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188 lines
6.8 KiB
188 lines
6.8 KiB
/* |
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AP_MotorsTri.cpp - ArduCopter motors library |
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Code by RandyMackay. DIYDrones.com |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public |
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License as published by the Free Software Foundation; either |
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version 2.1 of the License, or (at your option) any later version. |
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*/ |
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#include "AP_MotorsTri.h" |
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// init |
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void AP_MotorsTri::Init() |
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{ |
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// set update rate for the 3 motors (but not the servo on channel 7) |
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set_update_rate(_speed_hz); |
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} |
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// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm |
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void AP_MotorsTri::set_update_rate( uint16_t speed_hz ) |
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{ |
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// record requested speed |
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_speed_hz = speed_hz; |
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// set update rate for the 3 motors (but not the servo on channel 7) |
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if( _speed_hz != AP_MOTORS_SPEED_INSTANT_PWM ) { |
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_rc->SetFastOutputChannels(_BV(_motor_to_channel_map[AP_MOTORS_MOT_1]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_2]) | _BV(_motor_to_channel_map[AP_MOTORS_MOT_4]), _speed_hz); |
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} |
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} |
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// enable - starts allowing signals to be sent to motors |
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void AP_MotorsTri::enable() |
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{ |
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// enable output channels |
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_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_1]); |
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_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_2]); |
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_rc->enable_out(_motor_to_channel_map[AP_MOTORS_MOT_4]); |
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_rc->enable_out(AP_MOTORS_CH_TRI_YAW); |
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} |
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// output_min - sends minimum values out to the motors |
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void AP_MotorsTri::output_min() |
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{ |
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// fill the motor_out[] array for HIL use |
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min; |
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min; |
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min; |
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// send minimum value to each motor |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_CH_TRI_YAW], _rc_yaw->radio_trim); |
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// InstantPWM |
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if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) { |
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_rc->Force_Out0_Out1(); |
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_rc->Force_Out2_Out3(); |
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} |
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} |
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// output_armed - sends commands to the motors |
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void AP_MotorsTri::output_armed() |
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{ |
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int16_t out_min = _rc_throttle->radio_min; |
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int16_t out_max = _rc_throttle->radio_max; |
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// Throttle is 0 to 1000 only |
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_rc_throttle->servo_out = constrain(_rc_throttle->servo_out, 0, _max_throttle); |
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if(_rc_throttle->servo_out > 0) |
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out_min = _rc_throttle->radio_min + _min_throttle; |
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// capture desired roll, pitch, yaw and throttle from receiver |
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_rc_roll->calc_pwm(); |
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_rc_pitch->calc_pwm(); |
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_rc_throttle->calc_pwm(); |
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_rc_yaw->calc_pwm(); |
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int roll_out = (float)_rc_roll->pwm_out * .866; |
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int pitch_out = _rc_pitch->pwm_out / 2; |
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//left front |
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_out + roll_out + pitch_out; |
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//right front |
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_out - roll_out + pitch_out; |
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// rear |
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_out - _rc_pitch->pwm_out; |
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// Tridge's stability patch |
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if(motor_out[AP_MOTORS_MOT_1] > out_max){ |
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_1] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_1] = out_max; |
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} |
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if(motor_out[AP_MOTORS_MOT_2] > out_max){ |
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_4] -= (motor_out[AP_MOTORS_MOT_2] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_2] = out_max; |
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} |
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if(motor_out[AP_MOTORS_MOT_4] > out_max){ |
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motor_out[AP_MOTORS_MOT_1] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_2] -= (motor_out[AP_MOTORS_MOT_4] - out_max) >> 1; |
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motor_out[AP_MOTORS_MOT_4] = out_max; |
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} |
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// ensure motors don't drop below a minimum value and stop |
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motor_out[AP_MOTORS_MOT_1] = max(motor_out[AP_MOTORS_MOT_1], out_min); |
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motor_out[AP_MOTORS_MOT_2] = max(motor_out[AP_MOTORS_MOT_2], out_min); |
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motor_out[AP_MOTORS_MOT_4] = max(motor_out[AP_MOTORS_MOT_4], out_min); |
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#if CUT_MOTORS == ENABLED |
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// if we are not sending a throttle output, we cut the motors |
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if(_rc_throttle->servo_out == 0){ |
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motor_out[AP_MOTORS_MOT_1] = _rc_throttle->radio_min; |
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motor_out[AP_MOTORS_MOT_2] = _rc_throttle->radio_min; |
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motor_out[AP_MOTORS_MOT_4] = _rc_throttle->radio_min; |
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} |
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#endif |
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// send output to each motor |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]); |
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// also send out to tail command (we rely on any auto pilot to have updated the rc_yaw->radio_out to the correct value) |
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// note we do not save the radio_out to the motor_out array so it may not appear in the ch7out in the status screen of the mission planner |
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// note: we use _rc_tail's (aka channel 7's) REV parameter to control whether the servo is reversed or not but this is a bit nonsensical. |
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// a separate servo object (including min, max settings etc) would be better or at least a separate parameter to specify the direction of the tail servo |
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if( _rc_tail->get_reverse() == true ) { |
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_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_trim - (_rc_yaw->radio_out - _rc_yaw->radio_trim)); |
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}else{ |
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_rc->OutputCh(AP_MOTORS_CH_TRI_YAW, _rc_yaw->radio_out); |
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} |
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// InstantPWM |
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if( _speed_hz == AP_MOTORS_SPEED_INSTANT_PWM ) { |
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_rc->Force_Out0_Out1(); |
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_rc->Force_Out2_Out3(); |
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} |
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} |
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// output_disarmed - sends commands to the motors |
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void AP_MotorsTri::output_disarmed() |
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{ |
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if(_rc_throttle->control_in > 0){ |
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// we have pushed up the throttle |
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// remove safety |
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_auto_armed = true; |
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} |
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// fill the motor_out[] array for HIL use |
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for (unsigned char i = AP_MOTORS_MOT_1; i < AP_MOTORS_MOT_4; i++){ |
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motor_out[i] = _rc_throttle->radio_min; |
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} |
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// Send minimum values to all motors |
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output_min(); |
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} |
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// output_disarmed - sends commands to the motors |
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void AP_MotorsTri::output_test() |
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{ |
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// Send minimum values to all motors |
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output_min(); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min); |
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delay(4000); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min + 100); |
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delay(300); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], _rc_throttle->radio_min); |
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delay(2000); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min + 100); |
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delay(300); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], _rc_throttle->radio_min); |
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delay(2000); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], _rc_throttle->radio_min + 100); |
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delay(300); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_1], motor_out[AP_MOTORS_MOT_1]); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_2], motor_out[AP_MOTORS_MOT_2]); |
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_rc->OutputCh(_motor_to_channel_map[AP_MOTORS_MOT_4], motor_out[AP_MOTORS_MOT_4]); |
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} |