Control: Refactor FBW Gains
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1ecd3897d0
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d028d44604
2 changed files with 37 additions and 51 deletions
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@ -24,7 +24,7 @@
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<property value="0">fbw/pitch/d-gain</property>
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<property value="0">fbw/yaw/yd-p-gain</property>
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<property value="0">fbw/yaw/tc-p-gain</property>
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<property value="0">fbw/yaw/tc-i-gain</property>
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<property value="0">fbw/yaw/tc-d-gain</property>
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<!-- FMGC stuff -->
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<property value="0">fbw/fmgc/roll-cmd</property>
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@ -79,12 +79,12 @@
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<fcs_function name="fbw/roll/p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 -26.2 0.0
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0.9 -15.5 0.0
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140 -26.2 0.0
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350 -9.5 0.0
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</tableData>
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</table>
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</function>
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@ -93,12 +93,12 @@
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<fcs_function name="fbw/roll/i-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 -45.5 0.0
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0.9 -36.0 0.0
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140 -45.5 0.0
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350 -29.0 0.0
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</tableData>
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</table>
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</function>
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@ -107,12 +107,12 @@
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<fcs_function name="fbw/roll/d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 -2.1 0.0
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0.9 -1.1 0.0
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140 -2.1 0.0
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350 -0.8 0.0
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</tableData>
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</table>
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</function>
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@ -121,12 +121,12 @@
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<fcs_function name="fbw/pitch/p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 28 0
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0.9 23 0
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140 28 0
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350 23 0
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</tableData>
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</table>
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</function>
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@ -135,12 +135,12 @@
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<fcs_function name="fbw/pitch/i-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 61 0
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0.9 45 0
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140 61 0
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350 45 0
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</tableData>
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</table>
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</function>
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@ -149,12 +149,12 @@
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<fcs_function name="fbw/pitch/d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 2.9 0.0
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0.9 1.3 0.0
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140 2.4 0.0
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350 0.6 0.0
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</tableData>
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</table>
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</function>
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@ -163,12 +163,12 @@
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<fcs_function name="fbw/yaw/yd-p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 -7.5 0.0
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0.9 -1.5 0.0
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140 -7.0 0.0
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350 -1.2 0.0
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</tableData>
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</table>
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</function>
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@ -177,26 +177,26 @@
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<fcs_function name="fbw/yaw/tc-p-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 5.01 0.00
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0.9 1.05 0.00
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140 13 0
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350 5 0
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</tableData>
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</table>
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</function>
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</fcs_function>
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<fcs_function name="fbw/yaw/tc-i-gain">
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<fcs_function name="fbw/yaw/tc-d-gain">
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<function>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
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<tableData>
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0 1
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0.2 1.03 0.00
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0.9 0.79 0.00
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140 16 0
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350 9 0
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</tableData>
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</table>
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</function>
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@ -520,12 +520,12 @@
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</tableData>
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</table>
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<table>
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<independentVar lookup="row">velocities/mach</independentVar>
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<independentVar lookup="row">velocities/vc-kts</independentVar>
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<independentVar lookup="column">position/wow</independentVar>
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<tableData>
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0 1
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0.2 0.5 1.0
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0.9 0.1 1.0
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140 0.5 1.0
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350 0.1 1.0
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</tableData>
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</table>
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</product>
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@ -1113,25 +1113,11 @@
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</test>
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</switch>
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<switch name="fbw/yaw/trigger">
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<default value="0"/>
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<test logic="OR" value="-1">
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fbw/yaw/gain-switch gt 0
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/position/gear-agl-ft lt 50
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fbw/yaw/autoland-switch eq 1
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</test>
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<test logic="OR" value="1">
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fbw/yaw/tc-pid le -0.199
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fbw/yaw/tc-pid ge 0.199
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</test>
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</switch>
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<pid name="fbw/yaw/tc-pid-v">
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<input>fbw/yaw/slip-skid</input>
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<kp>fbw/yaw/tc-p-gain</kp>
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<ki>fbw/yaw/tc-i-gain</ki>
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<kd>0.0</kd>
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<trigger>fbw/yaw/trigger</trigger>
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<ki>0.0</ki>
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<kd>fbw/yaw/tc-d-gain</kd>
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<clipto>
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<min>-0.2</min>
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<max>0.2</max>
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@ -1 +1 @@
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4695
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4696
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