCm>Z7`7C3yy$W8VV^L7F_V+@r5QJP@&(>dLXUt~@$Wf;EmC!`HzMR0fVXkCAsXC*yqL%bb~J*o}oJq?3No z42^=@Z22j|8v4BXq-@MsyIopkVIy)A@Sz>@$~aA1#R-_|ZijvsFrxCC;Z00KQtLj8 z-1ANAZm8KP>_eIkrU6e$YGoX>4dumr5i?K2=R2A82Q4ZPQL-8c&s_=d7 zrQ4=y3yYtG*(~|hFeA<(zA-5{l_;~uCXNb6n9773*NhyV6&7D2)3U~|_+d!aa<{|= z;PhA$(8QkbT$VepZ2;jk7F5%VemQs98P{|~%5*R!wn@ifqHdbPAu{Ss;mtJvYh~_6DwilXFi3{A-f&2om1$ zvstBGMu3+*2=D}%qPXi%&P5zOgIF*@>y)lkkb79@ks8`5Ok?*HXjA)AG01aR>d#k? zt&^Q7i1c3}Wpp3oE4e0KGf!qSaeJf59muI_z5F1GLe z5zC~h3(&-=p1(`T48ZbV2cU;ak4vofX6uVPsqA8!4ok&a!wMPXtfpo~^L|ExZShycG$L+QVV7Kd9yOu+pu-v6{DrMG5p1Io-0qP+G(J zfAh}Zfottpgl5=~el&-CY@CYUWl89|3s#p@J%d*jFnt#`xAd({i0xWJH(mNrLJM|z z%Yd0okfwCwDc=E%0zdodLP<3X&xq?~7--9v_u1czgX#%5pRVMpmog8ER?0jm6Unzu z>=CO`?nu`@?jYyj7H}y5{;3d`IrYp0jww>~?Z#AB>kGev6oAK4H|kTybV}&J0_e9R z#BvL{3N9pW3Z39^k!ns=DLZ>w>6x-jkW!Tr8~0(l)M=AN){3%0(2u@D0&pb0X9&^td;tU( z7T*g0D6(>9uF z=DVT?Rc(!}%-~~qJX2=IedpMde%8F(66abd6@o=?zt~D`^C*u-u3u$a9ZW!bf^J5O z^EXgv+z8lb3Mjrp&X-ArHpHX8b22zPb&ZZFq~>+WPKuoou)eTpgAD;gD8hb!g`Mw| zHDs{(b8L_~5V7W_WEq3QvZ6@KX*#5~(cCDjf}?ULEQSK)2Sd?pAMCr-q2upcukXdo z&t5(MBM@i``vWB+SoyTJ(N^01AA$AjDJ%PO@S76WjGxYK4~rMc-Pvi(Km24{wqAKM zfVE$Oj5?Z~Y*}7=zf-?`pGD!3`9|XWb`|VnP-45aTsH3m8HxQ-@kw0*pshW$jEdUb z!)OJ5azY|Ev$O4`XFpdW?Wd3^#o=sSgd5lUwe7e_J3;h-@dyhm26_aY*;gf}{QR`E zpq=&I9x0!cirb;jl=D4_+Tso*7z00gsoz5IM&F2w^g1dT+eZQ%EF6+j+iAbz!G3R8 zY+eKY65!HvUF$f4Jf^_3@SLy2{SLj0skYY*>lL@aRvJS9yVprIB=K@0^Ek^j-*slTH7+zyn_hiM%ukY z_YOAPpu~+PtK9f1Pzx9wRO^S6uejoE-XS;L^swN6LBb8m=lyjLJEkEO<;g5pEjU!L zUouRP?{*~&RNny5PD+_a?j5Z6rw^b9S@&M3iLzJRh=iBJlt&M^U)(=^C1)8xn_sL) z!rJiXQfW&YZ|#-KSFfTkEaJBC`41_4ak#M@!0w}9oA*!W3@eQ&I6 zjCoIQEWCq+n()1Y`v&(xzpz*kqIS{`{<*LV#&kO$ zrknU}L3`HXf4Z*-ObV`DtoKr)U&iiy~W8|bScdUzLw zn)jCspql3Ts8I_R9<)ZeQRb;^u>Dd`M>!P|UJoII9*p8tpwGOZo6Gd}e;QT29t?Sx_78#l^Y@;h|f@vC6?gtGa5@2(xhotMhYK0|u*^0TUfR3L^$ zRdAw{;lT4c$7EX!*0y4MSj-HPVpCBO7M6#>ub~1XlN&wH4BONI8==ra?x#%m7*O@xhtJZSi1+ zn!%#tq;L3Vh6tWZ zfdr$9fw4Um(8`VosGM-7AJB9}kVocE7|oOgDbG~?^K`W8$qD0Ak+4b{Te-nDf`4C% zbKs(^cFMsuLE@fp3&RG9YNCGW4@1Xo;nv51qLG%KVdVM(@Lt!JP^IUWItd6RWFj`j z7dadnXW)~aO*}H8YjqtIk~C!CGn@zcoxHmApsj@GY@K{#c^^m)3WKET^Y1{y)gh#{ z*?#p#r*av5kC%ldogeC_M+o`68GQKP^aZ46tY9GPso71RWgrt}wsStMAvR))KMn$% z`Uz)}!xP8buY{C(g*8E&ZtM77We$o@y1?B05q19vR^!NS)UAO8kPv-iJQ%7ukPMO< zV4A4p9rk{PKp=EVMyDL=Ghk^xx2i*Cjc8EARw>T5 zM}P|M46qj;53nWQv{pG|s}#Qbfol{1YfX|&{QZRnn4qvTmxuqk_ZJ}HDR6dCpwuR& z&e5F~m76Wbzz-KntZBc+EU}aQ9;zb6bM@<#Q&}#N%Mq0F{q4D&3U>dm{v$O<*4Z1K z-8H$~>KY_e`@wMn48^gyxxTogWZf~#&u;3dXSOH(VpCM9+6??}YsW%o zK+E3`?55ODCxrA=B}})mVEzZiL%}FsrFZBgo#3Y~ZUenVLq+W>`9gbp5@?sz1J7?c z^2_se=X*w=8kmaOzZ}#)N*m?j>+4poOD?ThYp6AVpY*(RDj)d%mh%8_qo9E2L-~TC zc`e9W7u{F}prPVaSHwVu0qfdg=T87+e>GU)jJb^koEGr8aF%Mr6sLtYdtC=bX`Pv( zwD(jLrF5nd#<@=GY~J6+;!D7Tq~`sG2yT!8rde2115Ed%WkVc?@+Nsw=OuwXlIj_4 zP2&^W4V>nk)biWcSl2T!AX#JOFRt0YK6$OiYF*_pSi$OcY}vm`^G;YCXLq@!Q`)&} zcCFd9@x3)}=^ZVzRynT|>VQwJg^rs$p-%HoRNJN#`^bz``E5zoXIe7(p!iJ))`aCe zel;wjun;i-R=%a>YBoef*D!eoMR!PUYuW8YI})OLWhQ+v?YS zHinH5$U{!L_am;HTbBpkF9cld(U6S$dR<=W*EK8GEy`F~lM0Ln83I5Hb>Ov+iy(OO zU_KD?MgRXq^V^{)ntzYw;@@GpZX^s$9seUagA?1aAj4s?gajvN*w1Aez(iT-RF!H4 z8R|@@|LnZf(s~O6RLyh0cp(C261_j4edFJls}?XqU)GhYIa+2SWrWmVonTG|Y+{K7 zlwnf=m0SgL=^J1Rj1_Z0E5bRL&hMX7;atJ99Xe28w9EbNzwgi$?En#rcyL7k9Se6# zucyg<39=QuK}e8MSEf51m!9vz$!tyT%zR`JCJaDM1V_XBtYmUXNnFxN%<7hqSwMkuC9ZcLP2qB#DNWwtdPn{ z#dSz*2qUAvDN?Dw5b)AE&nZ0eQwzU1UR{wo*S3w&(>rlU%}ZC5|HK^hx@O zNQdOEi#=E~*B0Y!si_S+JUGsptSR$5zhLf=rszizqZ;*0!ZTMZxU ze33tB(>E;6h&5@hyxQ8-x+1M+vA(pzq5a*6vXaFP3bQa=)4&$}idwojsI`mZ!r9K( zL7~hWi-c!Dg_1gQcwHpUP#T`V{g*dZ>+)uD?}9u*CC^!CG{gbsK65c5(jI%)htvhV zYMHthD}V85CbO4;6_+Q%aJyU#>^|N5?dYS_3E(;UN?y9%@MWJ-sOHc ztEkk>vAt?GEOv(eX8D_s#pB$~8MjF6gjmzFu5Z%Dj~zc&UHYYTduOAoIm4aN)LQH) z>5W6%9OGbnDjGU(j6fBR#SO&`vfeluU9XvY8@vr+@pNc9_nME5k^7PvN`g<8F;}Sa zkt~^Eim!#V1>7Moa)iTFAcVzSFuGHnR5Jxp4!9`p5KhK5#B%XzZGJ`rYI1I77h&d& zvu6*4OS1(#n^{r{xD|kDJ#dx*)%bBs+{I^GpG$oyA!QJpnAKO}a5ZhC$7kw2n#O^1wcUL6)+4vJoI zCfZ{8WYS*r0Z=4yOr2%_K+3m89EG43{i-HuswVa{RE*~I;0GANEp7i&Dsn(N0O<&% zmJiDm9&9k!ro%qJS{@Qd2bW0f%*AE>7nhX@7aGgKAK>~P*uioLozsLg(cI|NfgOyr z8Ld=npc+Qqh;kKI;H=1Ej76@E!kt8S%LDfPElQ4g6+eZ9*^(YYmdvY2;3W2Wd<&(+ zXF#>JIWaedlS6%~l*{3Rv@}(kWs7YQI;cn;^w#rCEwLysyvKWPN4k3cJ%}3A+dQ|| zmCLPohRi0nGAl}K$k5rt6vWn1wZ>G5RC^%R+aq1;%4JrWO=hK?>LWVN>fsK6t#axi zWVr*N@;}z{q=b%~_MrqIi(RLEISEQP_TgAObs?y@22i@b>V8tfN3f5HrLFyLG+wR0 zm22nPeRC3SyL{SbN-(=eLat4?)qUD$NXVJ%e%+TZ>uQZLExMdG;IJpTn1FH`6Hwez zDL7)3-KTvM6DE-D(=rz@Ox^=mPWx&S0ROQ&+>1?S;h3Yvii{&&yTG+ZUmoe24$M1T zumH$bISBS~ccs9@R0?d&zr2-#D&}+e*Ti_d?Y|)V+oWgOn2l)rS?_6IUV_F$-={mv zxDCD6|8&BOOs}}II68@YER{k-%~KlHC{AUlhb?e$*ec$H77G73u7m(mwURX&v}O;9Cdc${2p zHy;0l6o=w{aq0oD7I+QCYK$*Dy}C@i__pP5eM;HWu5=FR&-sw7!G#PdrCFtFa2bAF zru57%oyMWbWvx#Pr85;6z*1wqyKS7YdX^xqwH^8lyRYTMfd-luA{ZHH5Zh) z)4nAMO|1qXrHzcIH70l5<(Rze%U^!a2)W4y_{j~16tzBA7$s|JO}4{EGwwTkQOwKk z=vtohmcVMSD)1#(Z;3|#qc=^^Bw%;RKxawy0K55HZ_e;WFjN2dol1YrI}Zr%ApAFa z(+3>Y*n_8_Zf44b))%~U`xUbEURlCH_W&>kFX#$iLW*uAeyXt?A56wm7pHZ#p0Esb zrE{&8<1RGrEwX9m=&`4{kIRf-ywVpVYcKl{c6Ll@JDjv}9@I3ZG}c>9UYTi~pg2a6 zE$fS6=-wttahZ+fAO43<@SIEEfzLnc4R(>tS+f#boM;^77pvFhfL|1RN@UNh@#Mhl z8Fs3mYPq1e8>IhWm!=~qx?I#uVL<~VMShhszFmImELC^^0b0W1Lw>=Fr*>Gp7uVQc zse`*75mjbLywfGYBKE+0$_qAd4z2|sEnIjohr~6f>&Cr_YWT}{<(F!1MM8mpluwgz z(?e^*;$r`|-t>t*QZSko^d!p_mh{S|^Qva1zPF%TkC<}AV= zlRa}L;)UeIoS8K&TydcOIRz&<>$jckJC~4kAt>G-l4qrK88|fIlocsNWS6*Zx1c_D6QQ{z$r1D|VaeJXf4)Lj=SWfnuC+hM;BYU&iV%IG0I)%k{dxbU{)3h#tn)$g4CsirEk4;ZI6QR+uiAFiT00`GLE^#)IP;8awdYB9OKTY?E)2Xqzh>`3Q^ZS{il|y9ArjA z3(CFKjmF_uKkH%EeAdIR!A~lleL~8#feRNxY}sAR3xT~d(0s6Iyk};u=>!e%N27d+ zUGMjxN8j&Zw$7~0;0xOojg1T1QMQ&-4M*b|%h{}ftH@By9RqNmNQy>e{Mj869}E8g zI_mE5_kamG8wp#o*S+~bD)HQ7E#LzS=(s$Pv|;f$dDoI0I|^{gT&2%5$d{IB#e06| zuBN^}jak-0mjn^MtOlU_v0PDc8Voc`Yp76(Xlg)9s~UjT11z4tSYK zmn7AJoNF3wNHm4zT=9t*UpCx-35rh*QQ9(sQmqVkd#}K~xrdx%Yzw%Lq~!~O;<=#> zwwEQ9XmEp0Eq$LY}^v3ilQjAmSl2q(D_>W~fy|cIJ)GyCs zyPEgH{e_)D@v7elikX}XKnF?%ry$~}1{w;AwGfXy>bj37(33#V_u=SJCpgP}2w-0F zBV(ZJq(3g-+J1d+mm>C3P&`TAD9gZqBOjHGu|IPb0=eLEXylPIGe2ruYT6R4;CbXv z__MSqPkk+Yhiu0|i{gTs`q3n~yP$2}s)4|Y9G-O&W6(Nf`WLtAd9w9}w|T2C;=7{0 zh~l;qp5>Oc%k(%$#vj}Y(bvkbnCM3aBiFnY49A>b5+a>7ZLvJFSu~x^f2us!%65aB^n1W9?$wvs(?e7q+HzHQaYz@Vwcc-zs?*gRAFP?*~zrXWEZb zz{2DHLGQ!BuI1KUJ2Y*Jr77TL2#bfo`$ngZT(k`Xd!#B9wR$PDq&|v^e(IwLiFcks zt~9t#FaoUjQ@@L=Ks=-snLcvKAO@~RGGDkbqxHN?=0MtutslBntLp9G_Zn6bBT+FL z=)M*SbPtK%!0&@6l=~)BCHk=JL*Y~qJdW(RG1VQ(Pu@2(Zz-`r% z3~Jzp!OZL6n4uG=c&=+3!A1O;VDsA(8-ikP=*L!;JL256BhE_K9u{>Hy}OA(_)P&? z{Y28)DSxdqQ!_g#7M`W8kx*U-#msN^E^~_7yOhCF`)35FYp0hprRtE#pG|5HiKEJF}NSp+B*+Sy^;8c!Y){_2m zi^OEIeKG3Oa9c+=fab19MlAi5jzJmaEp?x^ z;45hIU7mv$hp^vqI6ay3^x)1;$beh4KvN=vmjMmICy>VdLzAiCfglrA6J~p<1TSAQ}W=Q^HQH`eZiu4jI-umvD-6Tt*A@Q5VdOVD;r7joQx{_`{n8+&r#gNVE?YK*JO-%Bcd~ zcg_I!Cd%0qvG?dz$9T!igYyGSDl0^S)O=FA%2olELaHs`RkaO?hXxUCM<*`NOJZ>y z>ANj$X+DU50q9_Y3Tc0UoH7?I+!AKe=7R3ZRKDAT4D?h<5n2(d!`kOsurOgz18$1v zD{<_t z@0+*ZqH^uBq+P(miyY_&oW?qRIFG2`?&;)A91j)WwBq3Be|7 z)4X#%3?>a>ZBuKBV3rXF7HUuITs$7L0Z}25vIi>1CC8H52fBgarIg9)16t7mG35Vml##6k?P2!7}-eTlCge}L-YD& zkT(yJ=a**XO!wacU2giZ!DO@aXTsW|xAFf0@jAL93jR~_)zW0^Gd#U*kx`}A8o;@V zp(hP(8+f(0WcZ1LCk#)jNZTBE%1|3#`l79H;IdUn^aYbDp92E<^>{u4=%N#&jOKgD=@Fwxjw0e~$bFFdAx(kj zILPS{-A_>r&(A?FKphP*JlZmqThA%2wGn50oRsis!uwBuFGG92m)TK1r+{M-b>UNw zEy_`FlR-GV&b7U>>d(ILM&gP(aLfXQ!(;!gXgJzuXVH(f(un)kpAEQp~ z^af;Pug3Ur%;?hO(r>*7%8FeFBKNLRN^e4Z@1JL)RuR@h$Wnqk|p>RvR!+e5O0_$BeIkXu3AP3OhtmqwL5DySu$l7eSC5dtul-m}tB0Yz$iKxb3zDU^YqEZw z4|N&J0evsDz-2q#dcEw`pcoh=|E_(B`EOvb_kE#`z6*C|kCOY=-5U4ni}2~fJH)s? zlbl?)89WqJO8LdF15}jy#eWay%fTxeZMk#E+*^vUG0sJ0Ar+~9@sq&3$Xg#kJ{g|R z1t@>@i!R6yLw*MG{gA&6?J1C-2+Y0t2IOx7^uIuU4C><`f5jfC=$AvG8FCi#7oZ^n z@+Np89rC{hqRN6_9D$=$DBxPaQ85vfG}=#<&fAvM9y!>W;ANjyWu_N zksKFq3V8*jEJ&XMWosd);2R-PhIRlFWmc5I!HtFNRI8p# ztu$%D)+-$pi$gjZDqERS;RgeQ4AspT`FV&guC%`a7RR?!P=Weds;1 z9Shw<69EitoG>{^c5RuL)HXyRltN@4!>18&!z=kiGzH(vcp9^M4MWKY(-| z(tkr5gtn{~k!miawU8c%^cJMAA&nq+Y&GFyWarkLiE!ioU?Xt!q-`kgLH8DCC5-WB ziPn@j%dO=VY1{C0+~?W6NJEi&aqAN-7G_9f)t|I_EEuKH)@LM6o3YLAZGu;j$>E`| zCOeY>OqxXg_NOd6ogJMmohhB&^k$@b3exkC=&b(^Ii2w;$Q3WaEFq^W>46-)J6ZAE z-j?jHT0s3;DXEg@{Nnckrs+PeWZ=jaYQ!=G3-?MBomgKz(71_uLt8>98|A31V{8!r zA|>0#jQSqnxglMKL<3zVx*@SDM7C~Q!t4$Z_cnc!evs0HQ=%Kq`?0WLkg(e~C)9^x zhW)PH@T%j)p6!)5G2g!sMmZP03;I3?#)IR;mk*}lG&%qsXg4gFE|v~95*BoZBtD#m zZxYkPE8>6O=Q4TjVZ$T`^zOWI&Hw?-wvn9Xa_0>-iUl3J02T|kM?y$A7}7xL0r+6z zA&K-py!oyc0B(bH64EJ16_A!gx(8ANq=-odOy>;*UvG;46+jcR0DlxS&B5w{uL>v* z4d59<*%Xh42p$;%*UL%UBV*-D0D_rZd89C#!YzW752+ZE01KjDKN`R_D7#8=xG_NT zcckJ5Qn@2{@r*N+)4hQtacUr{xGe+*z7Nr|B))qZWgoYUyt)niW=$akJ@-LRZGb+L z5Pg$Arv`9QpLbrr8eR7mcQlaqcN`wo8+sAezdeYA#lfRcnglp03ZK|!=b5qvFfA&- z=u|%kTt71BnK`I)MJYuCMGf7De?dK621OA?9YqsG9bJ|gl8xl-Don^M8{m|?ux6}dZ zHFvLbCU1q?KIwk5U}j>VhPuMx_78X}HGVDB4R|rsA|VEPU`D0;arhbgwJcQJBy;zq zEFh=Aw}?Ii`JakD_Kr9yYm>bWm)0`yQxF6WGt>y_qwdfVC;!x@d;>mGU58&o&jiFN z;6zn)<-y%M+z9tJBhD*HEDn;#_mt|{5U57b2;W#hV|SR|n4>lZ$1x1qz3N&L2iXhKT ztFxCU@&#ZVjP)>ln$t4iSjpIKc=eDEdS(1i-XvbeGlCmFOmM@82{MS8e&aRwCln-s zg_8+^U6t$$I=Ji#{NE}2=l_Mn)4#(ZFfDLMYxMCn?5hJKAL8iDYsP?x0hzH~*Ls*F zc@x`6(c2C#W9p+0h}Yo8xDxOO8shOsvy+#@@)Axax3R|-ORN>HvI--}^+yeM3|&`& z2f!6h!#8_cFh@fG8F0T;2PN7jhh9;H8@aClEjGB z4m1ki?mU)ZFF8A{P0c+4J_NeM@jfNOIvV8$TKNL(FSrX$=|nwY&~xm;WlHf9h8tZ0 zkqaQB@9IxpHAwq?o5G^@EMuOohp#L6F z%`a~Ei{?Sn-H@4>4XirqAI}EwI5>+>B<@XMv6<+eDEZ^;RHS+tJ`acQCRG<9g;S7f z45Vq0RzpI=zwJ5zq2A(NU`so#IFCBia-B3#w{$&~%8_wI1iYD5t z{k9XWe|a5e6>LGO*C4$C$qA_qQahxhkY3($;=w1MRmFYZ61G!_@WaISOnMTSLV&VJ z1u~-pP=@M}SVitWSkAiXV?k3^k{KO*V)4;d!qpa1{> delta 17038 zcmc(Gd3aM*`tUjT-YiX9nr_gY+oV9+P%IRrEJ~ZUw=F>mf(wEgDB`VUpnwjj_)DOO z1$11F3s9FLE-0c+u?_`lL3BoRoJl}tpcQ36jZlFbDBPRXn)Z~vc}zjZQp{Sd@YNJQGBng1)n{=YTx;Jj1*|8}kIKvF)LgpGyg18QkS2urJi zk(X#X>6fvIlkVV-Wvs9O4l|eA@d+>)g8u{~0rRuMrD-D~;B(V<6hw&i)-w z)pt0SUcQ>R!C`E=n%LZ?EGQ~-mP-!2sXZbujQrTX0ZR2VB^QieSD%?bK+xV0iUF1Pw)bgj*?oLz9dj zBpsSbvF)MOT71GxvRwJoAGz9A2kBCA-4U%l+*_doYVW?QZGF#a{9ErT!v!riZtzsCrf6GOVuj60r>$gbcSfb=)PE=8?pVYnP}ldh#|i9)CE zh~NpfHApJ-X$m>7p1a^~>}tb^pPhlUYOB73?L#TNz!YI=v=5m+=!Q-6dYF{9p`{Z^ zV(hu>9o`v?LDDcU0Z8^JZNCI-b0jVyuG?`{+w36uaUHQ@q(IQuuso9L$oaV9n7cW| zzn6`)>&S@sT6<%M?l!ex7UP82&MYC{Rs<`%8YvR;MI?=lq;w+VXwhur1-f0@Q`@1o zW{Nbxy=oe`S9@|<09cMP`XV}Gg77VX;;V*5gw8%~d?u+q zvwgcIt$USNEo61G5@xf@k@R6G+nF!WtFS#%8f{ww??Y+A#hkg@jf~5s1kI|2Ue6<< zO5#+>-O^KOv5kd&A3ZO{aZmY%BZf2KBgFj=yYYZ{kmdve8 zY;Q!dumi9#C!pM*dGcQ*I={y6rN%n)kq801P~8cA-8U6ZevS5FKn$ci}Tgow{Q~{(j_ejlMO>n zaGCZDorb?57l%HGH<3GrmD@8FE+?tC49*_EkEFGbi|IvqxTR;)k@MUG1}TBDNSNta zhok~PluR33FGw%g*9foK6HKsj!aZWP@SG*dl>;{hN$>iRNz)UND+5U6OxIjbo36S_ zEhU}UxYTA|$DToa#wI*2V;x0dJcFi3amkUOuA1G1&2jM1*mZzqipyqEB zEd^YC08e4p0pg&Yc)-U3kSHNp!RCTal$iw>cpJGlZKCScw~*FGwx!L%W#nR76Vn(b zE7M=L(_-`nRKa7w(#M_5^kfkiC)*mUP&a)b*f{C7Ni&-|8sUYQgyKd<+UjGC=G7Cd zH`jh~URA6%_BD;SnuPH+Q*2nO4;5QQA=}0n@q5LMSX%2leI8*ftqgF+F*A%dqlnFw zr+LufU79;H>vLiEHztcz0 zof5mT_aklf8|16Z4Ez!KDbuKmAC0tGBtGjVdlq!RF$^u$cKnAT-JFYo+J2|ZfvHqL ztIST-^dvEsKK2<9GD&b@FGU}0p9hgAvWMGSl*JYqwpjEk}4RR($@{;VfY?2FES8a5KALUREu5&4SUD};^TxffWKRn90yC{TJi;k#I}qRFwwOjG6i0Hj-tv@_wdm65uZum zqS%2KeiD&%m+v}kAy#$OGrU9nDth6Y^LRWm>V$My>(>#E-X~OOKYz7qqrF)eE2xC$ zVan5rsTE0wd|b}tUK0#I%+KYhB~~5R`;_x`VG@uVEHwa%QblVUpByq*o!^8y&JW zde&4QG%9k+xi=J7E0mX`V9P5qTdPE#@fn_TdBl;PxBgGMCAW$4Zam83Gg%Qe6 z>E0}C7aYPYAr%hkk6|IJ^1x_;8L#f!fGIy!8+jM0DLh=LPZM)ULC?(+uti!F=HS$- zg|PflcrUQ?+G#T?xLYPx9H`83BfduA;!Y~sqF(Vn+rS=B9+3WFcPQ|7OfDBZc0zJT zO&AkiFW_ywpz~r~Sbj7-x8fVPeD|Q^^a>&uEV}`4kDlVBLFo%g8RT+qs(rh7OuSvZ zUE%dLov+sSZeb;sWz1T4qR?6umZyYqQLE*$8}o_>19OO_7(cMcfJ;=?G_lCZ+F3Jp z9}*j@mP-t}fyX#O+re3XY)=!BAs4oO8;DRy62r8gz9TIcSODpxFz?(c_Qs2>jiNBR z%z%e1EiB@&w8BSP3sdY^n(w;;8%RZ7Po^08euD;HaEDr0%p<8K!U@j-8Z!k{IUKw{ zB(0B_KrGTcDjLWcL!#yh-t4caH05>t-S@#$=bHGE? ztwhG%wvsM7jy}3rtByEi=Bk9)YAjuaR~GBWxmbD)CSxGp z7N+cANhz@N`|)Wk9S<*;h5{C(LK%|0`+*Uh&ed3yVm&Ut&FpuF72s^v zISlLJ=If^GMVr$O2(vc^2nC*;QA+P)n)5S}^6iNKx}6Hp0B+vrp?8qp$r9kKesLZW z9hC20Kk!b`h&Uh>z&Mn~RwJ=gG0r+3?YXld*-1Cl4V#O|k49+vTo}dx8h3*RDhVCK zgrQb7AlGa$B4-7Om^YqD43gLLGN#g#oY*nUN^33#mM*1OXH?+Fa;_A=nAZt18vv1Q zE9%0#kaVw7p2Z1z7Z&g?fTu$G^9&2V4PgF<=tU|4&JI@mNLn6{;IQGUdiBv( ze~Xwp(}3b2>93KrPTKB|Bw=KF$$SNyG{O=$>|v1l812{F)#fC3{u<6(4OeKoVsn~B zUO4wagJ@iWj5`+t_ZuX(kr{X=d3@yXlu9_HubmaZ1Febho#hZe93dZ$Osh@9RO}rf zi+`mY```={pvk;Jt{a*D?bgGKcsYbj9WHESSDo^J6ywid(<&nAJ-=Eg+FL57?L|@t zFzXZSUbw8804F6lKpD}fuKw0x7+g?r#t0v}F! zVR&8Y(;lN;Wxnp_K$8J02L6MxGB*yOaw4T8Qtgv%oDjCl?*wWkM+_?h__de-$5F%( z&O3u;2`r*%6HMXRa=*XHKdc|E*10xAJ}f^Sz%8teX{p z;f7Iu}x#=J>QkjbZc{B}P(t(gcKt^>g=CRZfLPmq2&SfC|QHWw;V#+gQ zyyhR|^`h(*z-$niuy*oT{>Ti*t}2LetCkit<8evt1rB5=+rR+Se15V&zsUYwKqXW= zk=Ldf{fG(pnzRW3tk6dm*=>Uzd=ub=yPeFaw3*OCHR=(bwiu73>d@QJq7+&jjJ80d z5}`$@YSb#)LJut_{?=mm;21Ig)nX)VG2N|nJq?fkMF_7#xN!%6Px@H6{rb=ibtCGg z?I(61Lz9SKfb9-qqF2cq1*zJPLV4m94`U|>3(}Z{`^i5GigLIRC4~|BP_WR+2%rs} zX12`%IamE?ME*8N^33DMGZLo&f2+lUQ5ZJ86b@!H9E>^_Ni%$<&=rJ3FxolK4gYbv^qx!XykUFciTZ+ zOm?=2$c#=mcF|FK17ucVT5hy)6|iiuIo5W>%Nt{(A}kLSmTKdEAl|}J>F2^4gW8(F zXV|Fh9FpJb2B{e|f!oN~G0Aq&&`Ajp;uQ^ylG#bMhai(tGBT(^411`YO(8((9H6eU zB+yDG2qzTe01hZP3BX?jk4X&1)4op7eg?VnAKRxobs)QqbAG8TlIhB#pU6NQ#e`hK_gcGc}_XmjH9TuFmtGJdJ6uLB(( zs4DvaK{)30HI;OgH|(_h>H?jxLRox|`>cnmC9inYGqfGX-zh>tj~z6MCzm0KQRtjl zKpmL3qaUciLpiiqXGlIC8i3JFu;aHu*IUw|n=wMf(mw)4PA%-l;JmQJ5Zy~j7s&8~ zJE1(z*yu*+CMbe&H1N)ITY5Qs0!g{Pb6bqC*mF(D`1$!E#dUT1F1pcgvN>S{$sL<& zS4UXkY(qiC*}6pyw`VS@OM{Dxi~$cT=mdsOhlLKT5+N$y#m*QBEBZ7*rJv!yt?SC* zx*B0!>cMq2f~Ms3Z=x?KjT+QKypSRoo$G*|WN}2^5gA>PXO}eG!c3F!m-9pJSOM^5 z0luJ*L5_~kve&m!1$MH4K6 zHmZ!EcV6FNS;h&m!iCNZU=-I|GTiAia>c~xb5E=K?0ouI(8!}12HqBuw}p)&3o~Ze zjCN5!{hq}R!#yC}blP*vs02js z5nffSZ)L!X_OM! zh2l=HRzsC{u1s9<`FT9dsAw1L5Va*U9Y%#S#p#C|6=uO1n?d0gqz^AvxT$Bw;&NV? z<3Q4VQ5vei6`xJI$K~R;$iK&#m+Xql7nJyh^*hT0Z_FeUdD zFTih;1H~g!==tX<%+&F)xUbS?HUCAE@-4Yu%ui!LADLXv2<49PQ2lkr-OYzIiQgVS zkM(7?80S{8*#=$W(wlL`ruKBltY#!(gv)0;(t!nz$WM~{#}`g0ccYu8xisEn)d(p; z^^s)~5TS@XG174j)lNM|+dUeIGqM3>tEf-eYiO<$-?xk-hsP(|hn(8g-qOA>y>5=7 zqT0a^j?b3QanKQ_MCzKk@#TX{rzHiEJm>qs7ZwahQZtBAO4kT67tm)!o*5Y}w0mOt zBc3eb3*fcmp^VCPX->*zA!!A)rf7k+#fr(DT3a=sdMokV+)Z{(oLcaVzX&8pc(p(g zZ%{~j9RRVxg-`-i@zGipl5>J&R!Pbzsz9O=o2n-yPY?c{!_f+3oz*#vX?*u`=}EGp zIk7NKP(yiXAYZ`SX-ch3wZ*qd zT@)GnJ(>>m0%#Zju_NFG29-?IOakf@G-6X*(srVt*8QOQK+?wb`@JI)bS~D5V`mHe zV!T(6)u+Zt9mN4t&ey=&f;!1&-PbhWm z_Zkz*UGIB~*xvRS^W2l^{SJFlHx6h^a6o-?4KUuCGyA=T31dji=`IssS7T?vUatBbLc^IFiHWI^xR?{38c7>- z4F2^o|L}BPL-vm2`@N4P6v9FtPAGu?hZ6GK`TdUi;r>m&nts0ipl83gAVKe@5?{KxZ5ct zoEav-#;4RuSo@5UQWWn^(McX2Zmv<>S{37sO!~4?KHgUOPM?;2u{%RRh9h3YHg_Xq zYDG?ku1_2DRb`C3vZ77c2cRpJn$}IIm@Lc}d_U6>G8CK%Cu$$_s|(+H0T#MAA*P?N zV*x_-(D*6G-fR5whui}TlYe21RN)3n^(2%JTb#4fix{J%XJdM3S&d~;pM`-INt7jM zY41^KPS8m?H?7r`Bk7+Goq;8=g_s%vfvi;RV_RDLVq)y~!!h)zz5(r1srN4qKry<* zmBam;{f;Z2IV!H`nT%3>0Z4jY)@_s$b+jf!(!=%Wa%gv3E0UG?sYP&2K6DiHADUhu z=?7bAVGEx+G9;X!b~!DMEB|!7(}%TRR(RWMGQVp7U=XtO)a>a(?S*qI>Dr&8N4xwP z7Zfj#?M?^9XiR%e`&Ywg-Fgp&N7jGAW54(AgnUWOwzS_4SA02hzkhx3pf@IA&dHd9 z*(ZPag^}(VI}3jNtXUR1nOG8kyFY(P z=G|h2li%c{=gbQRFU- z2xzqKw7K3Oq*a9EjbNzl6AS8%6@51MTp%V3yEL$XXB3S--m3v-@ZXUeh*@pLlUbYE zYFSurQ(2pA$av^HJ2tkFsx%94L)yp;qP_6KFOqXUFAY&1q?f;#}w9I#wFUS4_i*w!kqXCH7sdT^hi z0qF;0DQ+L-($mB=Co8sytP>Cjcq|lw{SOFVmA)fI&_?OYbs&`bF0Bxhd%Hri+kQ~# zXj;PwTP#Baim(zMFki zVW~TF7t}=Lbw0_1Cv;dm#~-x4(};Kllnui`*FbropuD|Xf#Y}*dTWl^Kn?g1C^f)e zpfoH`o!r$p@*`9yo}5=yp}!SLMZTe4eZqA&ErFBt{p2Y;uhddoN3$?Y$QD44Bdrds z6GE~fLSCL`hu-d)oP^$0;syO2P?xGCjSBUtQg5;C7K@!`U^%7$7rYbHUvwi{j+$q5oDBb3 zt{+w;l~EZFjLm*DMkP#uaX*1^$M&F`Zt4xmE23lXUQ?TO!K3{%R8a0t>&0-3eu64h zj|o=$2+1xh#P<NCaSPW9H3PL#(B+Ng!g1m^WKp0NCQ zq#wYi;!eYVDtFma1UDjnjPO(&lH7q@p#V6ii2M#5W?b*-^Gp)xzqcZyYKh1?02$Lm zYYWM|@`?B}@_c!!UEATjR%SmUs@!^Eo*0yyKq;k#vr2A?X#+rx+XeiW&9eoV|lf&vY}ovoEA z?tdv-N0%+txqA~X-VMvp`0bR2GcKwv+M}S+sP|#;bfOxBKZtnzj~-l*0vu{8S0P^Y zC?FL-CC2eXV9NKvg0#k|vF#IE;Sm3zP;C+uu-Uk3IBX6{i-BO#8&3@^;{kUZ5$C~k z{l2>pY>(=kW-wO`7ixNwI+0zv-KP?mF{!6Px$#~^ekH`^fK9Art7z(6E@AG$y~sGl zmVc%UZq>T5-U)XR9u70+gra?J#A!VrmKTRXQMot9YXbkCkQ@roS4^Q&9X{hZrPzud zcV^pW2}c#%tdKk=xXku8z~B`p%DV+N%Cy;GuTLFS7RP5|9b09^x^UQ4=ELICRNqnic~KnKq=Br{+?-O>G!NT4Nw zmUjY@qGkh5_!34jgC|>{_hVmNk+t*Ore3u=_C!doBnK)o@kH{kifsEoyFk!JR7Tq> zA}3!2m>y(bs#^oauDI97^Qb^~I%6%ncDqG=j9MS^!9Ni3#?^YTC8;2vt1w31$$}vg zDC+8~9^-1T%@68-N;=9xS1`YmHQ*7fn6a7{xSFuMAwp$l<7$w65=VeyAv$5K$gJJ# z%vwv_BW~%${2bfR)kfR!)fqya@UsUrlD3@Hif0bk z%?2cIs&Ojmh!Zp*x6V<<>e;@}*~~|KHSCFqyfZSI&Ik5xzef*Tkje^PvmJAkaeC0$ z%X(N5-4W`hb=VFRiIP0JvKv~Y1|QWTh2``6QTHw2SOJ~}phco$mmm+yk zVtks*#l^-A@HW9V`{xMG{Y3b*gYUc(s%uVQVPpT2~7n)28MWcqQYdU z`eJnZ6{aXx!ni)8M`LZC0esv9CC1jPffTQ8Rs+++kLD`IHhZDX+M@>t!Qc2Im`}S zbE!amnjUh%wETcJ;eA*@7#u|B3!}3G&Ytr)N!O=Fvu%ma9!1MRlLyt zx~0HTc3d#|2?Cyd z5`-@l`;N!l{7^Gp3|)lT@!!kn@(hfYQEqYcc<4w^1akp;VHtzujZD+}7kxA-I%ZB# z=KYhP>Q)cRyUQbe9M>Ex#HZIctA(SQjBm;0n@3LO0C5@1%RxCI9SqB}4l-Z~dfK8p z{&M@aw6`)}y?v%5$I)^RRai7QE_$Sc18$lVmC^<>t0wI}icli*vpx*a`4bo(^xz{I zlu!MJMqY5n3c3ogtQ3R8GdOP<8(AUd47g>*aSDz_Ca?SM3|yk`ijBHzp@M+>x<}g) zlrQ;^sO{SOa7_|tR|k!2kWn+;*f`*mMSaYQO4+u?s=0u!55e6FLO2M4A}%b=j4glq1tGn(4Z5!K90+eJmqzfi+U=|P-Ze*Fy;kiYlMxbhLiSAZtWxH1M(7k#A{ zDiJnuF52dGDEXTYjoNtIeqo>R9@v-4ufGOmpZO4^wm_=OhjYuWzX+*)KH``;GP5TD zUI#%&`ccun!bk@|2cN5eaw?3$efsds>~Z_U8kp)Mv{?wq+kcz(rNL>nE}NB3o4#fp z+?$NXfZXUK`r4ckYkq6GiZ;bKpLLf-*Eh#k*W9AX{uWCPGN-ntFyA-jwi5ueb`>bITwpekS>D2@6aH6C_JRIAk2b3dE~WO=GdctGaRCMb)+&1tXt}484vnQ zVnAN(tL?YU0S%ytNZj-aV?ZwSA!BS!29yNkGM`bTpfcJR@S9JmK&2dnS78MR;#P?7 zfbegTJa*UT*g~e=om)s{RbI>h9YsL?STRF)2Wz&eK--79X=6IbJcvgE3|h%EcbDgE zRb1W*)b9cZj5Vw@jb)14`pOf2JC?x8oo1s&+Dbbyi$H6H-McBpmOj5M1H z(xa7B>(JZMY?ap;fW@`I^eZgHU`?AmFGusBax-mC?w^->8(nbR;0EYA^bqKVv=Dst z)JBjwL&qCMQ1-x<;d2MYDC&5M@n~))3cZcg!Othqv(O;e4f@nJQn@F@nOhfXgM{q|r39RA21NZU-h?ipcZz)_~A zhLJV`ZwOqT^lLX zWAp18&4~iRR5R8JoN84X*reV*U~E3A`T4|XYXRldt8!~-X~uzV0JY@Ky5>{rlPAy! zP zMBf$#OgrQcL--8Bosg$*jK0Nb6y%V<4dO#&$HG*5o|5plgfCwFg+)(7C=%4s&qOFQ zQ{LPQd)Wfw&K4Wf99y4U5xWqS>yWoX-U@l^LbmxUkyyU${@O+zrl^rJ4af=)T=kHU zNiYDjili8&K?HW!W~}FmjSEYR0 zaIqEs_bfKU|Ea}~tDgp#!C3b^P>r+5&IcYGulR}tzkI|$V5c4s!KmOx6$bPlb-Q3r zIt3byODU3Gu!G#X2vtdsh zShhLjSLr(_nfA%)0ZK!Ca_V4AfNdG5`BR|uLIn`;xNb@wDJ}KM3?LTTE9{?sTOhvVpKb>f?vpS0%dYQ%_-Fr&E6+lF7COd3{Jp>WiVET$h&hP= z3FVm(AA|N85dYmjzzz81;sE6eeDW92LJRR>sHyEgG|MNC3=G8kqHQtMWkXvUe*`7= zvg>J(Oo1XAzY}eg4yjluq48_c5;de4D53F-(Gm@$e6S1}Z;6)ZAtgZxjn_v@5+UV* z5*j}WTcZ$^;WMxS$X)RRU-LnLo$h58pb`I9kZ+0yCiGmyL# zLq1( z4b;H@-=OqZkW62hF}g8Y9P!iQPoVf<5M7(qI6`6KzVx&{iX~gH5Qe$z2VbHfxwK+> z(u5#w`nkUh{vU@9>!RaK7#=PDFk1Wo6gT`f&etA}U+Yovk9in=jfdrvJV}uUeAxtg^wAZf#P^(NLhX#m)?{AZIl5)k!*-Pa(HH zoOk~+MPuCL(L$q21kU$skojkDMN9-wKF7X$>lP%(co{19QYFw4~fw zWv!}CUxO#%KKIJo^;kk=+9S_^a%NwIxE=wY4C$T7FzZW-z-O+pQxgOD`a9gTYqB%B z8uVKcj_1xG^9!!T>h&HVV(@K)X227U_X9$r%ck3)TcFFn2ul;-laJdW(Cw^;m~JHv z;{6aFfs9$jKN_6_Fr(1O z4b}Gldn|?9JkSZEJPJEw6m}GH!$|Jh;VKgyfmE(7&ZFaU5D)|{ghQ|)`X#6lw7hH& zg`wytudYqQACQi<`EwfgQ`ET!DRP5<;FHqXfWbE-npR{P6tf>#QhL^a0&YtfLCek1 z@=ia^H-%|WnxE;%r!d&whA?1Vbgur%J2RYFQvDb4os!nFjT2N(Bk5}p!vT?#b z&`hH5fFVdjr#wSGUfrSD12&xo{2qEKAWs6tsk*lSJQwj+aEgn19Vl{hkc{3?VTc8P z5DqGHqm^gC0#yVG$%uSuu-P5(CF6!$ncg5dwju9M!~f-~K>d;9g`-Y=rxxrnpeO@H z?zIRq`9RqTU(kWK@LHu+-;@en^+eqP4BN7gMO0{%DVc(NL<35%wd@9qv`_qXXIsxo>h{6MGc?g5QNH(=+ zdUrEA?Fin|`v5`u(OU0G2z10?{w$MN}|JeEz_$HDFXhQmVq{ zu)Q~S%@y~%z^CoMOogv(y|G(eRE->S+mue9{GE@?YR*cfK0wsKH=uJiQH^sq+WSOv z0*CeFnWxJW$EG3ewqZ#7(@>=SD}<}$-%n?jtxJVZ?+1e$TEs*6tp${KL0AFde&~q? ze~&``w|;wXc_taByLqIo8wr;1;YfRjVW8>JJfwY|)c+}S5>?1z+8GqTs^7)HeeyI5 zA8JMGQy`}KM^-(s^8Qs1FI-9f{HKWpWi#Q+bO^L&>|p%-T%`TS9Hgy*K+CT|TsUWM z_)qWSoWl>p_jivV?JW?>AXGxAfiM=rgh%%N<++!&%vLA4Z`;WDGG+h9x9-`!MZdX!zWXhIekC8J{+|nSrrr6FL^` rYhbLOx6`o_TUHfPNJQXAr)>sh&1g6^n!fR)^{+yCG*6ysdGP-L;b_N~ diff --git a/boards/ark/fmu-v6x/init/rc.board_defaults b/boards/ark/fmu-v6x/init/rc.board_defaults index ba812e4b7b..870ac1af0a 100644 --- a/boards/ark/fmu-v6x/init/rc.board_defaults +++ b/boards/ark/fmu-v6x/init/rc.board_defaults @@ -16,6 +16,11 @@ param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 1 -param set-default SYS_USE_IO 1 +if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007 +then + param set-default SYS_USE_IO 0 +else + param set-default SYS_USE_IO 1 +fi safety_button start diff --git a/boards/ark/fmu-v6x/src/board_config.h b/boards/ark/fmu-v6x/src/board_config.h index 9c6e81d836..89500da23f 100644 --- a/boards/ark/fmu-v6x/src/board_config.h +++ b/boards/ark/fmu-v6x/src/board_config.h @@ -325,7 +325,6 @@ /* RC Serial port */ #define RC_SERIAL_PORT "/dev/ttyS5" -#define RC_SERIAL_SINGLEWIRE /* Input Capture Channels. */ #define INPUT_CAP1_TIMER 1 diff --git a/boards/ark/fmu-v6x/src/bootloader_main.c b/boards/ark/fmu-v6x/src/bootloader_main.c index 8c2ab001f7..7a3ef5e019 100644 --- a/boards/ark/fmu-v6x/src/bootloader_main.c +++ b/boards/ark/fmu-v6x/src/bootloader_main.c @@ -46,6 +46,7 @@ #include #include #include "arm_internal.h" +#include #include extern int sercon_main(int c, char **argv); @@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {} __EXPORT void stm32_boardinitialize(void) { + /* configure pins */ + const uint32_t list[] = PX4_GPIO_INIT_LIST; + + for (size_t gpio = 0; gpio < arraySize(list); gpio++) { + if (list[gpio] != 0) { + px4_arch_configgpio(list[gpio]); + } + } + /* configure USB interfaces */ stm32_usbinitialize(); } diff --git a/boards/ark/fmu-v6x/src/init.c b/boards/ark/fmu-v6x/src/init.c index 9032b1531e..0bd1295978 100644 --- a/boards/ark/fmu-v6x/src/init.c +++ b/boards/ark/fmu-v6x/src/init.c @@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms) { /* set the peripheral rails off */ + VDD_5V_HIPOWER_EN(false); VDD_5V_PERIPH_EN(false); board_control_spi_sensors_power(false, 0xffff); VDD_3V3_SENSORS4_EN(false); @@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms) VDD_3V3_SPEKTRUM_POWER_EN(last); board_control_spi_sensors_power(true, 0xffff); VDD_3V3_SENSORS4_EN(true); + VDD_5V_HIPOWER_EN(true); VDD_5V_PERIPH_EN(true); } @@ -209,7 +211,6 @@ stm32_boardinitialize(void) __EXPORT int board_app_initialize(uintptr_t arg) { /* Power on Interfaces */ - VDD_3V3_SD_CARD_EN(true); VDD_5V_PERIPH_EN(true); VDD_5V_HIPOWER_EN(true); VDD_3V3_SENSORS4_EN(true); diff --git a/boards/ark/fmu-v6x/src/mtd.cpp b/boards/ark/fmu-v6x/src/mtd.cpp index bc4aa33c80..3ece10aeca 100644 --- a/boards/ark/fmu-v6x/src/mtd.cpp +++ b/boards/ark/fmu-v6x/src/mtd.cpp @@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = { // 24LC64T on Base 8K 32 X 2 .bus_type = px4_mft_device_t::I2C, .devid = PX4_MK_I2C_DEVID(3, 0x51) }; -static const px4_mft_device_t i2c4 = { // 24LC64T on IMU 8K 32 X 256 - .bus_type = px4_mft_device_t::I2C, - .devid = PX4_MK_I2C_DEVID(4, 0x50) -}; - static const px4_mtd_entry_t fmum_fram = { .device = &spi5, @@ -84,34 +79,11 @@ static const px4_mtd_entry_t base_eeprom = { }, }; -static const px4_mtd_entry_t imu_eeprom = { - .device = &i2c4, - .npart = 3, - .partd = { - { - .type = MTD_CALDATA, - .path = "/fs/mtd_caldata", - .nblocks = 240 - }, - { - .type = MTD_MFT_REV, - .path = "/fs/mtd_mft_rev", - .nblocks = 8 - }, - { - .type = MTD_ID, - .path = "/fs/mtd_id", - .nblocks = 8 // 256 = 32 * 8 - } - }, -}; - static const px4_mtd_manifest_t board_mtd_config = { - .nconfigs = 3, + .nconfigs = 2, .entries = { &fmum_fram, &base_eeprom, - &imu_eeprom } };