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‎AP_Periph-1.9/Parameters.html‎

Lines changed: 27 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3992,9 +3992,34 @@ <h2>Board orientation yaw offset (AHRS_CUSTOM_YAW)</h2><em>Note: This parameter
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39933993
<h2>Optional AHRS behaviour (AHRS_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
39943994

3995-
<p>This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency</p>
3995+
<p>This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid.</p>
39963996
<ul>
3997-
<li>Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF</li>
3997+
<li>Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF, 3:RecordOrigin, 4:UseRecordedOriginForNonGPS</li>
3998+
</ul>
3999+
4000+
4001+
<h2>AHRS last origin latitude (AHRS_ORIGIN_LAT)</h2><em>Note: This parameter is for advanced users</em><br>
4002+
4003+
<p>AHRS last origin latitude in degrees</p>
4004+
<ul>
4005+
<li>Range: -180 180</li>
4006+
<li>Increment: 1</li>
4007+
</ul>
4008+
4009+
4010+
<h2>AHRS last origin longitude (AHRS_ORIGIN_LON)</h2><em>Note: This parameter is for advanced users</em><br>
4011+
4012+
<p>AHRS last origin longitude in degrees</p>
4013+
<ul>
4014+
<li>Range: -180 180</li>
4015+
</ul>
4016+
4017+
4018+
<h2>AHRS last origin altitude (AHRS_ORIGIN_ALT)</h2><em>Note: This parameter is for advanced users</em><br>
4019+
4020+
<p>AHRS last origin altitude in meters</p>
4021+
<ul>
4022+
<li>Range: -200 5000</li>
39984023
</ul>
39994024

40004025

‎AP_Periph-1.9/Parameters.md‎

Lines changed: 28 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3441,9 +3441,35 @@ Autopilot mounting position yaw offset. Positive values = yaw right, negative va
34413441

34423442
*Note: This parameter is for advanced users*
34433443

3444-
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
3444+
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid.
34453445

3446-
- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF
3446+
- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF, 3:RecordOrigin, 4:UseRecordedOriginForNonGPS
3447+
3448+
## AHRS_ORIGIN_LAT: AHRS last origin latitude
3449+
3450+
*Note: This parameter is for advanced users*
3451+
3452+
AHRS last origin latitude in degrees
3453+
3454+
- Range: -180 180
3455+
3456+
- Increment: 1
3457+
3458+
## AHRS_ORIGIN_LON: AHRS last origin longitude
3459+
3460+
*Note: This parameter is for advanced users*
3461+
3462+
AHRS last origin longitude in degrees
3463+
3464+
- Range: -180 180
3465+
3466+
## AHRS_ORIGIN_ALT: AHRS last origin altitude
3467+
3468+
*Note: This parameter is for advanced users*
3469+
3470+
AHRS last origin altitude in meters
3471+
3472+
- Range: -200 5000
34473473

34483474
# ARSPD Parameters
34493475

‎AP_Periph-1.9/Parameters.rst‎

Lines changed: 62 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1972,7 +1972,7 @@ AHRS\_OPTIONS: Optional AHRS behaviour
19721972

19731973
| *Note: This parameter is for advanced users*
19741974

1975-
This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
1975+
This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency\. Setting AutoRecordOrigin will auto\-save the EKF origin to parameters when it becomes valid\.
19761976

19771977

19781978
+---------------------------------------+
@@ -1987,12 +1987,73 @@ This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change
19871987
| +-----+-----------------------------+ |
19881988
| | 2 | DontDisableAirspeedUsingEKF | |
19891989
| +-----+-----------------------------+ |
1990+
| | 3 | RecordOrigin | |
1991+
| +-----+-----------------------------+ |
1992+
| | 4 | UseRecordedOriginForNonGPS | |
1993+
| +-----+-----------------------------+ |
19901994
| |
19911995
+---------------------------------------+
19921996

19931997

19941998

19951999

2000+
.. _AHRS_ORIGIN_LAT:
2001+
2002+
AHRS\_ORIGIN\_LAT: AHRS last origin latitude
2003+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2004+
2005+
| *Note: This parameter is for advanced users*
2006+
2007+
AHRS last origin latitude in degrees
2008+
2009+
2010+
+-----------+-------------+
2011+
| Increment | Range |
2012+
+===========+=============+
2013+
| 1 | -180 to 180 |
2014+
+-----------+-------------+
2015+
2016+
2017+
2018+
2019+
.. _AHRS_ORIGIN_LON:
2020+
2021+
AHRS\_ORIGIN\_LON: AHRS last origin longitude
2022+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2023+
2024+
| *Note: This parameter is for advanced users*
2025+
2026+
AHRS last origin longitude in degrees
2027+
2028+
2029+
+-------------+
2030+
| Range |
2031+
+=============+
2032+
| -180 to 180 |
2033+
+-------------+
2034+
2035+
2036+
2037+
2038+
.. _AHRS_ORIGIN_ALT:
2039+
2040+
AHRS\_ORIGIN\_ALT: AHRS last origin altitude
2041+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2042+
2043+
| *Note: This parameter is for advanced users*
2044+
2045+
AHRS last origin altitude in meters
2046+
2047+
2048+
+--------------+
2049+
| Range |
2050+
+==============+
2051+
| -200 to 5000 |
2052+
+--------------+
2053+
2054+
2055+
2056+
19962057

19972058
.. _parameters_ARSPD:
19982059

‎AP_Periph-1.9/ParametersLatex.rst‎

Lines changed: 62 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -8195,7 +8195,7 @@ AHRS\_OPTIONS: Optional AHRS behaviour
81958195

81968196
| *Note: This parameter is for advanced users*
81978197

8198-
This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
8198+
This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly\-forward flight to not fall back to DCM when the EKF stops navigating\. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly\-forward \(VTOL\) flight to not fall back to DCM when the EKF stops navigating\. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency\. Setting AutoRecordOrigin will auto\-save the EKF origin to parameters when it becomes valid\.
81998199

82008200

82018201
+-----+-----------------------------+
@@ -8207,6 +8207,67 @@ This controls optional AHRS behaviour\. Setting DisableDCMFallbackFW will change
82078207
+-----+-----------------------------+
82088208
| 2 | DontDisableAirspeedUsingEKF |
82098209
+-----+-----------------------------+
8210+
| 3 | RecordOrigin |
8211+
+-----+-----------------------------+
8212+
| 4 | UseRecordedOriginForNonGPS |
8213+
+-----+-----------------------------+
8214+
8215+
8216+
8217+
8218+
.. _AHRS_ORIGIN_LAT:
8219+
8220+
AHRS\_ORIGIN\_LAT: AHRS last origin latitude
8221+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8222+
8223+
| *Note: This parameter is for advanced users*
8224+
8225+
AHRS last origin latitude in degrees
8226+
8227+
8228+
+-----------+-------------+
8229+
| Increment | Range |
8230+
+===========+=============+
8231+
| 1 | -180 to 180 |
8232+
+-----------+-------------+
8233+
8234+
8235+
8236+
8237+
.. _AHRS_ORIGIN_LON:
8238+
8239+
AHRS\_ORIGIN\_LON: AHRS last origin longitude
8240+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8241+
8242+
| *Note: This parameter is for advanced users*
8243+
8244+
AHRS last origin longitude in degrees
8245+
8246+
8247+
+-------------+
8248+
| Range |
8249+
+=============+
8250+
| -180 to 180 |
8251+
+-------------+
8252+
8253+
8254+
8255+
8256+
.. _AHRS_ORIGIN_ALT:
8257+
8258+
AHRS\_ORIGIN\_ALT: AHRS last origin altitude
8259+
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8260+
8261+
| *Note: This parameter is for advanced users*
8262+
8263+
AHRS last origin altitude in meters
8264+
8265+
8266+
+--------------+
8267+
| Range |
8268+
+==============+
8269+
| -200 to 5000 |
8270+
+--------------+
82108271

82118272

82128273

‎AP_Periph-1.9/apm.pdef.json‎

Lines changed: 32 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -141,9 +141,11 @@
141141
"Bitmask": {
142142
"0": "DisableDCMFallbackFW",
143143
"1": "DisableDCMFallbackVTOL",
144-
"2": "DontDisableAirspeedUsingEKF"
144+
"2": "DontDisableAirspeedUsingEKF",
145+
"3": "RecordOrigin",
146+
"4": "UseRecordedOriginForNonGPS"
145147
},
146-
"Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency",
148+
"Description": "This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid.",
147149
"DisplayName": "Optional AHRS behaviour",
148150
"User": "Advanced"
149151
},
@@ -200,6 +202,34 @@
200202
"9": "Yaw45Roll180"
201203
}
202204
},
205+
"AHRS_ORIGIN_ALT": {
206+
"Description": "AHRS last origin altitude in meters",
207+
"DisplayName": "AHRS last origin altitude",
208+
"Range": {
209+
"high": "5000",
210+
"low": "-200"
211+
},
212+
"User": "Advanced"
213+
},
214+
"AHRS_ORIGIN_LAT": {
215+
"Description": "AHRS last origin latitude in degrees",
216+
"DisplayName": "AHRS last origin latitude",
217+
"Increment": "1",
218+
"Range": {
219+
"high": "180",
220+
"low": "-180"
221+
},
222+
"User": "Advanced"
223+
},
224+
"AHRS_ORIGIN_LON": {
225+
"Description": "AHRS last origin longitude in degrees",
226+
"DisplayName": "AHRS last origin longitude",
227+
"Range": {
228+
"high": "180",
229+
"low": "-180"
230+
},
231+
"User": "Advanced"
232+
},
203233
"AHRS_RP_P": {
204234
"Description": "This controls how fast the accelerometers correct the attitude",
205235
"DisplayName": "AHRS RP_P",

‎AP_Periph-1.9/apm.pdef.xml‎

Lines changed: 14 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -2199,13 +2199,25 @@
21992199
<field name="UnitText">degrees</field>
22002200
<field name="Increment">1</field>
22012201
</param>
2202-
<param humanName="Optional AHRS behaviour" name="AHRS_OPTIONS" documentation="This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency" user="Advanced">
2202+
<param humanName="Optional AHRS behaviour" name="AHRS_OPTIONS" documentation="This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid." user="Advanced">
22032203
<bitmask>
22042204
<bit code="0">DisableDCMFallbackFW</bit>
22052205
<bit code="1">DisableDCMFallbackVTOL</bit>
22062206
<bit code="2">DontDisableAirspeedUsingEKF</bit>
2207+
<bit code="3">RecordOrigin</bit>
2208+
<bit code="4">UseRecordedOriginForNonGPS</bit>
22072209
</bitmask>
2208-
<field name="Bitmask">0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF</field>
2210+
<field name="Bitmask">0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF, 3:RecordOrigin, 4:UseRecordedOriginForNonGPS</field>
2211+
</param>
2212+
<param humanName="AHRS last origin latitude" name="AHRS_ORIGIN_LAT" documentation="AHRS last origin latitude in degrees" user="Advanced">
2213+
<field name="Range">-180 180</field>
2214+
<field name="Increment">1</field>
2215+
</param>
2216+
<param humanName="AHRS last origin longitude" name="AHRS_ORIGIN_LON" documentation="AHRS last origin longitude in degrees" user="Advanced">
2217+
<field name="Range">-180 180</field>
2218+
</param>
2219+
<param humanName="AHRS last origin altitude" name="AHRS_ORIGIN_ALT" documentation="AHRS last origin altitude in meters" user="Advanced">
2220+
<field name="Range">-200 5000</field>
22092221
</param>
22102222
</parameters>
22112223
<parameters name="ARSPD">

‎Blimp-4.7/Parameters.html‎

Lines changed: 27 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -4096,9 +4096,34 @@ <h2>Board orientation yaw offset (AHRS_CUSTOM_YAW)</h2><em>Note: This parameter
40964096

40974097
<h2>Optional AHRS behaviour (AHRS_OPTIONS)</h2><em>Note: This parameter is for advanced users</em><br>
40984098

4099-
<p>This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency</p>
4099+
<p>This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid.</p>
41004100
<ul>
4101-
<li>Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF</li>
4101+
<li>Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF, 3:RecordOrigin, 4:UseRecordedOriginForNonGPS</li>
4102+
</ul>
4103+
4104+
4105+
<h2>AHRS last origin latitude (AHRS_ORIGIN_LAT)</h2><em>Note: This parameter is for advanced users</em><br>
4106+
4107+
<p>AHRS last origin latitude in degrees</p>
4108+
<ul>
4109+
<li>Range: -180 180</li>
4110+
<li>Increment: 1</li>
4111+
</ul>
4112+
4113+
4114+
<h2>AHRS last origin longitude (AHRS_ORIGIN_LON)</h2><em>Note: This parameter is for advanced users</em><br>
4115+
4116+
<p>AHRS last origin longitude in degrees</p>
4117+
<ul>
4118+
<li>Range: -180 180</li>
4119+
</ul>
4120+
4121+
4122+
<h2>AHRS last origin altitude (AHRS_ORIGIN_ALT)</h2><em>Note: This parameter is for advanced users</em><br>
4123+
4124+
<p>AHRS last origin altitude in meters</p>
4125+
<ul>
4126+
<li>Range: -200 5000</li>
41024127
</ul>
41034128

41044129

‎Blimp-4.7/Parameters.md‎

Lines changed: 28 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -3514,9 +3514,35 @@ Autopilot mounting position yaw offset. Positive values = yaw right, negative va
35143514

35153515
*Note: This parameter is for advanced users*
35163516

3517-
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
3517+
This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency. Setting AutoRecordOrigin will auto-save the EKF origin to parameters when it becomes valid.
35183518

3519-
- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF
3519+
- Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF, 3:RecordOrigin, 4:UseRecordedOriginForNonGPS
3520+
3521+
## AHRS_ORIGIN_LAT: AHRS last origin latitude
3522+
3523+
*Note: This parameter is for advanced users*
3524+
3525+
AHRS last origin latitude in degrees
3526+
3527+
- Range: -180 180
3528+
3529+
- Increment: 1
3530+
3531+
## AHRS_ORIGIN_LON: AHRS last origin longitude
3532+
3533+
*Note: This parameter is for advanced users*
3534+
3535+
AHRS last origin longitude in degrees
3536+
3537+
- Range: -180 180
3538+
3539+
## AHRS_ORIGIN_ALT: AHRS last origin altitude
3540+
3541+
*Note: This parameter is for advanced users*
3542+
3543+
AHRS last origin altitude in meters
3544+
3545+
- Range: -200 5000
35203546

35213547
# AIS Parameters
35223548

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