diff options
87 files changed, 22457 insertions, 653 deletions
diff --git a/Documentation/control_flow.graffle b/Documentation/control_flow.graffle new file mode 100644 index 000000000..253523110 --- /dev/null +++ b/Documentation/control_flow.graffle @@ -0,0 +1,16650 @@ +<?xml version="1.0" encoding="UTF-8"?> +<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd"> +<plist version="1.0"> +<dict> + <key>ApplicationVersion</key> + <array> + <string>com.omnigroup.OmniGraffle</string> + <string>139.16.0.171715</string> + </array> + <key>CreationDate</key> + <string>2013-02-22 17:51:02 +0000</string> + <key>Creator</key> + <string>Lorenz Meier</string> + <key>GraphDocumentVersion</key> + <integer>8</integer> + <key>GuidesLocked</key> + <string>NO</string> + <key>GuidesVisible</key> + <string>YES</string> + <key>ImageCounter</key> + <integer>1</integer> + <key>LinksVisible</key> + <string>NO</string> + <key>MagnetsVisible</key> + <string>NO</string> + <key>MasterSheets</key> + <array/> + <key>ModificationDate</key> + <string>2013-04-20 15:38:47 +0000</string> + <key>Modifier</key> + <string>Lorenz Meier</string> + <key>NotesVisible</key> + <string>NO</string> + <key>OriginVisible</key> + <string>NO</string> + <key>PageBreaks</key> + <string>YES</string> + <key>PrintInfo</key> + <dict> + <key>NSBottomMargin</key> + <array> + <string>float</string> + <string>41</string> + </array> + <key>NSHorizonalPagination</key> + <array> + <string>coded</string> + <string>BAtzdHJlYW10eXBlZIHoA4QBQISEhAhOU051bWJlcgCEhAdOU1ZhbHVlAISECE5TT2JqZWN0AIWEASqEhAFxlwCG</string> + </array> + <key>NSLeftMargin</key> + <array> + <string>float</string> + <string>18</string> + </array> + <key>NSPaperName</key> + <array> + <string>string</string> + <string>iso-a3</string> + </array> + <key>NSPaperSize</key> + <array> + <string>size</string> + <string>{842, 1191}</string> + </array> + <key>NSPrintReverseOrientation</key> + <array> + <string>int</string> + <string>0</string> + </array> + <key>NSRightMargin</key> + <array> + <string>float</string> + <string>18</string> + </array> + <key>NSTopMargin</key> + <array> + <string>float</string> + <string>18</string> + </array> + </dict> + <key>ReadOnly</key> + <string>NO</string> + <key>Sheets</key> + <array> + <dict> + <key>ActiveLayerIndex</key> + <integer>0</integer> + <key>AutoAdjust</key> + <true/> + <key>BackgroundGraphic</key> + <dict> + <key>Bounds</key> + <string>{{0, 0}, {806, 1132}}</string> + <key>Class</key> + <string>SolidGraphic</string> + <key>ID</key> + <integer>2</integer> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + </dict> + <key>BaseZoom</key> + <integer>0</integer> + <key>CanvasOrigin</key> + <string>{0, 0}</string> + <key>ColumnAlign</key> + <integer>1</integer> + <key>ColumnSpacing</key> + <real>36</real> + <key>DisplayScale</key> + <string>1 0/72 in = 1.0000 in</string> + <key>GraphicsList</key> + <array> + <dict> + <key>Bounds</key> + <string>{{320.41170773935767, 646.55758982070449}, {100, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>FontInfo</key> + <dict> + <key>Color</key> + <dict> + <key>w</key> + <string>0</string> + </dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>46</integer> + <key>Line</key> + <dict> + <key>ID</key> + <integer>45</integer> + <key>Position</key> + <real>0.49247664213180542</real> + <key>RotationType</key> + <integer>0</integer> + </dict> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 limited / checked}</string> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>44</integer> + </dict> + <key>ID</key> + <integer>45</integer> + <key>Points</key> + <array> + <string>{283.47949897905681, 658.66217570036315}</string> + <string>{459.99996984645378, 658.44980851233595}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>29</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{460.49996948242188, 640.30001831054688}, {248.00003051757812, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>44</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 ACTUATOR_CONTROLS_EFFECTIVE_0}</string> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{324, 353.1875}, {120, 28}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>43</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Align</key> + <integer>0</integer> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;\red68\green147\blue53;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural + +\f0\fs24 \cf2 MAVLink:\ +'MANUAL_CONTROL'}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{324, 174.5}, {129, 28}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>42</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Align</key> + <integer>0</integer> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;\red68\green147\blue53;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural + +\f0\fs24 \cf2 MAVLink:\ +'RC_CHANNELS_RAW'}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{114.97958374023438, 786}, {191, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>40</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;\red68\green147\blue53;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf2 MAVLink: 'SERVO_OUTPUT_RAW'}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{528.5, 689}, {112, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>39</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;\red68\green147\blue53;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf2 MAVLink: 'ctrl eff 0-3'}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>11</integer> + </dict> + <key>ID</key> + <integer>38</integer> + <key>Points</key> + <array> + <string>{584.52245687751122, 125.49999965650382}</string> + <string>{584.56069426576869, 157.00000090441219}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>37</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{448.5, 89}, {272, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>37</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 VEHICLE_GLOBAL_POSITION_SETPOINT /\ +VEHICLE_LOCAL_POSITION_SETPOINT}</string> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>27</integer> + </dict> + <key>ID</key> + <integer>34</integer> + <key>Points</key> + <array> + <string>{210.47275259888471, 495.87499981747118}</string> + <string>{210.43193555768113, 543.06250166479344}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>10</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{108, 737.9375}, {205, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>33</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 ACTUATOR_OUTPUTS}</string> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>29</integer> + </dict> + <key>ID</key> + <integer>32</integer> + <key>Points</key> + <array> + <string>{210.46968123779743, 580.06249992316259}</string> + <string>{210.44442316539605, 627.25000030102035}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>27</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>33</integer> + </dict> + <key>ID</key> + <integer>30</integer> + <key>Points</key> + <array> + <string>{210.48620562018775, 690.25}</string> + <string>{210.49612530146715, 737.4375}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>29</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{137.97958374023438, 627.75}, {145, 62}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>29</integer> + <key>Shape</key> + <string>RoundRect</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>1</string> + <key>g</key> + <string>0.814996</string> + <key>r</key> + <string>0.627106</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 Actuator Mixer}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{107.97958374023438, 543.5625}, {205, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>27</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 ACTUATOR_CONTROLS_0}</string> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{394.22506405270201, 452.15000309396282}, {89, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>FontInfo</key> + <dict> + <key>Color</key> + <dict> + <key>w</key> + <string>0</string> + </dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>25</integer> + <key>Line</key> + <dict> + <key>ID</key> + <integer>22</integer> + <key>Position</key> + <real>0.5900501012802124</real> + <key>RotationType</key> + <integer>0</integer> + </dict> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 if in auto mode}</string> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{152.49994329565658, 397.00120984204113}, {116, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>FontInfo</key> + <dict> + <key>Color</key> + <dict> + <key>w</key> + <string>0</string> + </dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>24</integer> + <key>Line</key> + <dict> + <key>ID</key> + <integer>17</integer> + <key>Position</key> + <real>0.49406537413597107</real> + <key>RotationType</key> + <integer>0</integer> + </dict> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 if in stabilized mode}</string> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>21</integer> + </dict> + <key>ID</key> + <integer>23</integer> + <key>OrthogonalBarAutomatic</key> + <true/> + <key>OrthogonalBarPoint</key> + <string>{0, 0}</string> + <key>OrthogonalBarPosition</key> + <real>-1</real> + <key>Points</key> + <array> + <string>{584.49994992834695, 220}</string> + <string>{584.4997453697481, 348.6875000000008}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>2</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>11</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>10</integer> + </dict> + <key>ID</key> + <integer>22</integer> + <key>OrthogonalBarAutomatic</key> + <true/> + <key>OrthogonalBarPoint</key> + <string>{0, 0}</string> + <key>OrthogonalBarPosition</key> + <real>33.206413269042969</real> + <key>Points</key> + <array> + <string>{583.83119320765968, 385.68717359526977}</string> + <string>{581, 464}</string> + <string>{283.49994000956832, 464.30111342104294}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>2</integer> + <key>Pattern</key> + <integer>2</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>21</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{482, 349.1875}, {205, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>21</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 VEHICLE_ATTITUDE_SETPOINT}</string> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>10</integer> + </dict> + <key>ID</key> + <integer>17</integer> + <key>Points</key> + <array> + <string>{210.49997491180866, 385.6875}</string> + <string>{210.49991091996927, 432.875}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>Pattern</key> + <integer>2</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>6</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>5</integer> + </dict> + <key>ID</key> + <integer>16</integer> + <key>Points</key> + <array> + <string>{283.49999999999511, 270.00001907176534}</string> + <string>{339.50000000000028, 270.00001907176534}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>9</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>6</integer> + </dict> + <key>ID</key> + <integer>15</integer> + <key>Points</key> + <array> + <string>{210.49998770563047, 301.5}</string> + <string>{210.49998770563047, 348.6875}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>9</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>9</integer> + </dict> + <key>ID</key> + <integer>13</integer> + <key>Points</key> + <array> + <string>{210.49171354592596, 207}</string> + <string>{210.49498558851923, 238.4999999999998}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>4</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>Head</key> + <dict> + <key>ID</key> + <integer>4</integer> + </dict> + <key>ID</key> + <integer>12</integer> + <key>Points</key> + <array> + <string>{210.49498558851246, 138.5000000000002}</string> + <string>{210.48997117702493, 170.00000000001342}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>FilledArrow</string> + <key>Legacy</key> + <true/> + <key>LineType</key> + <integer>1</integer> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + <key>Tail</key> + <dict> + <key>ID</key> + <integer>8</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{512, 157.5}, {145, 62}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>11</integer> + <key>Shape</key> + <string>RoundRect</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.999136</string> + <key>g</key> + <string>0.808554</string> + <key>r</key> + <string>0.587078</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 Position Controller}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{138, 433.375}, {145, 62}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>10</integer> + <key>Shape</key> + <string>RoundRect</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>1</string> + <key>g</key> + <string>0.814996</string> + <key>r</key> + <string>0.627106</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 Attitude Controller}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{138, 239}, {145, 62}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>9</integer> + <key>Shape</key> + <string>RoundRect</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.366082</string> + <key>g</key> + <string>0.639788</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 RC scaling and function mapping}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{138, 76}, {145, 62}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>8</integer> + <key>Shape</key> + <string>RoundRect</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.324773</string> + <key>g</key> + <string>0.632962</string> + <key>r</key> + <string>0.99252</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 RC Input\ +PX4IO or PX4FMU}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{108, 349.1875}, {205, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>6</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 MANUAL_CONTROL_SETPOINT}</string> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{340, 252}, {115, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>5</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 RC_CHANNELS}</string> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{108, 170.5}, {204.97958374023438, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FontInfo</key> + <dict> + <key>Font</key> + <string>Helvetica</string> + <key>Size</key> + <real>12</real> + </dict> + <key>ID</key> + <integer>4</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\i\fs24 \cf0 INPUT_RC}</string> + </dict> + </dict> + </array> + <key>GridInfo</key> + <dict/> + <key>HPages</key> + <integer>1</integer> + <key>KeepToScale</key> + <false/> + <key>Layers</key> + <array> + <dict> + <key>Lock</key> + <string>NO</string> + <key>Name</key> + <string>Layer 1</string> + <key>Print</key> + <string>YES</string> + <key>View</key> + <string>YES</string> + </dict> + </array> + <key>LayoutInfo</key> + <dict> + <key>Animate</key> + <string>NO</string> + <key>circoMinDist</key> + <real>18</real> + <key>circoSeparation</key> + <real>0.0</real> + <key>layoutEngine</key> + <string>dot</string> + <key>neatoSeparation</key> + <real>0.0</real> + <key>twopiSeparation</key> + <real>0.0</real> + </dict> + <key>Orientation</key> + <integer>2</integer> + <key>PrintOnePage</key> + <false/> + <key>RowAlign</key> + <integer>1</integer> + <key>RowSpacing</key> + <real>36</real> + <key>SheetTitle</key> + <string>Canvas 1</string> + <key>UniqueID</key> + <integer>1</integer> + <key>VPages</key> + <integer>1</integer> + </dict> + <dict> + <key>ActiveLayerIndex</key> + <integer>0</integer> + <key>AutoAdjust</key> + <true/> + <key>BackgroundGraphic</key> + <dict> + <key>Bounds</key> + <string>{{0, 0}, {806, 1132}}</string> + <key>Class</key> + <string>SolidGraphic</string> + <key>ID</key> + <integer>2</integer> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + </dict> + <key>BaseZoom</key> + <integer>0</integer> + <key>CanvasOrigin</key> + <string>{0, 0}</string> + <key>ColumnAlign</key> + <integer>1</integer> + <key>ColumnSpacing</key> + <real>36</real> + <key>DisplayScale</key> + <string>1 0/72 in = 1.0000 in</string> + <key>GraphicsList</key> + <array> + <dict> + <key>Bounds</key> + <string>{{129, 170}, {83, 44}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>4</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>GridInfo</key> + <dict/> + <key>HPages</key> + <integer>1</integer> + <key>KeepToScale</key> + <false/> + <key>Layers</key> + <array> + <dict> + <key>Lock</key> + <string>NO</string> + <key>Name</key> + <string>Layer 1</string> + <key>Print</key> + <string>YES</string> + <key>View</key> + <string>YES</string> + </dict> + </array> + <key>LayoutInfo</key> + <dict> + <key>Animate</key> + <string>NO</string> + <key>circoMinDist</key> + <real>18</real> + <key>circoSeparation</key> + <real>0.0</real> + <key>layoutEngine</key> + <string>dot</string> + <key>neatoSeparation</key> + <real>0.0</real> + <key>twopiSeparation</key> + <real>0.0</real> + </dict> + <key>Orientation</key> + <integer>2</integer> + <key>PrintOnePage</key> + <false/> + <key>RowAlign</key> + <integer>1</integer> + <key>RowSpacing</key> + <real>36</real> + <key>SheetTitle</key> + <string>Remote Control</string> + <key>UniqueID</key> + <integer>5</integer> + <key>VPages</key> + <integer>1</integer> + </dict> + <dict> + <key>ActiveLayerIndex</key> + <integer>0</integer> + <key>AutoAdjust</key> + <true/> + <key>BackgroundGraphic</key> + <dict> + <key>Bounds</key> + <string>{{0, 0}, {806, 1132}}</string> + <key>Class</key> + <string>SolidGraphic</string> + <key>ID</key> + <integer>2</integer> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + </dict> + <key>BaseZoom</key> + <integer>0</integer> + <key>CanvasOrigin</key> + <string>{0, 0}</string> + <key>ColumnAlign</key> + <integer>1</integer> + <key>ColumnSpacing</key> + <real>36</real> + <key>DisplayScale</key> + <string>1 0/72 in = 1.0000 in</string> + <key>GraphicsList</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{575.98995971679688, 379}, {47, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>1124</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\b\fs24 \cf0 QUAD +\b0 X}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{576.13064904528869, 216.6250047923653}, {50.666667938232422, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1126</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.13195</string> + <key>g</key> + <string>0.165669</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{565.46398168220912, 200.5990128790099}, {72, 72}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1127</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1125</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{684.97877057518497, 320.1208883952101}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1129</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1131</integer> + <key>Points</key> + <array> + <string>{744.59415627118847, 308.1935744741462}</string> + <string>{742.38444757998036, 309.34262299357425}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{656.69108999710829, 361.8760779997491}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1132</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{646.29122523639319, 281.66198172978545}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1133</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{643.54122523639319, 278.91198172978545}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1134</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1130</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1136</integer> + <key>Points</key> + <array> + <string>{649.54722336322868, 356.21791362626482}</string> + <string>{651.75693205443667, 355.0688651068366}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{721.45028963730863, 284.03541010066203}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1137</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{646.35015439802385, 281.24950637062551}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1138</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{643.60015439802385, 278.49950637062551}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1139</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1135</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{646.0670873832953, 281.20919655324775}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1140</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1128</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{494.01518801866729, 320.05486147948341}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1142</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 2}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1144</integer> + <key>Points</key> + <array> + <string>{458.75335031844725, 307.77399956263616}</string> + <string>{460.96305900965541, 308.92304808206421}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{530.65641659252742, 361.45650308823895}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1145</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.55628135324292, 281.24240681827519}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1146</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{452.80628135324292, 278.49240681827519}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1147</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1143</integer> + <key>Rotation</key> + <real>225</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1149</integer> + <key>Points</key> + <array> + <string>{553.44673702887792, 356.15188491228344}</string> + <string>{551.23702833767004, 355.00283639285527}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{465.54367075479814, 283.96938138668088}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1150</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.14380599408253, 281.1834776566443}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1151</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{452.39380599408253, 278.4334776566443}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1152</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1148</integer> + <key>Rotation</key> + <real>225</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.10349617670488, 281.1431681805102}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1153</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1141</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{684.74305392865585, 129.32699556949493}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1155</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1157</integer> + <key>Points</key> + <array> + <string>{649.48121622843564, 117.04613365264774}</string> + <string>{651.69092491964352, 118.19518217207589}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{721.38428250251582, 170.72863717825052}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1158</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{646.28414726323126, 90.514540908286847}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1159</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{643.53414726323126, 87.764540908286847}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1160</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1156</integer> + <key>Rotation</key> + <real>225</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1162</integer> + <key>Points</key> + <array> + <string>{744.17460293886643, 165.42401900229501}</string> + <string>{741.96489424765866, 164.27497048286693}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{656.27153666478659, 93.241515476692427}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1163</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{645.87167190407115, 90.455611746655876}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1164</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{643.12167190407115, 87.705611746655876}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1165</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1161</integer> + <key>Rotation</key> + <real>225</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{645.83136208669339, 90.415302270521892}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1166</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1154</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{494.00811680064464, 129.15022794494948}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1168</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1170</integer> + <key>Points</key> + <array> + <string>{553.62350249664826, 117.22291402388569}</string> + <string>{551.41379380544015, 118.37196254331369}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{465.72043622256808, 170.9054175494887}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1171</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.32057146185286, 90.691321279524772}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1172</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{452.57057146185286, 87.941321279524772}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1173</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1169</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1175</integer> + <key>Points</key> + <array> + <string>{458.57656958868847, 165.24725317600405}</string> + <string>{460.78627827989641, 164.09820465657594}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{530.47963586276819, 93.064749650401353}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1176</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.37950062348352, 90.278845920365001}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1177</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{452.62950062348352, 87.528845920365001}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1178</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1174</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{455.09643360875504, 90.238536102987126}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1179</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1167</integer> + <key>Rotation</key> + <real>315</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{547.25939156789127, 219.8035943432547}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1180</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{647.66855809291212, 119.39442062517122}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1181</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{647.66855089985006, 219.80357636059938}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1182</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{547.20046240626141, 119.33550225313491}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1183</integer> + <key>Rotation</key> + <real>315</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>1123</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{287.14883422851562, 373}, {46, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>1121</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\b\fs24 \cf0 QUAD +\b0 +}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{252.93672553699014, 864.96332065264312}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1186</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 6}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1188</integer> + <key>Points</key> + <array> + <string>{248.68672172228349, 826.3749926090228}</string> + <string>{249.43672172228361, 828.7499926090228}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{252.68672172228372, 918.12499260902291}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1189</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{214.43672172228372, 826.3749926090228}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1190</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{211.68672172228372, 823.6249926090228}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1191</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1187</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1193</integer> + <key>Points</key> + <array> + <string>{281.43672680854809, 927.54165927568897}</string> + <string>{280.6867268085482, 925.1666592756892}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{261.43672680854797, 817.2916592756892}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1194</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{214.18672680854797, 826.0416592756892}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1195</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{211.43672680854797, 823.2916592756892}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1196</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1192</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{214.02503832182103, 826.05162629068673}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1197</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1185</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{255.93671290080545, 636.38001505533919}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1199</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 5}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1201</integer> + <key>Points</key> + <array> + <string>{251.6867090860988, 597.79168701171886}</string> + <string>{252.43670908609892, 600.16668701171886}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{255.68670908609903, 689.54168701171898}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1202</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{217.43670908609903, 597.79168701171886}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1203</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{214.68670908609903, 595.04168701171886}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1204</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1200</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1206</integer> + <key>Points</key> + <array> + <string>{284.43671417236339, 698.95835367838504}</string> + <string>{283.68671417236351, 696.58335367838527}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{264.43671417236328, 588.70835367838527}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1207</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{217.18671417236328, 597.45835367838527}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1208</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{214.43671417236328, 594.70835367838527}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1209</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1205</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{217.02502568563636, 597.46832069338279}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1210</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1198</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{480.49999872844216, 864.96333555380545}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1212</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 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+ <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1215</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{441.99999491373575, 826.37500751018513}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1216</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + 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<key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1227</integer> + <key>Points</key> + <array> + <string>{476.24999491373552, 597.79168701171864}</string> + <string>{476.99999491373563, 600.16668701171864}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + 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<key>ID</key> + <integer>1244</integer> + <key>Points</key> + <array> + <string>{429.42669677734398, 945.3333333333303}</string> + <string>{427.05169677734398, 944.58333333333019}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{320.42669677734375, 924.08333333333019}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1245</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{327.92669677734398, 878.08333333333019}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1246</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{325.17669677734398, 875.33333333333019}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1247</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1243</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1249</integer> + <key>Points</key> + <array> + <string>{328.26003011067723, 912.08333841959472}</string> + <string>{330.63503011067723, 912.83333841959472}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{421.26003011067723, 914.83333841959472}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1250</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{328.26003011067723, 877.83333841959472}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1251</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{325.51003011067723, 875.08333841959472}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1252</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1248</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{327.92668660481695, 877.67164993286758}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1253</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1241</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{205.66167195637968, 750.54168065389615}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1255</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 7}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1257</integer> + <key>Points</key> + <array> + <string>{268.25000000000023, 779.29167683918968}</string> + <string>{265.87500000000023, 778.54167683918956}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{159.24999999999994, 758.04167683918956}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1258</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{166.75, 712.04167683918956}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1259</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{164, 709.29167683918956}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1260</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1256</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1262</integer> + <key>Points</key> + <array> + <string>{167.08333333333348, 746.0416819254541}</string> + <string>{169.45833333333348, 746.7916819254541}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{260.08333333333348, 748.7916819254541}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1263</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{167.08333333333348, 711.7916819254541}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1264</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{164.33333333333348, 709.0416819254541}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1265</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1261</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{166.74998982747337, 711.62999343872696}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1266</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1254</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{528.01506551106706, 750.54168065389615}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1268</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 8}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1270</integer> + <key>Points</key> + <array> + <string>{590.60339355468773, 779.29167683918968}</string> + <string>{588.22839355468773, 778.54167683918956}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{481.6033935546875, 758.04167683918956}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1271</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{489.10339355468773, 712.04167683918956}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1272</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{486.35339355468773, 709.29167683918956}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1273</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1269</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1275</integer> + <key>Points</key> + <array> + <string>{489.43672688802098, 746.0416819254541}</string> + <string>{491.81172688802098, 746.7916819254541}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{582.43672688802098, 748.7916819254541}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1276</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{489.43672688802098, 711.7916819254541}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1277</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{486.68672688802098, 709.0416819254541}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1278</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1274</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{489.10338338216064, 711.62999343872696}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1279</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1267</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{306.14882584901056, 766.45459545146662}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1280</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{468.3533935546875, 695.66666666666504}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1281</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{440.55795213074884, 760.88380015384382}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1282</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{366.83834838867119, 584.49999872844194}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1284</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1286</integer> + <key>Points</key> + <array> + <string>{429.42667643229174, 613.24999491373558}</string> + <string>{427.05167643229174, 612.49999491373546}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{320.42667643229152, 591.99999491373546}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1287</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{327.92667643229174, 545.99999491373546}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1288</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{325.17667643229174, 543.24999491373546}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1289</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1285</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1291</integer> + <key>Points</key> + <array> + <string>{328.26000976562511, 579.99999999999977}</string> + <string>{330.63500976562511, 580.74999999999977}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{421.260009765625, 582.74999999999977}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1292</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{328.26000976562523, 545.74999999999977}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1293</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{325.51000976562523, 542.99999999999977}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1294</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1290</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{327.92666625976494, 545.58831151327263}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1295</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1283</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{281.3533935546875, 695.66666666666504}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1296</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{442.5579845556756, 629.04542696963983}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1297</integer> + <key>Rotation</key> + <real>225</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{374.84336344400776, 790.58333841959472}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1298</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{374.84335708617891, 600.24999491373535}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1299</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{309.12873002381525, 629.45457637798029}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1300</integer> + <key>Rotation</key> + <real>135</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>1184</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{181.15661763567644, 222.11968549092626}, {50.666667938232422, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1024</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.13195</string> + <key>g</key> + <string>0.165669</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{170.4899658333193, 209.364706433908}, {72, 72}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1025</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1023</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{194.48495483398159, 368.44802729289523}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1027</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1029</integer> + <key>Points</key> + <array> + <string>{257.0732828776022, 397.19802347818882}</string> + <string>{254.69828287760208, 396.4480234781887}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{148.07328287760188, 375.9480234781887}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1030</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.57328287760205, 329.9480234781887}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1031</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{152.82328287760205, 327.1980234781887}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1032</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1028</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1034</integer> + <key>Points</key> + <array> + <string>{155.90661621093548, 363.94802856445312}</string> + <string>{158.28161621093548, 364.69802856445312}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{248.90661621093545, 366.69802856445312}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1035</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.90661621093548, 329.69802856445312}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1036</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{153.15661621093548, 326.94802856445312}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1037</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1033</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.57327270507534, 329.53634007772598}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1038</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1026</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{59.499998728441994, 233.36969502765339}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1040</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 2}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1042</integer> + <key>Points</key> + <array> + <string>{55.249994913735321, 194.78136698403296}</string> + <string>{55.999994913735435, 197.1563669840329}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{59.249994913735435, 286.53136698403307}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1043</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{20.999994913735549, 194.78136698403301}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1044</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{18.249994913735549, 192.03136698403301}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1045</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1041</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1047</integer> + <key>Points</key> + <array> + <string>{87.999999999999915, 295.9480336506993}</string> + <string>{87.250000000000028, 293.57303365069941}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{67.999999999999915, 185.69803365069959}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1048</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{20.749999999999915, 194.44803365069947}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1049</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{17.999999999999915, 191.69803365069947}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1050</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1046</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{20.588311513272686, 194.45800066569694}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1051</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1039</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{329.22993342082486, 233.36969502765339}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1053</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1055</integer> + <key>Points</key> + <array> + <string>{324.97992960611816, 194.7813669840329}</string> + <string>{325.72992960611828, 197.15636698403287}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{328.97992960611828, 286.53136698403307}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1056</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{290.72992960611839, 194.78136698403301}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1057</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{287.97992960611839, 192.03136698403301}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1058</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1054</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1060</integer> + <key>Points</key> + <array> + <string>{357.72993469238281, 295.9480336506993}</string> + <string>{356.97993469238293, 293.57303365069941}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{337.72993469238281, 185.69803365069953}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1061</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{290.47993469238281, 194.44803365069947}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1062</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{287.72993469238281, 191.69803365069947}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1063</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1059</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{290.31824620565556, 194.45800066569686}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1064</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1052</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{194.48495483398159, 92.448027292895233}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1066</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1068</integer> + <key>Points</key> + <array> + <string>{257.0732828776022, 121.19802347818882}</string> + <string>{254.69828287760208, 120.4480234781887}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{148.07328287760188, 99.948023478188702}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1069</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.57328287760205, 53.948023478188688}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1070</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{152.82328287760205, 51.198023478188688}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1071</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1067</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1073</integer> + <key>Points</key> + <array> + <string>{155.90661621093548, 87.948028564453111}</string> + <string>{158.28161621093548, 88.698028564453111}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{248.90661621093545, 90.698028564453111}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1074</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.90661621093548, 53.698028564453111}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1075</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{153.15661621093548, 50.948028564453111}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1076</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1072</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{155.57327270507534, 53.536340077725967}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1077</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1065</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{131.48995971679412, 178.36470031738281}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1078</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{273.48996988932043, 178.36469523111947}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1079</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{202.48996988932029, 249.36468505859375}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1080</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{202.48995971679412, 107.28136189778644}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1081</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>1022</integer> + </dict> + </array> + <key>GridInfo</key> + <dict/> + <key>HPages</key> + <integer>1</integer> + <key>KeepToScale</key> + <false/> + <key>Layers</key> + <array> + <dict> + <key>Lock</key> + <string>NO</string> + <key>Name</key> + <string>Layer 1</string> + <key>Print</key> + <string>YES</string> + <key>View</key> + <string>YES</string> + </dict> + </array> + <key>LayoutInfo</key> + <dict> + <key>Animate</key> + <string>NO</string> + <key>circoMinDist</key> + <real>18</real> + <key>circoSeparation</key> + <real>0.0</real> + <key>layoutEngine</key> + <string>dot</string> + <key>neatoSeparation</key> + <real>0.0</real> + <key>twopiSeparation</key> + <real>0.0</real> + </dict> + <key>Orientation</key> + <integer>2</integer> + <key>PrintOnePage</key> + <false/> + <key>RowAlign</key> + <integer>1</integer> + <key>RowSpacing</key> + <real>36</real> + <key>SheetTitle</key> + <string>Rotor Assignments</string> + <key>UniqueID</key> + <integer>2</integer> + <key>VPages</key> + <integer>1</integer> + </dict> + <dict> + <key>ActiveLayerIndex</key> + <integer>0</integer> + <key>AutoAdjust</key> + <true/> + <key>BackgroundGraphic</key> + <dict> + <key>Bounds</key> + <string>{{0, 0}, {806, 1132}}</string> + <key>Class</key> + <string>SolidGraphic</string> + <key>ID</key> + <integer>2</integer> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + </dict> + <key>BaseZoom</key> + <integer>0</integer> + <key>CanvasOrigin</key> + <string>{0, 0}</string> + <key>ColumnAlign</key> + <integer>1</integer> + <key>ColumnSpacing</key> + <real>36</real> + <key>DisplayScale</key> + <string>1 0/72 in = 1.0000 in</string> + <key>GraphicsList</key> + <array> + <dict> + <key>Bounds</key> + <string>{{479, 926}, {45, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>1210</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\b\fs24 \cf0 HEXA +\b0 X}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{323.13577025880016, 749.76557170439401}, {50.666667938232422, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1124</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.13195</string> + <key>g</key> + <string>0.165669</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{312.46911845644303, 737.01059264737569}, {72, 72}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1125</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1123</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{407.17230315305846, 883.72204834096681}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1127</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1129</integer> + <key>Points</key> + <array> + <string>{379.80522301611819, 860.03627302756399}</string> + <string>{381.64224206895665, 861.71808336155198}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{432.69752786153174, 932.25483880979243}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1130</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{368.7196421785618, 844.9870622696244}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1131</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{365.9696421785618, 842.2370622696244}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1132</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1128</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1134</integer> + <key>Points</key> + <array> + <string>{458.75089272822612, 931.27417383395721}</string> + <string>{456.91387367538789, 929.59236349996911}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{389.85858788281303, 840.55560805172911}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1135</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{368.33647356578285, 844.82338459189691}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1136</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{365.58647356578285, 842.07338459189691}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1137</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1133</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{368.26061274159781, 844.81035428333826}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1138</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1126</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{267.75726457856609, 881.27816449485533}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1140</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 6}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1142</integer> + <key>Points</key> + <array> + <string>{331.94303989196902, 882.48992268280176}</string> + <string>{329.51122955798087, 883.02790362996325}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{230.47447410974044, 913.3476178373885}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1143</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{228.99225064990861, 842.82550352035832}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1144</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{226.24225064990861, 840.07550352035832}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1145</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1141</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1147</integer> + <key>Points</key> + <array> + <string>{227.70513908557558, 904.27791574513662}</string> + <string>{230.13694941956365, 903.73993479797491}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{313.17370486780385, 854.92022059054989}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1148</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{229.15592832763582, 842.44233490757972}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1149</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{226.40592832763582, 839.69233490757972}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1150</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1146</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{228.84558214533197, 842.36647408339456}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1151</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1139</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{474.97119637474935, 761.64314519248808}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1153</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1155</integer> + <key>Points</key> + <array> + <string>{539.15697168815223, 762.85490338043462}</string> + <string>{536.72516135416413, 763.39288432759611}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{437.68840590592367, 793.71259853502136}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1156</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{436.20618244609187, 723.19048421799118}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1157</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{433.45618244609187, 720.44048421799118}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1158</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1154</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1160</integer> + <key>Points</key> + <array> + <string>{434.91907088175884, 784.64289644276937}</string> + <string>{437.35088121574688, 784.10491549560766}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{520.38763666398711, 735.28520128818252}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1161</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{436.36986012381902, 722.80731560521247}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1162</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{433.61986012381902, 720.05731560521247}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1163</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1159</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{436.05951394151521, 722.73145478102731}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1164</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1152</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{197.82245308809811, 760.38763453076365}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1166</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 2}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1168</integer> + <key>Points</key> + <array> + <string>{170.45537295115798, 736.70185921736106}</string> + <string>{172.29239200399638, 738.38366955134893}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{223.34767779657142, 808.92042499958939}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1169</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{159.36979211360145, 721.65264845942124}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1170</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{156.61979211360145, 718.90264845942124}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1171</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1167</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1173</integer> + <key>Points</key> + <array> + <string>{249.4010426632658, 807.93976002375393}</string> + <string>{247.56402361042768, 806.25794968976606}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{180.50873781785265, 717.22119424152584}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1174</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{158.98662350082267, 721.48897078169387}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1175</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{156.23662350082267, 718.73897078169387}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1176</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1172</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{158.91076267663743, 721.47594047313521}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1177</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1165</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{405.7864385681853, 642.051622339657}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1179</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 5}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1181</integer> + <key>Points</key> + <array> + <string>{378.41935843124503, 618.36584702625407}</string> + <string>{380.25637748408349, 620.04765736024217}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{431.31166327665852, 690.58441280848263}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1182</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{367.33377759368858, 603.3166362683146}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1183</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{364.58377759368858, 600.5666362683146}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1184</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1180</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1186</integer> + <key>Points</key> + <array> + <string>{457.36502814335307, 689.6037478326474}</string> + <string>{455.52800909051496, 687.92193749865953}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{388.47272329793987, 598.8851820504193}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1187</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{366.95060898090981, 603.15295859058722}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1188</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{364.20060898090981, 600.40295859058722}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1189</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1185</integer> + <key>Rotation</key> + <real>240</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{366.87474815672459, 603.13992828202845}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1190</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1178</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{416.05401025695778, 706.97194681357246}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1191</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{273.20840928884093, 706.24568349439642}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1192</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{309.23428435411637, 768.64435011115415}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1193</integer> + <key>Rotation</key> + <real>30</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{380.02813770004576, 644.57328454142464}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1194</integer> + <key>Rotation</key> + <real>30</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{268.61421230672084, 643.49244485638758}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1196</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1198</integer> + <key>Points</key> + <array> + <string>{332.79998762012377, 644.70420304433412}</string> + <string>{330.36817728613562, 645.24218399149561}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{231.33142183789516, 675.56189819892086}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1199</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{229.84919837806336, 605.03978388189068}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1200</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{227.09919837806336, 602.28978388189068}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1201</integer> + <key>Rotation</key> + <real>150</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1197</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1203</integer> + <key>Points</key> + <array> + <string>{228.56208681373033, 666.49219610666887}</string> + <string>{230.99389714771837, 665.95421515950716}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{314.03065259595854, 617.13450095208213}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1204</integer> + <key>Rotation</key> + <real>240</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{230.01287605579051, 604.65661526911197}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1205</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{227.26287605579051, 601.90661526911197}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1206</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1202</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{229.7025298734867, 604.58075444492681}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1207</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1195</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{380.57688435489479, 768.55104482376805}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1208</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{309.53521396482506, 645.50328259865807}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1209</integer> + <key>Rotation</key> + <real>330</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>1122</integer> + <key>Rotation</key> + <real>330</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{431, 450}, {44, 14}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>FitText</key> + <string>YES</string> + <key>Flow</key> + <string>Resize</string> + <key>ID</key> + <integer>1121</integer> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Pad</key> + <integer>0</integer> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\b\fs24 \cf0 HEXA +\b0 +}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>Wrap</key> + <string>NO</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{326.15660523791308, 258.95613225301122}, {50.666667938232422, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>320</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.13195</string> + <key>g</key> + <string>0.165669</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{315.48995343555595, 246.20115319599296}, {72, 72}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>321</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>ID</key> + <integer>319</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{339.36497966449247, 411.82398351031941}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>323</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 2}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>325</integer> + <key>Points</key> + <array> + <string>{335.11497584978588, 373.23565546669897}</string> + <string>{335.86497584978599, 375.61065546669897}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{339.11497584978599, 464.98565546669914}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>326</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.86497584978611, 373.23565546669909}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>327</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{298.11497584978611, 370.48565546669909}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>328</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>324</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>330</integer> + <key>Points</key> + <array> + <string>{367.86498093605042, 474.40232213336532}</string> + <string>{367.11498093605053, 472.02732213336543}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{347.86498093605042, 364.15232213336554}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>331</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.61498093605042, 372.90232213336543}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>332</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{297.86498093605042, 370.15232213336543}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>333</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>329</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.45329244932327, 372.91228914836296}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>334</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>322</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{219.84995651245046, 339.99999872844211}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>336</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 3}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>338</integer> + <key>Points</key> + <array> + <string>{282.43828455607104, 368.74999491373569}</string> + <string>{280.06328455607098, 367.99999491373558}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{173.43828455607076, 347.49999491373558}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>339</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{180.93828455607093, 301.49999491373558}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>340</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> 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</dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>337</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>343</integer> + <key>Points</key> + <array> + <string>{181.27161788940435, 335.5}</string> + <string>{183.64661788940435, 336.25}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{274.2716178894043, 338.25}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>344</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{181.27161788940435, 301.25}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>345</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{178.52161788940435, 298.5}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>346</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>342</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{180.93827438354421, 301.08831151327286}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>347</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>335</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{459.11999511718477, 339.99999872844211}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>349</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 6}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>351</integer> + <key>Points</key> + <array> + <string>{521.70832316080532, 368.74999491373569}</string> + <string>{519.33332316080532, 367.99999491373558}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{412.70832316080504, 347.49999491373558}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>352</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.20832316080521, 301.49999491373558}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>353</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{417.45832316080521, 298.74999491373558}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>354</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>350</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>356</integer> + <key>Points</key> + <array> + <string>{420.54165649413864, 335.5}</string> + <string>{422.91665649413864, 336.25}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{513.54165649413858, 338.25}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>357</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.54165649413864, 301.25}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>358</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{417.79165649413864, 298.5}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>359</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>355</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.20831298827852, 301.08831151327286}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>360</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>348</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{219.72989813487507, 200.33832295734095}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>362</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 5}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>364</integer> + <key>Points</key> + <array> + <string>{215.47989432016846, 161.74999491372051}</string> + <string>{216.22989432016857, 164.12499491372046}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{219.47989432016857, 253.49999491372063}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>365</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{181.22989432016868, 161.74999491372057}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>366</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{178.47989432016868, 158.99999491372057}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>367</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>363</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>369</integer> + <key>Points</key> + <array> + <string>{248.22989940643305, 262.91666158038686}</string> + <string>{247.47989940643316, 260.54166158038697}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{228.22989940643305, 152.66666158038709}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>370</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{180.97989940643305, 161.41666158038697}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>371</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{178.22989940643305, 158.66666158038697}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>372</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>368</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{180.81821091970582, 161.42662859538444}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>373</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>361</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{458.99999872844205, 201.83832295734095}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>375</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>377</integer> + <key>Points</key> + <array> + <string>{454.74999491373541, 163.24999491372051}</string> + <string>{455.49999491373552, 165.62499491372046}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{458.74999491373552, 254.99999491372063}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>378</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.49999491373563, 163.24999491372057}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>379</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{417.74999491373563, 160.49999491372057}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>380</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>376</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>382</integer> + <key>Points</key> + <array> + <string>{487.5, 264.41666158038686}</string> + <string>{486.75000000000011, 262.04166158038697}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{467.5, 154.16666158038709}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>383</integer> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.25, 162.91666158038697}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>384</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{417.5, 160.16666158038697}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>385</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>381</integer> + <key>Rotation</key> + <real>270</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{420.0883115132728, 162.92662859538444}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>386</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>374</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{409.00361117886365, 251.82615622621091}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>387</integer> + <key>Rotation</key> + <real>300</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{285.65882358120746, 179.77439325790914}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>388</integer> + <key>Rotation</key> + <real>300</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{285.65881327292152, 251.82616124293514}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>389</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{409.00362148715112, 179.77439325790914}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>390</integer> + <key>Rotation</key> + <real>60</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{339.48495483398165, 134.49999872844211}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>392</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>394</integer> + <key>Points</key> + <array> + <string>{402.0732828776022, 163.24999491373569}</string> + <string>{399.69828287760214, 162.49999491373558}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{293.07328287760191, 141.99999491373558}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>395</integer> + <key>Rotation</key> + <real>90</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.57328287760208, 95.999994913735577}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>396</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{297.82328287760208, 93.249994913735577}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>397</integer> + <key>Rotation</key> + <real>180</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>393</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>399</integer> + <key>Points</key> + <array> + <string>{300.90661621093551, 130}</string> + <string>{303.28161621093551, 130.75}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{393.90661621093545, 132.75}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>400</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.90661621093551, 95.75}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>401</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{298.15661621093551, 93}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>402</integer> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>398</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{300.5732727050754, 95.588311513272842}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>403</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>391</integer> + </dict> + <dict> + <key>Bounds</key> + <string>{{347.48996988932038, 287.41665649414062}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>404</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{347.4899597167942, 145.33333333333331}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>405</integer> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>318</integer> + </dict> + </array> + <key>GridInfo</key> + <dict/> + <key>HPages</key> + <integer>1</integer> + <key>KeepToScale</key> + <false/> + <key>Layers</key> + <array> + <dict> + <key>Lock</key> + <string>NO</string> + <key>Name</key> + <string>Layer 1</string> + <key>Print</key> + <string>YES</string> + <key>View</key> + <string>YES</string> + </dict> + </array> + <key>LayoutInfo</key> + <dict> + <key>Animate</key> + <string>NO</string> + <key>circoMinDist</key> + <real>18</real> + <key>circoSeparation</key> + <real>0.0</real> + <key>layoutEngine</key> + <string>dot</string> + <key>neatoSeparation</key> + <real>0.0</real> + <key>twopiSeparation</key> + <real>0.0</real> + </dict> + <key>Orientation</key> + <integer>2</integer> + <key>PrintOnePage</key> + <false/> + <key>RowAlign</key> + <integer>1</integer> + <key>RowSpacing</key> + <real>36</real> + <key>SheetTitle</key> + <string>Rotor Assignment 2</string> + <key>UniqueID</key> + <integer>3</integer> + <key>VPages</key> + <integer>1</integer> + </dict> + <dict> + <key>ActiveLayerIndex</key> + <integer>0</integer> + <key>AutoAdjust</key> + <true/> + <key>BackgroundGraphic</key> + <dict> + <key>Bounds</key> + <string>{{0, 0}, {806, 1132}}</string> + <key>Class</key> + <string>SolidGraphic</string> + <key>ID</key> + <integer>2</integer> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + </dict> + <key>BaseZoom</key> + <integer>0</integer> + <key>CanvasOrigin</key> + <string>{0, 0}</string> + <key>ColumnAlign</key> + <integer>1</integer> + <key>ColumnSpacing</key> + <real>36</real> + <key>DisplayScale</key> + <string>1 0/72 in = 1.0000 in</string> + <key>GraphicsList</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{317.51000800051321, 240.42163882949882}, {50.666667938232422, 36}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1417</integer> + <key>Rotation</key> + <real>270</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>b</key> + <string>0.13195</string> + <key>g</key> + <string>0.165669</string> + <key>r</key> + <string>1</string> + </dict> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{306.84335619815613, 227.6666597724805}, {72, 72}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1418</integer> + <key>Rotation</key> + <real>45</real> + <key>Shape</key> + <string>Rectangle</string> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>CornerRadius</key> + <real>9</real> + </dict> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1416</integer> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{181.87174317649047, 313.76849034719959}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1421</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 6}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1423</integer> + <key>Points</key> + <array> + <string>{159.49938242361688, 285.249576623557}</string> + <string>{161.10116522486757, 287.15677793899749}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{201.23696348262672, 364.71920821881605}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1424</integer> + <key>Rotation</key> + <real>157.5</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{143.41457890258161, 275.07218626448082}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1425</integer> + <key>Rotation</key> + <real>67.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{140.66457890258161, 272.32218626448082}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1426</integer> + <key>Rotation</key> + <real>67.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1422</integer> + <key>Rotation</key> + <real>247.5</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1428</integer> + <key>Points</key> + <array> + <string>{228.47124867019181, 366.1825051496383}</string> + <string>{226.8694658689414, 364.27530383419804}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{170.73366761118237, 268.21287355437971}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1429</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{143.05605219122737, 274.85989550871483}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1430</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{140.30605219122737, 272.10989550871483}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1431</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1427</integer> + <key>Rotation</key> + <real>247.5</real> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{142.96005354220407, 274.85679605657162}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1432</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + 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<dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{230.91124979313764, 62.286794210795819}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1439</integer> + <key>Rotation</key> + <real>67.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + 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<key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{260.98033850173846, 58.177481500694711}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1442</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{233.30272308178348, 64.824503455029671}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1443</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{230.55272308178348, 62.074503455029671}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1444</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + 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<string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.673128</string> + <key>g</key> + <string>0.534129</string> + <key>r</key> + <string>0.217952</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + </array> + <key>ID</key> + <integer>1433</integer> + <key>Rotation</key> + <real>337.5</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{392.11278792691934, 400.85319857921803}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1447</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 4}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>VFlip</key> + <string>YES</string> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1449</integer> + <key>Points</key> + <array> + <string>{369.74042717404592, 372.33428485557562}</string> + <string>{371.34220997529656, 374.24148617101616}</string> + </array> + <key>Style</key> + <dict> + 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<key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{140.54165693979732, 148.30776140259383}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1497</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> 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<string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Bounds</key> + <string>{{394.33229525377027, 98.150584482954116}, {24, 24}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1516</integer> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>Text</key> + <string>{\rtf1\ansi\ansicpg1252\cocoartf1187\cocoasubrtf370 +\cocoascreenfonts1{\fonttbl\f0\fswiss\fcharset0 Helvetica;} +{\colortbl;\red255\green255\blue255;} +\pard\tx560\tx1120\tx1680\tx2240\tx2800\tx3360\tx3920\tx4480\tx5040\tx5600\tx6160\tx6720\pardirnatural\qc + +\f0\fs24 \cf0 1}</string> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1518</integer> + <key>Points</key> + <array> + <string>{459.47976189091298, 106.26624457633855}</string> + <string>{456.99853544130355, 106.48220824401977}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{353.57572975410767, 124.58072337343253}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1519</integer> + <key>Rotation</key> + <real>67.5</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{355.52859926005328, 59.693420024512235}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1520</integer> + <key>Rotation</key> + <real>157.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{352.77859926005328, 56.943420024512235}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1521</integer> + <key>Rotation</key> + <real>157.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1517</integer> + <key>Rotation</key> + <real>337.5</real> + </dict> + <dict> + <key>Class</key> + <string>Group</string> + <key>Graphics</key> + <array> + <dict> + <key>Class</key> + <string>LineGraphic</string> + <key>ID</key> + <integer>1523</integer> + <key>Points</key> + <array> + <string>{353.28972753783154, 114.26206913039776}</string> + <string>{355.77095398744109, 114.04610546271654}</string> + </array> + <key>Style</key> + <dict> + <key>stroke</key> + <dict> + <key>HeadArrow</key> + <string>0</string> + <key>Legacy</key> + <true/> + <key>TailArrow</key> + <string>0</string> + </dict> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{443.19375967463657, 77.447590333303964}, {16, 18.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1524</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>HorizontalTriangle</string> + <key>Style</key> + <dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + <dict> + <key>Bounds</key> + <string>{{355.74089016869129, 59.33489368222402}, {101.5, 101.5}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1525</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{352.99089016869129, 56.58489368222402}, {107, 107}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>HFlip</key> + <string>YES</string> + <key>ID</key> + <integer>1526</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>AdjustableArc</string> + <key>ShapeData</key> + <dict> + <key>endAngle</key> + <real>72</real> + <key>startAngle</key> + <real>281</real> + </dict> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + <key>TextRelativeArea</key> + <string>{{0.10000000000000001, 0.14999999999999999}, {0.80000000000000004, 0.69999999999999996}}</string> + </dict> + </array> + <key>ID</key> + <integer>1522</integer> + <key>Rotation</key> + <real>337.5</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{355.42061305353548, 59.238894848667528}, {101.82337649086284, 101.82337649086284}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1527</integer> + <key>Rotation</key> + <real>337.5</real> + <key>Shape</key> + <string>Circle</string> + <key>Style</key> + <dict> + <key>fill</key> + <dict> + <key>Color</key> + <dict> + <key>a</key> + <string>0.78</string> + <key>b</key> + <string>0.234512</string> + <key>g</key> + <string>0.673128</string> + <key>r</key> + <string>0.148947</string> + </dict> + </dict> + <key>shadow</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + <key>stroke</key> + <dict> + <key>Draws</key> + <string>NO</string> + </dict> + </dict> + <key>Text</key> + <dict> + <key>VerticalPad</key> + <integer>0</integer> + </dict> + </dict> + </array> + <key>ID</key> + <integer>1515</integer> + <key>Rotation</key> + <real>337.5</real> + </dict> + <dict> + <key>Bounds</key> + <string>{{252.46989794607327, 160.88960179706885}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1528</integer> + <key>Rotation</key> + <real>292.50006103515625</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{426.89836479441431, 161.02992820772749}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1529</integer> + <key>Rotation</key> + <real>247.5</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{302.52032988683095, 284.35823469264687}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1530</integer> + <key>Rotation</key> + <real>22.500026702880859</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{375.35774119930903, 108.51315184010758}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1531</integer> + <key>Rotation</key> + <real>22.500026702880859</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + <dict> + <key>Bounds</key> + <string>{{303.4692327942559, 110.3467678696648}, {8, 134}}</string> + <key>Class</key> + <string>ShapedGraphic</string> + <key>ID</key> + <integer>1532</integer> + <key>Rotation</key> + <real>157.5</real> + <key>Shape</key> + <string>Rectangle</string> + </dict> + </array> + <key>ID</key> + <integer>1419</integer> + <key>Rotation</key> + <real>45</real> + </dict> + </array> + <key>ID</key> + <integer>1415</integer> + </dict> + </array> + <key>GridInfo</key> + <dict/> + <key>HPages</key> + <integer>1</integer> + <key>KeepToScale</key> + <false/> + <key>Layers</key> + <array> + <dict> + <key>Lock</key> + <string>NO</string> + <key>Name</key> + <string>Layer 1</string> + <key>Print</key> + <string>YES</string> + <key>View</key> + <string>YES</string> + </dict> + </array> + <key>LayoutInfo</key> + <dict> + <key>Animate</key> + <string>NO</string> + <key>circoMinDist</key> + <real>18</real> + <key>circoSeparation</key> + <real>0.0</real> + <key>layoutEngine</key> + <string>dot</string> + <key>neatoSeparation</key> + <real>0.0</real> + <key>twopiSeparation</key> + <real>0.0</real> + </dict> + <key>Orientation</key> + <integer>2</integer> + <key>PrintOnePage</key> + <false/> + <key>RowAlign</key> + <integer>1</integer> + <key>RowSpacing</key> + <real>36</real> + <key>SheetTitle</key> + <string>Rotor Assignment 3</string> + <key>UniqueID</key> + <integer>4</integer> + <key>VPages</key> + <integer>1</integer> + </dict> + </array> + <key>SmartAlignmentGuidesActive</key> + <string>YES</string> + <key>SmartDistanceGuidesActive</key> + <string>YES</string> + <key>UseEntirePage</key> + <false/> + <key>WindowInfo</key> + <dict> + <key>CurrentSheet</key> + <integer>4</integer> + <key>ExpandedCanvases</key> + <array> + <dict> + <key>name</key> + <string>Canvas 1</string> + </dict> + </array> + <key>Frame</key> + <string>{{96, 56}, {1043, 822}}</string> + <key>ListView</key> + <true/> + <key>OutlineWidth</key> + <integer>142</integer> + <key>RightSidebar</key> + <false/> + <key>ShowRuler</key> + <true/> + <key>Sidebar</key> + <true/> + <key>SidebarWidth</key> + <integer>120</integer> + <key>VisibleRegion</key> + <string>{{-51, -33}, {908, 683}}</string> + <key>Zoom</key> + <real>1</real> + <key>ZoomValues</key> + <array> + <array> + <string>Canvas 1</string> + <real>1</real> + <real>0.5</real> + </array> + <array> + <string>Rotor Assignments</string> + <real>1</real> + <real>4</real> + </array> + <array> + <string>Rotor Assignment 2</string> + <real>1</real> + <real>4</real> + </array> + <array> + <string>Rotor Assignment 3</string> + <real>1</real> + <real>1</real> + </array> + <array> + <string>Remote Control</string> + <real>1</real> + <real>1</real> + </array> + </array> + </dict> +</dict> +</plist> @@ -1,5 +1,5 @@ # -# Copyright (C) 2012 PX4 Development Team. All rights reserved. +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions @@ -95,9 +95,14 @@ all: $(STAGED_FIRMWARES) # # Copy FIRMWARES into the image directory. # +# XXX copying the .bin files is a hack to work around the PX4IO uploader +# not supporting .px4 files, and it should be deprecated onced that +# is taken care of. +# $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 @echo %% Copying $@ $(Q) $(COPY) $< $@ + $(Q) $(COPY) $(patsubst %.px4,%.bin,$<) $(patsubst %.px4,%.bin,$@) # # Generate FIRMWARES. @@ -159,11 +164,11 @@ $(NUTTX_ARCHIVES): $(ARCHIVE_DIR)%.export: $(NUTTX_SRC) $(NUTTX_APPS) .PHONY: clean clean: $(Q) $(RMDIR) $(BUILD_DIR)*.build - $(Q) $(REMOVE) -f $(IMAGE_DIR)*.px4 + $(Q) $(REMOVE) $(IMAGE_DIR)*.px4 .PHONY: distclean distclean: clean - $(Q) $(REMOVE) -f $(ARCHIVE_DIR)*.export + $(Q) $(REMOVE) $(ARCHIVE_DIR)*.export $(Q) make -C $(NUTTX_SRC) -r $(MQUIET) distclean # @@ -196,6 +201,11 @@ help: @echo " distclean" @echo " Remove all compilation products, including NuttX RTOS archives." @echo "" + @echo " upload" + @echo " When exactly one config is being built, add this target to upload the" + @echo " firmware to the board when the build is complete. Not supported for" + @echo " all configurations." + @echo "" @echo " Common options:" @echo " ---------------" @echo "" diff --git a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x index 8787443ea..980197d68 100644 --- a/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x +++ b/ROMFS/px4fmu_common/init.d/rc.FMU_quad_x @@ -20,10 +20,10 @@ uorb start # Load microSD params # echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] +param select /fs/microsd/params +if [ -f /fs/microsd/params ] then - param load /fs/microsd/parameters + param load /fs/microsd/params fi # diff --git a/ROMFS/px4fmu_common/init.d/rc.IO_QUAD b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD new file mode 100644 index 000000000..5f2de0d7e --- /dev/null +++ b/ROMFS/px4fmu_common/init.d/rc.IO_QUAD @@ -0,0 +1,107 @@ +#!nsh + +# Disable USB and autostart +set USB no +set MODE quad + +# +# Start the ORB (first app to start) +# +uorb start + +# +# Load microSD params +# +echo "[init] loading microSD params" +param select /fs/microsd/params +if [ -f /fs/microsd/params ] +then + param load /fs/microsd/params +fi + +# +# Force some key parameters to sane values +# MAV_TYPE 1 = fixed wing, 2 = quadrotor, 13 = hexarotor +# see https://pixhawk.ethz.ch/mavlink/ +# +param set MAV_TYPE 2 + +# +# Check if PX4IO Firmware should be upgraded (from Andrew Tridgell) +# +if [ -f /fs/microsd/px4io.bin ] +then + echo "PX4IO Firmware found. Checking Upgrade.." + if cmp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + then + echo "No newer version, skipping upgrade." + else + echo "Loading /fs/microsd/px4io.bin" + if px4io update /fs/microsd/px4io.bin > /fs/microsd/px4io_update.log + then + cp /fs/microsd/px4io.bin /fs/microsd/px4io.bin.current + echo "Flashed /fs/microsd/px4io.bin OK" >> /fs/microsd/px4io_update.log + else + echo "Failed flashing /fs/microsd/px4io.bin" >> /fs/microsd/px4io_update.log + echo "Failed to upgrade PX4IO firmware - check if PX4IO is in bootloader mode" + fi + fi +fi + +# +# Start MAVLink (depends on orb) +# +mavlink start -d /dev/ttyS1 -b 57600 +usleep 5000 + +# +# Start the commander (depends on orb, mavlink) +# +commander start + +# +# Start PX4IO interface (depends on orb, commander) +# +px4io start + +# +# Allow PX4IO to recover from midair restarts. +# this is very unlikely, but quite safe and robust. +px4io recovery + +# +# Start the sensors (depends on orb, px4io) +# +sh /etc/init.d/rc.sensors + +# +# Start GPS interface (depends on orb) +# +gps start + +# +# Start the attitude estimator (depends on orb) +# +attitude_estimator_ekf start + +# +# Load mixer and start controllers (depends on px4io) +# +mixer load /dev/pwm_output /etc/mixers/FMU_quad_+.mix +multirotor_att_control start + +# +# Start logging +# +#sdlog start -s 4 + +# +# Start system state +# +if blinkm start +then + echo "using BlinkM for state indication" + blinkm systemstate +else + echo "no BlinkM found, OK." +fi
\ No newline at end of file diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IO b/ROMFS/px4fmu_common/init.d/rc.PX4IO index 7ae4a5586..925a5703e 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IO +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IO @@ -13,10 +13,10 @@ uorb start # Load microSD params # echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] +param select /fs/microsd/params +if [ -f /fs/microsd/params ] then - param load /fs/microsd/parameters + param load /fs/microsd/params fi # diff --git a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR index ab29e21c7..f55ac2ae3 100644 --- a/ROMFS/px4fmu_common/init.d/rc.PX4IOAR +++ b/ROMFS/px4fmu_common/init.d/rc.PX4IOAR @@ -17,13 +17,13 @@ echo "[init] doing PX4IOAR startup..." uorb start # -# Init the parameter storage +# Load microSD params # echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] +param select /fs/microsd/params +if [ -f /fs/microsd/params ] then - param load /fs/microsd/parameters + param load /fs/microsd/params fi # diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 980b78edd..7614ac0fe 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -17,10 +17,10 @@ hil mode_pwm # Load microSD params # echo "[init] loading microSD params" -param select /fs/microsd/parameters -if [ -f /fs/microsd/parameters ] +param select /fs/microsd/params +if [ -f /fs/microsd/params ] then - param load /fs/microsd/parameters + param load /fs/microsd/params fi # diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index 42c2f52e9..62c7184b8 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -7,6 +7,14 @@ # Start sensor drivers here. # +# +# Check for UORB +# +if uorb start +then + echo "uORB started" +fi + ms5611 start adc start diff --git a/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix new file mode 100644 index 000000000..81b4af30b --- /dev/null +++ b/ROMFS/px4fmu_common/mixers/FMU_quad_w.mix @@ -0,0 +1,6 @@ +Multirotor mixer for PX4FMU +=========================== + +This file defines a single mixer for a quadrotor with a wide configuration. All controls are mixed 100%. + +R: 4w 10000 10000 10000 0 diff --git a/makefiles/README.txt b/makefiles/README.txt new file mode 100644 index 000000000..8b84e4c40 --- /dev/null +++ b/makefiles/README.txt @@ -0,0 +1,71 @@ +PX4 Build System +================ + +The files in this directory implement the PX4 runtime firmware build system +and configuration for the standard PX4 boards and software, in conjunction +with Makefile in the parent directory. + +../Makefile + + Top-level makefile for the PX4 build system. This makefile supports + building NuttX archives, as well as supervising the building of all + of the defined PX4 firmware configurations. + + Try 'make help' in the parent directory for documentation. + +firmware.mk + + Manages the build for one specific firmware configuration. + See the comments at the top of this file for detailed documentation. + + Builds modules, builtin command lists and the ROMFS (if configured). + + This is the makefile directly used by external build systems; it can + be configured to compile modules both inside and outside the PX4 + source tree. When used in this mode, at least BOARD, MODULES and + CONFIG_FILE must be set. + +module.mk + + Called by firmware.mk to build individual modules. + See the comments at the top of this file for detailed documentation. + + Not normally used other than by firmware.mk. + +nuttx.mk + + Called by ../Makefile to build or download the NuttX archives. + +upload.mk + + Called by ../Makefile to upload files to a target board. Can be used + by external build systems as well. + +setup.mk + + Provides common path and tool definitions. Implements host system-specific + compatibility hacks. + +board_<boardname>.mk + + Board-specific configuration for <boardname>. Typically sets CONFIG_ARCH + and then includes the toolchain definition for the board. + +config_<boardname>_<configname>.mk + + Parameters for a specific configuration on a specific board. + The board name is derived from the filename. Sets MODULES to select + source modules to be included in the configuration, may also set + ROMFS_ROOT to build a ROMFS and BUILTIN_COMMANDS to include non-module + commands (e.g. from NuttX) + +toolchain_<toolchainname>.mk + + Provides macros used to compile and link source files. + Accepts EXTRADEFINES to add additional pre-processor symbol definitions, + EXTRACFLAGS, EXTRACXXFLAGS, EXTRAAFLAGS and EXTRALDFLAGS to pass + additional flags to the C compiler, C++ compiler, assembler and linker + respectively. + + Defines the COMPILE, COMPILEXX, ASSEMBLE, PRELINK, ARCHIVE and LINK + macros that are used elsewhere in the build system. diff --git a/makefiles/config_px4fmu_default.mk b/makefiles/config_px4fmu_default.mk index 5d80d2def..cfa57f945 100644 --- a/makefiles/config_px4fmu_default.mk +++ b/makefiles/config_px4fmu_default.mk @@ -14,6 +14,7 @@ MODULES += drivers/device MODULES += drivers/stm32 MODULES += drivers/stm32/adc MODULES += drivers/stm32/tone_alarm +MODULES += drivers/led MODULES += drivers/px4io MODULES += drivers/px4fmu MODULES += drivers/boards/px4fmu @@ -29,6 +30,9 @@ MODULES += drivers/gps MODULES += drivers/hil MODULES += drivers/hott_telemetry MODULES += drivers/blinkm +MODULES += drivers/mkblctrl +MODULES += drivers/md25 +MODULES += drivers/ets_airspeed MODULES += modules/sensors # @@ -102,6 +106,10 @@ MODULES += modules/uORB # https://pixhawk.ethz.ch/px4/dev/debug_values #MODULES += examples/px4_mavlink_debug +# Tutorial code from +# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control +MODULES += examples/fixedwing_control + # # Transitional support - add commands from the NuttX export archive. # diff --git a/makefiles/firmware.mk b/makefiles/firmware.mk index fff0e1c65..497e79237 100644 --- a/makefiles/firmware.mk +++ b/makefiles/firmware.mk @@ -193,7 +193,7 @@ EXTRA_CLEANS = # for GMSL). # where to look for modules -MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC) +MODULE_SEARCH_DIRS += $(WORK_DIR) $(MODULE_SRC) $(PX4_MODULE_SRC) # sort and unique the modules list MODULES := $(sort $(MODULES)) @@ -201,9 +201,9 @@ MODULES := $(sort $(MODULES)) # locate the first instance of a module by full path or by looking on the # module search path define MODULE_SEARCH - $(abspath $(firstword $(wildcard $(1)/module.mk) \ - $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk)) \ - MISSING_$1)) + $(firstword $(abspath $(wildcard $(1)/module.mk)) \ + $(abspath $(foreach search_dir,$(MODULE_SEARCH_DIRS),$(wildcard $(search_dir)/$(1)/module.mk))) \ + MISSING_$1) endef # make a list of module makefiles and check that we found them all @@ -223,12 +223,15 @@ MODULE_OBJS := $(foreach path,$(dir $(MODULE_MKFILES)),$(WORK_DIR)$(path)module .PHONY: $(MODULE_OBJS) $(MODULE_OBJS): relpath = $(patsubst $(WORK_DIR)%,%,$@) $(MODULE_OBJS): mkfile = $(patsubst %module.pre.o,%module.mk,$(relpath)) +$(MODULE_OBJS): workdir = $(@D) $(MODULE_OBJS): $(GLOBAL_DEPS) $(NUTTX_CONFIG_HEADER) + $(Q) $(MKDIR) -p $(workdir) $(Q) $(MAKE) -r -f $(PX4_MK_DIR)module.mk \ - MODULE_WORK_DIR=$(dir $@) \ + -C $(workdir) \ + MODULE_WORK_DIR=$(workdir) \ MODULE_OBJ=$@ \ MODULE_MK=$(mkfile) \ - MODULE_NAME=$(lastword $(subst /, ,$(@D))) \ + MODULE_NAME=$(lastword $(subst /, ,$(workdir))) \ module # make a list of phony clean targets for modules @@ -266,14 +269,18 @@ endif # # Add dependencies on anything in the ROMFS root -ROMFS_DEPS += $(wildcard \ - (ROMFS_ROOT)/* \ - (ROMFS_ROOT)/*/* \ - (ROMFS_ROOT)/*/*/* \ - (ROMFS_ROOT)/*/*/*/* \ - (ROMFS_ROOT)/*/*/*/*/* \ - (ROMFS_ROOT)/*/*/*/*/*/*) -ROMFS_IMG = $(WORK_DIR)romfs.img +ROMFS_FILES += $(wildcard \ + $(ROMFS_ROOT)/* \ + $(ROMFS_ROOT)/*/* \ + $(ROMFS_ROOT)/*/*/* \ + $(ROMFS_ROOT)/*/*/*/* \ + $(ROMFS_ROOT)/*/*/*/*/* \ + $(ROMFS_ROOT)/*/*/*/*/*/*) +ifeq ($(ROMFS_FILES),) +$(error ROMFS_ROOT $(ROMFS_ROOT) specifies a directory containing no files) +endif +ROMFS_DEPS += $(ROMFS_FILES) +ROMFS_IMG = romfs.img ROMFS_CSRC = $(ROMFS_IMG:.img=.c) ROMFS_OBJ = $(ROMFS_CSRC:.c=.o) LIBS += $(ROMFS_OBJ) diff --git a/makefiles/module.mk b/makefiles/module.mk index 59c67f574..db6f4e15e 100644 --- a/makefiles/module.mk +++ b/makefiles/module.mk @@ -39,6 +39,10 @@ # symbols, as the global namespace is shared between all modules. Normally an # module will just export one or more <command>_main functions. # +# IMPORTANT NOTE: +# +# This makefile assumes it is being invoked in the module's output directory. +# # # Variables that can be set by the module's module.mk: @@ -179,26 +183,30 @@ CXXFLAGS += -fvisibility=$(DEFAULT_VISIBILITY) -include $(PX4_INCLUDE_DIR)visibi # module: $(MODULE_OBJ) $(MODULE_COMMAND_FILES) +## +## Locate sources (allows relative source paths in module.mk) +## +#define SRC_SEARCH +# $(abspath $(firstword $(wildcard $1) $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) +#endef # -# Locate sources (allows relative source paths in module.mk) +#ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) +#MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) +#ifneq ($(MISSING_SRCS),) +#$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) +#endif +#ifeq ($(ABS_SRCS),) +#$(error $(MODULE_MK): nothing to compile in SRCS) +#endif # -define SRC_SEARCH - $(abspath $(firstword $(wildcard $(MODULE_SRC)/$1) MISSING_$1)) -endef +## +## Object files we will generate from sources +## +#OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) -ABS_SRCS ?= $(foreach src,$(SRCS),$(call SRC_SEARCH,$(src))) -MISSING_SRCS := $(subst MISSING_,,$(filter MISSING_%,$(ABS_SRCS))) -ifneq ($(MISSING_SRCS),) -$(error $(MODULE_MK): missing in SRCS: $(MISSING_SRCS)) -endif -ifeq ($(ABS_SRCS),) -$(error $(MODULE_MK): nothing to compile in SRCS) -endif - -# -# Object files we will generate from sources -# -OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) +OBJS = $(addsuffix .o,$(SRCS)) +$(info SRCS $(SRCS)) +$(info OBJS $(OBJS)) # # SRCS -> OBJS rules @@ -206,13 +214,16 @@ OBJS := $(foreach src,$(ABS_SRCS),$(MODULE_WORK_DIR)$(src).o) $(OBJS): $(GLOBAL_DEPS) -$(filter %.c.o,$(OBJS)): $(MODULE_WORK_DIR)%.c.o: %.c $(GLOBAL_DEPS) +vpath %.c $(MODULE_SRC) +$(filter %.c.o,$(OBJS)): %.c.o: %.c $(GLOBAL_DEPS) $(call COMPILE,$<,$@) -$(filter %.cpp.o,$(OBJS)): $(MODULE_WORK_DIR)%.cpp.o: %.cpp $(GLOBAL_DEPS) +vpath %.cpp $(MODULE_SRC) +$(filter %.cpp.o,$(OBJS)): %.cpp.o: %.cpp $(GLOBAL_DEPS) $(call COMPILEXX,$<,$@) -$(filter %.S.o,$(OBJS)): $(MODULE_WORK_DIR)%.S.o: %.S $(GLOBAL_DEPS) +vpath %.S $(MODULE_SRC) +$(filter %.S.o,$(OBJS)): %.S.o: %.S $(GLOBAL_DEPS) $(call ASSEMBLE,$<,$@) # diff --git a/makefiles/toolchain_gnu-arm-eabi.mk b/makefiles/toolchain_gnu-arm-eabi.mk index 5e6a5bf04..874e7154c 100644 --- a/makefiles/toolchain_gnu-arm-eabi.mk +++ b/makefiles/toolchain_gnu-arm-eabi.mk @@ -144,6 +144,7 @@ CFLAGS = $(ARCHCFLAGS) \ $(INSTRUMENTATIONDEFINES) \ $(ARCHDEFINES) \ $(EXTRADEFINES) \ + $(EXTRACFLAGS) \ -fno-common \ $(addprefix -I,$(INCLUDE_DIRS)) @@ -156,18 +157,22 @@ CXXFLAGS = $(ARCHCXXFLAGS) \ $(ARCHXXINCLUDES) \ $(INSTRUMENTATIONDEFINES) \ $(ARCHDEFINES) \ - $(EXTRADEFINES) \ -DCONFIG_WCHAR_BUILTIN \ + $(EXTRADEFINES) \ + $(EXTRACXXFLAGS) \ $(addprefix -I,$(INCLUDE_DIRS)) # Flags we pass to the assembler # -AFLAGS = $(CFLAGS) -D__ASSEMBLY__ +AFLAGS = $(CFLAGS) -D__ASSEMBLY__ \ + $(EXTRADEFINES) \ + $(EXTRAAFLAGS) # Flags we pass to the linker # LDFLAGS += --warn-common \ --gc-sections \ + $(EXTRALDFLAGS) \ $(addprefix -T,$(LDSCRIPT)) \ $(addprefix -L,$(LIB_DIRS)) @@ -249,6 +254,20 @@ endef # - relink the object and insert the binary file # - edit symbol names to suit # +# NOTE: exercise caution using this with absolute pathnames; it looks +# like the MinGW tools insert an extra _ in the binary symbol name; e.g. +# the path: +# +# /d/px4/firmware/Build/px4fmu_default.build/romfs.img +# +# is assigned symbols like: +# +# _binary_d__px4_firmware_Build_px4fmu_default_build_romfs_img_size +# +# when we would expect +# +# _binary__d_px4_firmware_Build_px4fmu_default_build_romfs_img_size +# define BIN_SYM_PREFIX _binary_$(subst /,_,$(subst .,_,$1)) endef @@ -262,4 +281,5 @@ define BIN_TO_OBJ --redefine-sym $(call BIN_SYM_PREFIX,$1)_start=$3 \ --redefine-sym $(call BIN_SYM_PREFIX,$1)_size=$3_len \ --strip-symbol $(call BIN_SYM_PREFIX,$1)_end + $(Q) $(REMOVE) $2.c $2.c.o endef diff --git a/makefiles/upload.mk b/makefiles/upload.mk index c9a317caf..5ef92728f 100644 --- a/makefiles/upload.mk +++ b/makefiles/upload.mk @@ -30,9 +30,6 @@ upload-serial-px4fmu: $(BUNDLE) $(UPLOADER) upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER) $(Q) $(PYTHON) -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) -upload-serial-px4fmuv2: $(BUNDLE) $(UPLOADER) - @python -u $(UPLOADER) --port $(SERIAL_PORTS) $(BUNDLE) - # # JTAG firmware uploading with OpenOCD # diff --git a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c index 2c9ae4cac..0fcd463e0 100644 --- a/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c +++ b/nuttx/arch/arm/src/stm32/stm32_otgfsdev.c @@ -1512,7 +1512,6 @@ static inline void stm32_ep0out_receive(FAR struct stm32_ep_s *privep, int bcnt) DEBUGASSERT(privep && privep->ep.priv); priv = (FAR struct stm32_usbdev_s *)privep->ep.priv; - DEBUGASSERT(priv->ep0state == EP0STATE_SETUP_OUT); ullvdbg("EP0: bcnt=%d\n", bcnt); usbtrace(TRACE_READ(EP0), bcnt); diff --git a/nuttx/configs/px4fmu/nsh/defconfig b/nuttx/configs/px4fmu/nsh/defconfig index cf30b835f..02e224302 100755 --- a/nuttx/configs/px4fmu/nsh/defconfig +++ b/nuttx/configs/px4fmu/nsh/defconfig @@ -647,10 +647,14 @@ CONFIG_DISABLE_POLL=n # CONFIG_LIBC_FIXEDPRECISION - Sets 7 digits after dot for printing: # 5.1234567 # CONFIG_HAVE_LONG_LONG - Enabled printf("%llu) +# CONFIG_LIBC_STRERR - allow printing of error text +# CONFIG_LIBC_STRERR_SHORT - allow printing of short error text # CONFIG_NOPRINTF_FIELDWIDTH=n CONFIG_LIBC_FLOATINGPOINT=y CONFIG_HAVE_LONG_LONG=y +CONFIG_LIBC_STRERROR=n +CONFIG_LIBC_STRERROR_SHORT=n # # Allow for architecture optimized implementations diff --git a/nuttx/libc/stdio/lib_libdtoa.c b/nuttx/libc/stdio/lib_libdtoa.c index 29f61fd76..395a55b61 100644 --- a/nuttx/libc/stdio/lib_libdtoa.c +++ b/nuttx/libc/stdio/lib_libdtoa.c @@ -43,6 +43,7 @@ /**************************************************************************** * Included Files ****************************************************************************/ +#include <math.h> /**************************************************************************** * Pre-processor Definitions @@ -104,6 +105,13 @@ static void zeroes(FAR struct lib_outstream_s *obj, int nzeroes) * Private Functions ****************************************************************************/ +static void lib_dtoa_string(FAR struct lib_outstream_s *obj, const char *str) +{ + while (*str) { + obj->put(obj, *str++); + } +} + /**************************************************************************** * Name: lib_dtoa * @@ -137,9 +145,23 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, int nchars; /* Number of characters to print */ int dsgn; /* Unused sign indicator */ int i; + bool done_decimal_point = false; + + /* special handling for NaN and Infinity */ + if (isnan(value)) { + lib_dtoa_string(obj, "NaN"); + return; + } + if (isinf(value)) { + if (value < 0.0d) { + obj->put(obj, '-'); + } + lib_dtoa_string(obj, "Infinity"); + return; + } /* Non-zero... positive or negative */ - + if (value < 0) { value = -value; @@ -178,6 +200,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, if (prec > 0 || IS_ALTFORM(flags)) { obj->put(obj, '.'); + done_decimal_point = true; /* Always print at least one digit to the right of the decimal point. */ @@ -203,6 +226,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, /* Print the decimal point */ obj->put(obj, '.'); + done_decimal_point = true; /* Print any leading zeros to the right of the decimal point */ @@ -249,6 +273,7 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, /* Print the decimal point */ obj->put(obj, '.'); + done_decimal_point = true; /* Always print at least one digit to the right of the decimal * point. @@ -285,8 +310,9 @@ static void lib_dtoa(FAR struct lib_outstream_s *obj, int fmt, int prec, } /* Finally, print any trailing zeroes */ - - zeroes(obj, prec); + if (done_decimal_point) { + zeroes(obj, prec); + } /* Is this memory supposed to be freed or not? */ diff --git a/nuttx/libc/stdio/lib_libvsprintf.c b/nuttx/libc/stdio/lib_libvsprintf.c index 9a391610d..2cc7950f7 100644 --- a/nuttx/libc/stdio/lib_libvsprintf.c +++ b/nuttx/libc/stdio/lib_libvsprintf.c @@ -1215,7 +1215,7 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a fmt = FMT_RJUST; width = 0; #ifdef CONFIG_LIBC_FLOATINGPOINT - trunc = 0; + trunc = 6; #endif #endif @@ -1245,6 +1245,11 @@ int lib_vsprintf(FAR struct lib_outstream_s *obj, FAR const char *src, va_list a { #ifndef CONFIG_NOPRINTF_FIELDWIDTH fmt = FMT_RJUST0; +#ifdef CONFIG_LIBC_FLOATINGPOINT + if (IS_HASDOT(flags)) { + trunc = 0; + } +#endif #endif } #if 0 diff --git a/src/drivers/ardrone_interface/ardrone_motor_control.c b/src/drivers/ardrone_interface/ardrone_motor_control.c index f15c74a22..ecd31a073 100644 --- a/src/drivers/ardrone_interface/ardrone_motor_control.c +++ b/src/drivers/ardrone_interface/ardrone_motor_control.c @@ -482,10 +482,10 @@ void ardrone_mixing_and_output(int ardrone_write, const struct actuator_controls motor_pwm[3] = (motor_pwm[3] > 0) ? motor_pwm[3] : 10; /* Failsafe logic - should never be necessary */ - motor_pwm[0] = (motor_pwm[0] <= 512) ? motor_pwm[0] : 512; - motor_pwm[1] = (motor_pwm[1] <= 512) ? motor_pwm[1] : 512; - motor_pwm[2] = (motor_pwm[2] <= 512) ? motor_pwm[2] : 512; - motor_pwm[3] = (motor_pwm[3] <= 512) ? motor_pwm[3] : 512; + motor_pwm[0] = (motor_pwm[0] <= 511) ? motor_pwm[0] : 511; + motor_pwm[1] = (motor_pwm[1] <= 511) ? motor_pwm[1] : 511; + motor_pwm[2] = (motor_pwm[2] <= 511) ? motor_pwm[2] : 511; + motor_pwm[3] = (motor_pwm[3] <= 511) ? motor_pwm[3] : 511; /* send motors via UART */ ardrone_write_motor_commands(ardrone_write, motor_pwm[0], motor_pwm[1], motor_pwm[2], motor_pwm[3]); diff --git a/src/drivers/boards/px4fmu/module.mk b/src/drivers/boards/px4fmu/module.mk index 2cb261d30..66b776917 100644 --- a/src/drivers/boards/px4fmu/module.mk +++ b/src/drivers/boards/px4fmu/module.mk @@ -6,4 +6,5 @@ SRCS = px4fmu_can.c \ px4fmu_init.c \ px4fmu_pwm_servo.c \ px4fmu_spi.c \ - px4fmu_usb.c + px4fmu_usb.c \ + px4fmu_led.c diff --git a/src/drivers/boards/px4fmu/px4fmu_init.c b/src/drivers/boards/px4fmu/px4fmu_init.c index 5dd70c3f9..69edc23ab 100644 --- a/src/drivers/boards/px4fmu/px4fmu_init.c +++ b/src/drivers/boards/px4fmu/px4fmu_init.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -91,6 +91,19 @@ # endif #endif +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + /**************************************************************************** * Protected Functions ****************************************************************************/ @@ -114,7 +127,7 @@ __EXPORT void stm32_boardinitialize(void) /* configure SPI interfaces */ stm32_spiinitialize(); - /* configure LEDs */ + /* configure LEDs (empty call to NuttX' ledinit) */ up_ledinit(); } @@ -178,11 +191,11 @@ __EXPORT int nsh_archinitialize(void) (hrt_callout)stm32_serial_dma_poll, NULL); - // initial LED state -// drv_led_start(); - up_ledoff(LED_BLUE); - up_ledoff(LED_AMBER); - up_ledon(LED_BLUE); + /* initial LED state */ + drv_led_start(); + led_off(LED_AMBER); + led_on(LED_BLUE); + /* Configure SPI-based devices */ diff --git a/src/drivers/boards/px4fmu/px4fmu_led.c b/src/drivers/boards/px4fmu/px4fmu_led.c index fd1e159aa..34fd194c3 100644 --- a/src/drivers/boards/px4fmu/px4fmu_led.c +++ b/src/drivers/boards/px4fmu/px4fmu_led.c @@ -39,19 +39,27 @@ #include <nuttx/config.h> -#include <stdint.h> #include <stdbool.h> -#include <debug.h> -#include <arch/board/board.h> - -#include "chip.h" -#include "up_arch.h" -#include "up_internal.h" #include "stm32_internal.h" #include "px4fmu_internal.h" -__EXPORT void up_ledinit() +#include <arch/board/board.h> + +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ +__BEGIN_DECLS +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); +__END_DECLS + +__EXPORT void led_init() { /* Configure LED1-2 GPIOs for output */ @@ -59,7 +67,7 @@ __EXPORT void up_ledinit() stm32_configgpio(GPIO_LED2); } -__EXPORT void up_ledon(int led) +__EXPORT void led_on(int led) { if (led == 0) { @@ -73,7 +81,7 @@ __EXPORT void up_ledon(int led) } } -__EXPORT void up_ledoff(int led) +__EXPORT void led_off(int led) { if (led == 0) { diff --git a/src/drivers/device/i2c.h b/src/drivers/device/i2c.h index 7daba31be..b4a9cdd53 100644 --- a/src/drivers/device/i2c.h +++ b/src/drivers/device/i2c.h @@ -53,6 +53,15 @@ namespace device __EXPORT class __EXPORT I2C : public CDev { +public: + + /** + * Get the address + */ + uint16_t get_address() { + return _address; + } + protected: /** * The number of times a read or write operation will be retried on diff --git a/src/drivers/drv_airspeed.h b/src/drivers/drv_airspeed.h new file mode 100644 index 000000000..bffc35c62 --- /dev/null +++ b/src/drivers/drv_airspeed.h @@ -0,0 +1,61 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file Airspeed driver interface. + * @author Simon Wilks + */ + +#ifndef _DRV_AIRSPEED_H +#define _DRV_AIRSPEED_H + +#include <stdint.h> +#include <sys/ioctl.h> + +#include "drv_sensor.h" +#include "drv_orb_dev.h" + +#define AIRSPEED_DEVICE_PATH "/dev/airspeed" + +/* + * ioctl() definitions + * + * Airspeed drivers also implement the generic sensor driver + * interfaces from drv_sensor.h + */ + +#define _AIRSPEEDIOCBASE (0x7700) +#define __AIRSPEEDIOC(_n) (_IOC(_AIRSPEEDIOCBASE, _n)) + + +#endif /* _DRV_AIRSPEED_H */ diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h index 07831f20c..56af71059 100644 --- a/src/drivers/drv_pwm_output.h +++ b/src/drivers/drv_pwm_output.h @@ -109,6 +109,12 @@ ORB_DECLARE(output_pwm); /** selects servo update rates, one bit per servo. 0 = default (50Hz), 1 = alternate */ #define PWM_SERVO_SELECT_UPDATE_RATE _IOC(_PWM_SERVO_BASE, 4) +/** set the 'ARM ok' bit, which activates the safety switch */ +#define PWM_SERVO_SET_ARM_OK _IOC(_PWM_SERVO_BASE, 5) + +/** clear the 'ARM ok' bit, which deactivates the safety switch */ +#define PWM_SERVO_CLEAR_ARM_OK _IOC(_PWM_SERVO_BASE, 6) + /** set a single servo to a specific value */ #define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo) diff --git a/src/drivers/ets_airspeed/ets_airspeed.cpp b/src/drivers/ets_airspeed/ets_airspeed.cpp new file mode 100644 index 000000000..e50395e47 --- /dev/null +++ b/src/drivers/ets_airspeed/ets_airspeed.cpp @@ -0,0 +1,832 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ets_airspeed.cpp + * @author Simon Wilks + * + * Driver for the Eagle Tree Airspeed V3 connected via I2C. + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdlib.h> +#include <stdbool.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <nuttx/arch.h> +#include <nuttx/wqueue.h> +#include <nuttx/clock.h> + +#include <arch/board/board.h> + +#include <systemlib/airspeed.h> +#include <systemlib/err.h> +#include <systemlib/param/param.h> +#include <systemlib/perf_counter.h> + +#include <drivers/drv_airspeed.h> +#include <drivers/drv_hrt.h> + +#include <uORB/uORB.h> +#include <uORB/topics/differential_pressure.h> +#include <uORB/topics/subsystem_info.h> + +/* Default I2C bus */ +#define PX4_I2C_BUS_DEFAULT PX4_I2C_BUS_EXPANSION + +/* I2C bus address */ +#define I2C_ADDRESS 0x75 /* 7-bit address. 8-bit address is 0xEA */ + +/* Register address */ +#define READ_CMD 0x07 /* Read the data */ + +/** + * The Eagle Tree Airspeed V3 cannot provide accurate reading below speeds of 15km/h. + */ +#define MIN_ACCURATE_DIFF_PRES_PA 12 + +/* Measurement rate is 100Hz */ +#define CONVERSION_INTERVAL (1000000 / 100) /* microseconds */ + +/* Oddly, ERROR is not defined for C++ */ +#ifdef ERROR +# undef ERROR +#endif +static const int ERROR = -1; + +#ifndef CONFIG_SCHED_WORKQUEUE +# error This requires CONFIG_SCHED_WORKQUEUE. +#endif + +class ETSAirspeed : public device::I2C +{ +public: + ETSAirspeed(int bus, int address = I2C_ADDRESS); + virtual ~ETSAirspeed(); + + virtual int init(); + + virtual ssize_t read(struct file *filp, char *buffer, size_t buflen); + virtual int ioctl(struct file *filp, int cmd, unsigned long arg); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_info(); + +protected: + virtual int probe(); + +private: + work_s _work; + unsigned _num_reports; + volatile unsigned _next_report; + volatile unsigned _oldest_report; + differential_pressure_s *_reports; + bool _sensor_ok; + int _measure_ticks; + bool _collect_phase; + int _diff_pres_offset; + + orb_advert_t _airspeed_pub; + + perf_counter_t _sample_perf; + perf_counter_t _comms_errors; + perf_counter_t _buffer_overflows; + + + /** + * Test whether the device supported by the driver is present at a + * specific address. + * + * @param address The I2C bus address to probe. + * @return True if the device is present. + */ + int probe_address(uint8_t address); + + /** + * Initialise the automatic measurement state machine and start it. + * + * @note This function is called at open and error time. It might make sense + * to make it more aggressive about resetting the bus in case of errors. + */ + void start(); + + /** + * Stop the automatic measurement state machine. + */ + void stop(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void cycle(); + int measure(); + int collect(); + + /** + * Static trampoline from the workq context; because we don't have a + * generic workq wrapper yet. + * + * @param arg Instance pointer for the driver that is polling. + */ + static void cycle_trampoline(void *arg); + + +}; + +/* helper macro for handling report buffer indices */ +#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0) + +/* + * Driver 'main' command. + */ +extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]); + +ETSAirspeed::ETSAirspeed(int bus, int address) : + I2C("ETSAirspeed", AIRSPEED_DEVICE_PATH, bus, address, 100000), + _num_reports(0), + _next_report(0), + _oldest_report(0), + _reports(nullptr), + _sensor_ok(false), + _measure_ticks(0), + _collect_phase(false), + _diff_pres_offset(0), + _airspeed_pub(-1), + _sample_perf(perf_alloc(PC_ELAPSED, "ets_airspeed_read")), + _comms_errors(perf_alloc(PC_COUNT, "ets_airspeed_comms_errors")), + _buffer_overflows(perf_alloc(PC_COUNT, "ets_airspeed_buffer_overflows")) +{ + // enable debug() calls + _debug_enabled = true; + + // work_cancel in the dtor will explode if we don't do this... + memset(&_work, 0, sizeof(_work)); +} + +ETSAirspeed::~ETSAirspeed() +{ + /* make sure we are truly inactive */ + stop(); + + /* free any existing reports */ + if (_reports != nullptr) + delete[] _reports; +} + +int +ETSAirspeed::init() +{ + int ret = ERROR; + + /* do I2C init (and probe) first */ + if (I2C::init() != OK) + goto out; + + /* allocate basic report buffers */ + _num_reports = 2; + _reports = new struct differential_pressure_s[_num_reports]; + for (unsigned i = 0; i < _num_reports; i++) + _reports[i].max_differential_pressure_pa = 0; + + if (_reports == nullptr) + goto out; + + _oldest_report = _next_report = 0; + + /* get a publish handle on the airspeed topic */ + memset(&_reports[0], 0, sizeof(_reports[0])); + _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_reports[0]); + + if (_airspeed_pub < 0) + debug("failed to create airspeed sensor object. Did you start uOrb?"); + + ret = OK; + /* sensor is ok, but we don't really know if it is within range */ + _sensor_ok = true; +out: + return ret; +} + +int +ETSAirspeed::probe() +{ + return measure(); +} + +int +ETSAirspeed::ioctl(struct file *filp, int cmd, unsigned long arg) +{ + switch (cmd) { + + case SENSORIOCSPOLLRATE: { + switch (arg) { + + /* switching to manual polling */ + case SENSOR_POLLRATE_MANUAL: + stop(); + _measure_ticks = 0; + return OK; + + /* external signalling (DRDY) not supported */ + case SENSOR_POLLRATE_EXTERNAL: + + /* zero would be bad */ + case 0: + return -EINVAL; + + /* set default/max polling rate */ + case SENSOR_POLLRATE_MAX: + case SENSOR_POLLRATE_DEFAULT: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* set interval for next measurement to minimum legal value */ + _measure_ticks = USEC2TICK(CONVERSION_INTERVAL); + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + + /* adjust to a legal polling interval in Hz */ + default: { + /* do we need to start internal polling? */ + bool want_start = (_measure_ticks == 0); + + /* convert hz to tick interval via microseconds */ + unsigned ticks = USEC2TICK(1000000 / arg); + + /* check against maximum rate */ + if (ticks < USEC2TICK(CONVERSION_INTERVAL)) + return -EINVAL; + + /* update interval for next measurement */ + _measure_ticks = ticks; + + /* if we need to start the poll state machine, do it */ + if (want_start) + start(); + + return OK; + } + } + } + + case SENSORIOCGPOLLRATE: + if (_measure_ticks == 0) + return SENSOR_POLLRATE_MANUAL; + + return (1000 / _measure_ticks); + + case SENSORIOCSQUEUEDEPTH: { + /* add one to account for the sentinel in the ring */ + arg++; + + /* lower bound is mandatory, upper bound is a sanity check */ + if ((arg < 2) || (arg > 100)) + return -EINVAL; + + /* allocate new buffer */ + struct differential_pressure_s *buf = new struct differential_pressure_s[arg]; + + if (nullptr == buf) + return -ENOMEM; + + /* reset the measurement state machine with the new buffer, free the old */ + stop(); + delete[] _reports; + _num_reports = arg; + _reports = buf; + start(); + + return OK; + } + + case SENSORIOCGQUEUEDEPTH: + return _num_reports - 1; + + case SENSORIOCRESET: + /* XXX implement this */ + return -EINVAL; + + default: + /* give it to the superclass */ + return I2C::ioctl(filp, cmd, arg); + } +} + +ssize_t +ETSAirspeed::read(struct file *filp, char *buffer, size_t buflen) +{ + unsigned count = buflen / sizeof(struct differential_pressure_s); + int ret = 0; + + /* buffer must be large enough */ + if (count < 1) + return -ENOSPC; + + /* if automatic measurement is enabled */ + if (_measure_ticks > 0) { + + /* + * While there is space in the caller's buffer, and reports, copy them. + * Note that we may be pre-empted by the workq thread while we are doing this; + * we are careful to avoid racing with them. + */ + while (count--) { + if (_oldest_report != _next_report) { + memcpy(buffer, _reports + _oldest_report, sizeof(*_reports)); + ret += sizeof(_reports[0]); + INCREMENT(_oldest_report, _num_reports); + } + } + + /* if there was no data, warn the caller */ + return ret ? ret : -EAGAIN; + } + + /* manual measurement - run one conversion */ + /* XXX really it'd be nice to lock against other readers here */ + do { + _oldest_report = _next_report = 0; + + /* trigger a measurement */ + if (OK != measure()) { + ret = -EIO; + break; + } + + /* wait for it to complete */ + usleep(CONVERSION_INTERVAL); + + /* run the collection phase */ + if (OK != collect()) { + ret = -EIO; + break; + } + + /* state machine will have generated a report, copy it out */ + memcpy(buffer, _reports, sizeof(*_reports)); + ret = sizeof(*_reports); + + } while (0); + + return ret; +} + +int +ETSAirspeed::measure() +{ + int ret; + + /* + * Send the command to begin a measurement. + */ + uint8_t cmd = READ_CMD; + ret = transfer(&cmd, 1, nullptr, 0); + + if (OK != ret) + { + perf_count(_comms_errors); + log("i2c::transfer returned %d", ret); + return ret; + } + ret = OK; + + return ret; +} + +int +ETSAirspeed::collect() +{ + int ret = -EIO; + + /* read from the sensor */ + uint8_t val[2] = {0, 0}; + + perf_begin(_sample_perf); + + ret = transfer(nullptr, 0, &val[0], 2); + + if (ret < 0) { + log("error reading from sensor: %d", ret); + return ret; + } + + uint16_t diff_pres_pa = val[1] << 8 | val[0]; + + param_get(param_find("SENS_DPRES_OFF"), &_diff_pres_offset); + + if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) { + diff_pres_pa = 0; + } else { + diff_pres_pa -= _diff_pres_offset; + } + + // XXX we may want to smooth out the readings to remove noise. + + _reports[_next_report].timestamp = hrt_absolute_time(); + _reports[_next_report].differential_pressure_pa = diff_pres_pa; + + // Track maximum differential pressure measured (so we can work out top speed). + if (diff_pres_pa > _reports[_next_report].max_differential_pressure_pa) { + _reports[_next_report].max_differential_pressure_pa = diff_pres_pa; + } + + /* announce the airspeed if needed, just publish else */ + orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_reports[_next_report]); + + /* post a report to the ring - note, not locked */ + INCREMENT(_next_report, _num_reports); + + /* if we are running up against the oldest report, toss it */ + if (_next_report == _oldest_report) { + perf_count(_buffer_overflows); + INCREMENT(_oldest_report, _num_reports); + } + + /* notify anyone waiting for data */ + poll_notify(POLLIN); + + ret = OK; + + perf_end(_sample_perf); + + return ret; +} + +void +ETSAirspeed::start() +{ + /* reset the report ring and state machine */ + _collect_phase = false; + _oldest_report = _next_report = 0; + + /* schedule a cycle to start things */ + work_queue(HPWORK, &_work, (worker_t)&ETSAirspeed::cycle_trampoline, this, 1); + + /* notify about state change */ + struct subsystem_info_s info = { + true, + true, + true, + SUBSYSTEM_TYPE_DIFFPRESSURE}; + static orb_advert_t pub = -1; + + if (pub > 0) { + orb_publish(ORB_ID(subsystem_info), pub, &info); + } else { + pub = orb_advertise(ORB_ID(subsystem_info), &info); + } +} + +void +ETSAirspeed::stop() +{ + work_cancel(HPWORK, &_work); +} + +void +ETSAirspeed::cycle_trampoline(void *arg) +{ + ETSAirspeed *dev = (ETSAirspeed *)arg; + + dev->cycle(); +} + +void +ETSAirspeed::cycle() +{ + /* collection phase? */ + if (_collect_phase) { + + /* perform collection */ + if (OK != collect()) { + log("collection error"); + /* restart the measurement state machine */ + start(); + return; + } + + /* next phase is measurement */ + _collect_phase = false; + + /* + * Is there a collect->measure gap? + */ + if (_measure_ticks > USEC2TICK(CONVERSION_INTERVAL)) { + + /* schedule a fresh cycle call when we are ready to measure again */ + work_queue(HPWORK, + &_work, + (worker_t)&ETSAirspeed::cycle_trampoline, + this, + _measure_ticks - USEC2TICK(CONVERSION_INTERVAL)); + + return; + } + } + + /* measurement phase */ + if (OK != measure()) + log("measure error"); + + /* next phase is collection */ + _collect_phase = true; + + /* schedule a fresh cycle call when the measurement is done */ + work_queue(HPWORK, + &_work, + (worker_t)&ETSAirspeed::cycle_trampoline, + this, + USEC2TICK(CONVERSION_INTERVAL)); +} + +void +ETSAirspeed::print_info() +{ + perf_print_counter(_sample_perf); + perf_print_counter(_comms_errors); + perf_print_counter(_buffer_overflows); + printf("poll interval: %u ticks\n", _measure_ticks); + printf("report queue: %u (%u/%u @ %p)\n", + _num_reports, _oldest_report, _next_report, _reports); +} + +/** + * Local functions in support of the shell command. + */ +namespace ets_airspeed +{ + +/* oddly, ERROR is not defined for c++ */ +#ifdef ERROR +# undef ERROR +#endif +const int ERROR = -1; + +ETSAirspeed *g_dev; + +void start(int i2c_bus); +void stop(); +void test(); +void reset(); +void info(); + +/** + * Start the driver. + */ +void +start(int i2c_bus) +{ + int fd; + + if (g_dev != nullptr) + errx(1, "already started"); + + /* create the driver */ + g_dev = new ETSAirspeed(i2c_bus); + + if (g_dev == nullptr) + goto fail; + + if (OK != g_dev->init()) + goto fail; + + /* set the poll rate to default, starts automatic data collection */ + fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + goto fail; + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + goto fail; + + exit(0); + +fail: + + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + + errx(1, "driver start failed"); +} + +/** + * Stop the driver + */ +void +stop() +{ + if (g_dev != nullptr) + { + delete g_dev; + g_dev = nullptr; + } + else + { + errx(1, "driver not running"); + } + exit(0); +} + +/** + * Perform some basic functional tests on the driver; + * make sure we can collect data from the sensor in polled + * and automatic modes. + */ +void +test() +{ + struct differential_pressure_s report; + ssize_t sz; + int ret; + + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "%s open failed (try 'ets_airspeed start' if the driver is not running", AIRSPEED_DEVICE_PATH); + + /* do a simple demand read */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "immediate read failed"); + + warnx("single read"); + warnx("diff pressure: %d pa", report.differential_pressure_pa); + + /* start the sensor polling at 2Hz */ + if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) + errx(1, "failed to set 2Hz poll rate"); + + /* read the sensor 5x and report each value */ + for (unsigned i = 0; i < 5; i++) { + struct pollfd fds; + + /* wait for data to be ready */ + fds.fd = fd; + fds.events = POLLIN; + ret = poll(&fds, 1, 2000); + + if (ret != 1) + errx(1, "timed out waiting for sensor data"); + + /* now go get it */ + sz = read(fd, &report, sizeof(report)); + + if (sz != sizeof(report)) + err(1, "periodic read failed"); + + warnx("periodic read %u", i); + warnx("diff pressure: %d pa", report.differential_pressure_pa); + } + + errx(0, "PASS"); +} + +/** + * Reset the driver. + */ +void +reset() +{ + int fd = open(AIRSPEED_DEVICE_PATH, O_RDONLY); + + if (fd < 0) + err(1, "failed "); + + if (ioctl(fd, SENSORIOCRESET, 0) < 0) + err(1, "driver reset failed"); + + if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) + err(1, "driver poll restart failed"); + + exit(0); +} + +/** + * Print a little info about the driver. + */ +void +info() +{ + if (g_dev == nullptr) + errx(1, "driver not running"); + + printf("state @ %p\n", g_dev); + g_dev->print_info(); + + exit(0); +} + +} // namespace + + +static void +ets_airspeed_usage() +{ + fprintf(stderr, "usage: ets_airspeed [options] command\n"); + fprintf(stderr, "options:\n"); + fprintf(stderr, "\t-b --bus i2cbus (%d)\n", PX4_I2C_BUS_DEFAULT); + fprintf(stderr, "command:\n"); + fprintf(stderr, "\tstart|stop|reset|test|info\n"); +} + +int +ets_airspeed_main(int argc, char *argv[]) +{ + int i2c_bus = PX4_I2C_BUS_DEFAULT; + + int i; + for (i = 1; i < argc; i++) { + if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { + if (argc > i + 1) { + i2c_bus = atoi(argv[i + 1]); + } + } + } + + /* + * Start/load the driver. + */ + if (!strcmp(argv[1], "start")) + ets_airspeed::start(i2c_bus); + + /* + * Stop the driver + */ + if (!strcmp(argv[1], "stop")) + ets_airspeed::stop(); + + /* + * Test the driver/device. + */ + if (!strcmp(argv[1], "test")) + ets_airspeed::test(); + + /* + * Reset the driver. + */ + if (!strcmp(argv[1], "reset")) + ets_airspeed::reset(); + + /* + * Print driver information. + */ + if (!strcmp(argv[1], "info") || !strcmp(argv[1], "status")) + ets_airspeed::info(); + + ets_airspeed_usage(); + exit(0); +} diff --git a/src/drivers/ets_airspeed/module.mk b/src/drivers/ets_airspeed/module.mk new file mode 100644 index 000000000..cb5d3b1ed --- /dev/null +++ b/src/drivers/ets_airspeed/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Makefile to build the Eagle Tree Airspeed V3 driver. +# + +MODULE_COMMAND = ets_airspeed +MODULE_STACKSIZE = 1024 + +SRCS = ets_airspeed.cpp diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index e35bdb944..38835418b 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -285,6 +285,10 @@ GPS::task_main() unlock(); if (_Helper->configure(_baudrate) == 0) { unlock(); + + // GPS is obviously detected successfully, reset statistics + _Helper->reset_update_rates(); + while (_Helper->receive(TIMEOUT_5HZ) > 0 && !_task_should_exit) { // lock(); /* opportunistic publishing - else invalid data would end up on the bus */ @@ -301,6 +305,8 @@ GPS::task_main() _rate = last_rate_count / ((float)((hrt_absolute_time() - last_rate_measurement)) / 1000000.0f); last_rate_measurement = hrt_absolute_time(); last_rate_count = 0; + _Helper->store_update_rates(); + _Helper->reset_update_rates(); } if (!_healthy) { @@ -372,7 +378,10 @@ GPS::print_info() warnx("position lock: %dD, last update %4.2f seconds ago", (int)_report.fix_type, (double)((float)(hrt_absolute_time() - _report.timestamp_position) / 1000000.0f)); warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt); - warnx("update rate: %6.2f Hz", (double)_rate); + warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); + warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); + warnx("rate publication:\t%6.2f Hz", (double)_rate); + } usleep(100000); diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp index 9c1fad569..ba86d370a 100644 --- a/src/drivers/gps/gps_helper.cpp +++ b/src/drivers/gps/gps_helper.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -36,9 +36,39 @@ #include <termios.h> #include <errno.h> #include <systemlib/err.h> +#include <drivers/drv_hrt.h> #include "gps_helper.h" -/* @file gps_helper.cpp */ +/** + * @file gps_helper.cpp + */ + +float +GPS_Helper::get_position_update_rate() +{ + return _rate_lat_lon; +} + +float +GPS_Helper::get_velocity_update_rate() +{ + return _rate_vel; +} + +float +GPS_Helper::reset_update_rates() +{ + _rate_count_vel = 0; + _rate_count_lat_lon = 0; + _interval_rate_start = hrt_absolute_time(); +} + +float +GPS_Helper::store_update_rates() +{ + _rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); + _rate_lat_lon = _rate_count_lat_lon / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f); +} int GPS_Helper::set_baudrate(const int &fd, unsigned baud) diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h index f3d3bc40b..defc1a074 100644 --- a/src/drivers/gps/gps_helper.h +++ b/src/drivers/gps/gps_helper.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Thomas Gubler <thomasgubler@student.ethz.ch> * Julian Oes <joes@student.ethz.ch> * @@ -33,7 +33,9 @@ * ****************************************************************************/ -/* @file gps_helper.h */ +/** + * @file gps_helper.h + */ #ifndef GPS_HELPER_H #define GPS_HELPER_H @@ -44,9 +46,22 @@ class GPS_Helper { public: - virtual int configure(unsigned &baud) = 0; + virtual int configure(unsigned &baud) = 0; virtual int receive(unsigned timeout) = 0; - int set_baudrate(const int &fd, unsigned baud); + int set_baudrate(const int &fd, unsigned baud); + float get_position_update_rate(); + float get_velocity_update_rate(); + float reset_update_rates(); + float store_update_rates(); + +protected: + uint8_t _rate_count_lat_lon; + uint8_t _rate_count_vel; + + float _rate_lat_lon; + float _rate_vel; + + uint64_t _interval_rate_start; }; #endif /* GPS_HELPER_H */ diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 4762bd503..62941d74b 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -263,6 +263,10 @@ MTK::handle_message(gps_mtk_packet_t &packet) _gps_position->time_gps_usec += timeinfo_conversion_temp * 1e3; _gps_position->timestamp_position = _gps_position->timestamp_time = hrt_absolute_time(); + // Position and velocity update always at the same time + _rate_count_vel++; + _rate_count_lat_lon++; + return; } diff --git a/src/drivers/gps/mtk.h b/src/drivers/gps/mtk.h index d4e390b01..b5cfbf0a6 100644 --- a/src/drivers/gps/mtk.h +++ b/src/drivers/gps/mtk.h @@ -87,14 +87,14 @@ class MTK : public GPS_Helper public: MTK(const int &fd, struct vehicle_gps_position_s *gps_position); ~MTK(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); + int receive(unsigned timeout); + int configure(unsigned &baudrate); private: /** * Parse the binary MTK packet */ - int parse_char(uint8_t b, gps_mtk_packet_t &packet); + int parse_char(uint8_t b, gps_mtk_packet_t &packet); /** * Handle the package once it has arrived diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index c150f5271..b3093b0f6 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -60,7 +60,8 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : _fd(fd), _gps_position(gps_position), -_waiting_for_ack(false) +_waiting_for_ack(false), +_disable_cmd_counter(0) { decode_init(); } @@ -139,12 +140,12 @@ UBX::configure(unsigned &baudrate) cfg_rate_packet.clsID = UBX_CLASS_CFG; cfg_rate_packet.msgID = UBX_MESSAGE_CFG_RATE; cfg_rate_packet.length = UBX_CFG_RATE_LENGTH; - cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASRATE; + cfg_rate_packet.measRate = UBX_CFG_RATE_PAYLOAD_MEASINTERVAL; cfg_rate_packet.navRate = UBX_CFG_RATE_PAYLOAD_NAVRATE; cfg_rate_packet.timeRef = UBX_CFG_RATE_PAYLOAD_TIMEREF; send_config_packet(_fd, (uint8_t*)&cfg_rate_packet, sizeof(cfg_rate_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { /* try next baudrate */ continue; } @@ -164,74 +165,41 @@ UBX::configure(unsigned &baudrate) cfg_nav5_packet.fixMode = UBX_CFG_NAV5_PAYLOAD_FIXMODE; send_config_packet(_fd, (uint8_t*)&cfg_nav5_packet, sizeof(cfg_nav5_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - type_gps_bin_cfg_msg_packet_t cfg_msg_packet; - memset(&cfg_msg_packet, 0, sizeof(cfg_msg_packet)); - - _clsID_needed = UBX_CLASS_CFG; - _msgID_needed = UBX_MESSAGE_CFG_MSG; - - cfg_msg_packet.clsID = UBX_CLASS_CFG; - cfg_msg_packet.msgID = UBX_MESSAGE_CFG_MSG; - cfg_msg_packet.length = UBX_CFG_MSG_LENGTH; - /* Choose fast 5Hz rate for all messages except SVINFO which is big and not important */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_5HZ; - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_POSLLH; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_TIMEUTC; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SVINFO; - /* For satelites info 1Hz is enough */ - cfg_msg_packet.rate[1] = UBX_CFG_MSG_PAYLOAD_RATE1_1HZ; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } - - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_SOL; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { + if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) { /* try next baudrate */ continue; } - cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; - cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_VELNED; - - send_config_packet(_fd, (uint8_t*)&cfg_msg_packet, sizeof(cfg_msg_packet)); - if (receive(UBX_CONFIG_TIMEOUT) < 0) { - /* try next baudrate */ - continue; - } -// cfg_msg_packet.msgClass_payload = UBX_CLASS_NAV; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_NAV_DOP; - -// cfg_msg_packet.msgClass_payload = UBX_CLASS_RXM; -// cfg_msg_packet.msgID_payload = UBX_MESSAGE_RXM_SVSI; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_POSLLH, + UBX_CFG_MSG_PAYLOAD_RATE1_5HZ); + /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_TIMEUTC, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SOL, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_VELNED, + 1); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + // configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_DOP, + // 0); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; + configure_message_rate(UBX_CLASS_NAV, UBX_MESSAGE_NAV_SVINFO, + 0); + // /* insist of receiving the ACK for this packet */ + // if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) + // continue; _waiting_for_ack = false; return 0; @@ -240,6 +208,15 @@ UBX::configure(unsigned &baudrate) } int +UBX::wait_for_ack(unsigned timeout) +{ + _waiting_for_ack = true; + int ret = receive(timeout); + _waiting_for_ack = false; + return ret; +} + +int UBX::receive(unsigned timeout) { /* poll descriptor */ @@ -498,6 +475,8 @@ UBX::handle_message() _gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m _gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m + _rate_count_lat_lon++; + /* Add timestamp to finish the report */ _gps_position->timestamp_position = hrt_absolute_time(); /* only return 1 when new position is available */ @@ -653,6 +632,8 @@ UBX::handle_message() _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; _gps_position->vel_ned_valid = true; _gps_position->timestamp_velocity = hrt_absolute_time(); + + _rate_count_vel++; } break; @@ -693,6 +674,12 @@ UBX::handle_message() default: //we don't know the message warnx("UBX: Unknown message received: %d-%d\n",_message_class,_message_id); + if (_disable_cmd_counter++ == 0) { + // Don't attempt for every message to disable, some might not be disabled */ + warnx("Disabling message 0x%02x 0x%02x", (unsigned)_message_class, (unsigned)_message_id); + configure_message_rate(_message_class, _message_id, 0); + } + return ret; ret = -1; break; } @@ -737,6 +724,25 @@ UBX::add_checksum_to_message(uint8_t* message, const unsigned length) } void +UBX::add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b) +{ + for (unsigned i = 0; i < length; i++) { + ck_a = ck_a + message[i]; + ck_b = ck_b + ck_a; + } +} + +void +UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) +{ + struct ubx_cfg_msg_rate msg; + msg.msg_class = msg_class; + msg.msg_id = msg_id; + msg.rate = rate; + send_message(CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); +} + +void UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) { ssize_t ret = 0; @@ -753,3 +759,27 @@ UBX::send_config_packet(const int &fd, uint8_t *packet, const unsigned length) if (ret != (int)length + (int)sizeof(sync_bytes)) // XXX is there a neater way to get rid of the unsigned signed warning? warnx("ubx: config write fail"); } + +void +UBX::send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size) +{ + struct ubx_header header; + uint8_t ck_a=0, ck_b=0; + header.sync1 = UBX_SYNC1; + header.sync2 = UBX_SYNC2; + header.msg_class = msg_class; + header.msg_id = msg_id; + header.length = size; + + add_checksum((uint8_t *)&header.msg_class, sizeof(header)-2, ck_a, ck_b); + add_checksum((uint8_t *)msg, size, ck_a, ck_b); + + // Configure receive check + _clsID_needed = msg_class; + _msgID_needed = msg_id; + + write(_fd, (const char *)&header, sizeof(header)); + write(_fd, (const char *)msg, size); + write(_fd, (const char *)&ck_a, 1); + write(_fd, (const char *)&ck_b, 1); +} diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index e3dd1c7ea..5a433642c 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -65,26 +65,27 @@ #define UBX_MESSAGE_CFG_RATE 0x08 #define UBX_CFG_PRT_LENGTH 20 -#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ -#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ -#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ -#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ -#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ +#define UBX_CFG_PRT_PAYLOAD_PORTID 0x01 /**< UART1 */ +#define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0 /**< 0b0000100011010000: 8N1 */ +#define UBX_CFG_PRT_PAYLOAD_BAUDRATE 38400 /**< always choose 38400 as GPS baudrate */ +#define UBX_CFG_PRT_PAYLOAD_INPROTOMASK 0x01 /**< UBX in */ +#define UBX_CFG_PRT_PAYLOAD_OUTPROTOMASK 0x01 /**< UBX out */ #define UBX_CFG_RATE_LENGTH 6 -#define UBX_CFG_RATE_PAYLOAD_MEASRATE 200 /**< 200ms for 5Hz */ +#define UBX_CFG_RATE_PAYLOAD_MEASINTERVAL 200 /**< 200ms for 5Hz */ #define UBX_CFG_RATE_PAYLOAD_NAVRATE 1 /**< cannot be changed */ #define UBX_CFG_RATE_PAYLOAD_TIMEREF 0 /**< 0: UTC, 1: GPS time */ #define UBX_CFG_NAV5_LENGTH 36 -#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0001 /**< only update dynamic model and fix mode */ +#define UBX_CFG_NAV5_PAYLOAD_MASK 0x0005 /**< XXX only update dynamic model and fix mode */ #define UBX_CFG_NAV5_PAYLOAD_DYNMODEL 7 /**< 0: portable, 2: stationary, 3: pedestrian, 4: automotive, 5: sea, 6: airborne <1g, 7: airborne <2g, 8: airborne <4g */ -#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ +#define UBX_CFG_NAV5_PAYLOAD_FIXMODE 2 /**< 1: 2D only, 2: 3D only, 3: Auto 2D/3D */ #define UBX_CFG_MSG_LENGTH 8 #define UBX_CFG_MSG_PAYLOAD_RATE1_5HZ 0x01 /**< {0x00, 0x01, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ #define UBX_CFG_MSG_PAYLOAD_RATE1_1HZ 0x05 /**< {0x00, 0x05, 0x00, 0x00, 0x00, 0x00} the second entry is for UART1 */ +#define UBX_CFG_MSG_PAYLOAD_RATE1_05HZ 10 #define UBX_MAX_PAYLOAD_LENGTH 500 @@ -92,6 +93,14 @@ /** the structures of the binary packets */ #pragma pack(push, 1) +struct ubx_header { + uint8_t sync1; + uint8_t sync2; + uint8_t msg_class; + uint8_t msg_id; + uint16_t length; +}; + typedef struct { uint32_t time_milliseconds; /**< GPS Millisecond Time of Week */ int32_t lon; /**< Longitude * 1e-7, deg */ @@ -274,11 +283,17 @@ typedef struct { uint16_t length; uint8_t msgClass_payload; uint8_t msgID_payload; - uint8_t rate[6]; + uint8_t rate; uint8_t ck_a; uint8_t ck_b; } type_gps_bin_cfg_msg_packet_t; +struct ubx_cfg_msg_rate { + uint8_t msg_class; + uint8_t msg_id; + uint8_t rate; +}; + // END the structures of the binary packets // ************ @@ -341,55 +356,64 @@ class UBX : public GPS_Helper public: UBX(const int &fd, struct vehicle_gps_position_s *gps_position); ~UBX(); - int receive(unsigned timeout); - int configure(unsigned &baudrate); + int receive(unsigned timeout); + int configure(unsigned &baudrate); private: /** * Parse the binary MTK packet */ - int parse_char(uint8_t b); + int parse_char(uint8_t b); /** * Handle the package once it has arrived */ - int handle_message(void); + int handle_message(void); /** * Reset the parse state machine for a fresh start */ - void decode_init(void); + void decode_init(void); /** * While parsing add every byte (except the sync bytes) to the checksum */ - void add_byte_to_checksum(uint8_t); + void add_byte_to_checksum(uint8_t); /** * Add the two checksum bytes to an outgoing message */ - void add_checksum_to_message(uint8_t* message, const unsigned length); + void add_checksum_to_message(uint8_t* message, const unsigned length); /** * Helper to send a config packet */ - void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + void send_config_packet(const int &fd, uint8_t *packet, const unsigned length); + + void configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate); + + void send_message(uint8_t msg_class, uint8_t msg_id, void *msg, uint8_t size); + + void add_checksum(uint8_t* message, const unsigned length, uint8_t &ck_a, uint8_t &ck_b); + + int wait_for_ack(unsigned timeout); - int _fd; + int _fd; struct vehicle_gps_position_s *_gps_position; ubx_config_state_t _config_state; - bool _waiting_for_ack; - uint8_t _clsID_needed; - uint8_t _msgID_needed; + bool _waiting_for_ack; + uint8_t _clsID_needed; + uint8_t _msgID_needed; ubx_decode_state_t _decode_state; - uint8_t _rx_buffer[RECV_BUFFER_SIZE]; - unsigned _rx_count; - uint8_t _rx_ck_a; - uint8_t _rx_ck_b; - ubx_message_class_t _message_class; + uint8_t _rx_buffer[RECV_BUFFER_SIZE]; + unsigned _rx_count; + uint8_t _rx_ck_a; + uint8_t _rx_ck_b; + ubx_message_class_t _message_class; ubx_message_id_t _message_id; - unsigned _payload_size; + unsigned _payload_size; + uint8_t _disable_cmd_counter; }; #endif /* UBX_H_ */ diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index c406a7588..78eda327c 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -1225,19 +1225,25 @@ start() /* create the driver, attempt expansion bus first */ g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION); + if (g_dev != nullptr && OK != g_dev->init()) { + delete g_dev; + g_dev = nullptr; + } + #ifdef PX4_I2C_BUS_ONBOARD /* if this failed, attempt onboard sensor */ - if (g_dev == nullptr) + if (g_dev == nullptr) { g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD); + if (g_dev != nullptr && OK != g_dev->init()) { + goto fail; + } + } #endif if (g_dev == nullptr) goto fail; - if (OK != g_dev->init()) - goto fail; - /* set the poll rate to default, starts automatic data collection */ fd = open(MAG_DEVICE_PATH, O_RDONLY); diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index 5fbee16ce..f0f32d244 100644 --- a/src/drivers/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -42,9 +42,11 @@ #include <string.h> #include <systemlib/systemlib.h> #include <unistd.h> +#include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/sensor_combined.h> +static int airspeed_sub = -1; static int battery_sub = -1; static int sensor_sub = -1; @@ -52,6 +54,7 @@ void messages_init(void) { battery_sub = orb_subscribe(ORB_ID(battery_status)); sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); + airspeed_sub = orb_subscribe(ORB_ID(airspeed)); } void build_eam_response(uint8_t *buffer, int *size) @@ -81,6 +84,15 @@ void build_eam_response(uint8_t *buffer, int *size) msg.altitude_L = (uint8_t)alt & 0xff; msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; + /* get a local copy of the current sensor values */ + struct airspeed_s airspeed; + memset(&airspeed, 0, sizeof(airspeed)); + orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed); + + uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6); + msg.speed_L = (uint8_t)speed & 0xff; + msg.speed_H = (uint8_t)(speed >> 8) & 0xff; + msg.stop = STOP_BYTE; memcpy(buffer, &msg, *size); diff --git a/src/drivers/led/led.cpp b/src/drivers/led/led.cpp index c7c45525e..04b565358 100644 --- a/src/drivers/led/led.cpp +++ b/src/drivers/led/led.cpp @@ -41,12 +41,17 @@ #include <drivers/device/device.h> #include <drivers/drv_led.h> -/* Ideally we'd be able to get these from up_internal.h */ -//#include <up_internal.h> +/* + * Ideally we'd be able to get these from up_internal.h, + * but since we want to be able to disable the NuttX use + * of leds for system indication at will and there is no + * separate switch, we need to build independent of the + * CONFIG_ARCH_LEDS configuration switch. + */ __BEGIN_DECLS -extern void up_ledinit(); -extern void up_ledon(int led); -extern void up_ledoff(int led); +extern void led_init(); +extern void led_on(int led); +extern void led_off(int led); __END_DECLS class LED : device::CDev @@ -74,7 +79,7 @@ int LED::init() { CDev::init(); - up_ledinit(); + led_init(); return 0; } @@ -86,11 +91,11 @@ LED::ioctl(struct file *filp, int cmd, unsigned long arg) switch (cmd) { case LED_ON: - up_ledon(arg); + led_on(arg); break; case LED_OFF: - up_ledoff(arg); + led_off(arg); break; default: diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp new file mode 100644 index 000000000..71932ad65 --- /dev/null +++ b/src/drivers/md25/md25.cpp @@ -0,0 +1,553 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#include "md25.hpp" +#include <poll.h> +#include <stdio.h> + +#include <systemlib/err.h> +#include <arch/board/board.h> + +// registers +enum { + // RW: read/write + // R: read + REG_SPEED1_RW = 0, + REG_SPEED2_RW, + REG_ENC1A_R, + REG_ENC1B_R, + REG_ENC1C_R, + REG_ENC1D_R, + REG_ENC2A_R, + REG_ENC2B_R, + REG_ENC2C_R, + REG_ENC2D_R, + REG_BATTERY_VOLTS_R, + REG_MOTOR1_CURRENT_R, + REG_MOTOR2_CURRENT_R, + REG_SW_VERSION_R, + REG_ACCEL_RATE_RW, + REG_MODE_RW, + REG_COMMAND_RW, +}; + +MD25::MD25(const char *deviceName, int bus, + uint16_t address, uint32_t speed) : + I2C("MD25", deviceName, bus, address, speed), + _controlPoll(), + _actuators(NULL, ORB_ID(actuator_controls_0), 20), + _version(0), + _motor1Speed(0), + _motor2Speed(0), + _revolutions1(0), + _revolutions2(0), + _batteryVoltage(0), + _motor1Current(0), + _motor2Current(0), + _motorAccel(0), + _mode(MODE_UNSIGNED_SPEED), + _command(CMD_RESET_ENCODERS) +{ + // setup control polling + _controlPoll.fd = _actuators.getHandle(); + _controlPoll.events = POLLIN; + + // if initialization fails raise an error, unless + // probing + int ret = I2C::init(); + + if (ret != OK) { + warnc(ret, "I2C::init failed for bus: %d address: %d\n", bus, address); + } + + // setup default settings, reset encoders + setMotor1Speed(0); + setMotor2Speed(0); + resetEncoders(); + _setMode(MD25::MODE_UNSIGNED_SPEED); + setSpeedRegulation(true); + setTimeout(true); +} + +MD25::~MD25() +{ +} + +int MD25::readData() +{ + uint8_t sendBuf[1]; + sendBuf[0] = REG_SPEED1_RW; + uint8_t recvBuf[17]; + int ret = transfer(sendBuf, sizeof(sendBuf), + recvBuf, sizeof(recvBuf)); + + if (ret == OK) { + _version = recvBuf[REG_SW_VERSION_R]; + _motor1Speed = _uint8ToNorm(recvBuf[REG_SPEED1_RW]); + _motor2Speed = _uint8ToNorm(recvBuf[REG_SPEED2_RW]); + _revolutions1 = -int32_t((recvBuf[REG_ENC1A_R] << 24) + + (recvBuf[REG_ENC1B_R] << 16) + + (recvBuf[REG_ENC1C_R] << 8) + + recvBuf[REG_ENC1D_R]) / 360.0; + _revolutions2 = -int32_t((recvBuf[REG_ENC2A_R] << 24) + + (recvBuf[REG_ENC2B_R] << 16) + + (recvBuf[REG_ENC2C_R] << 8) + + recvBuf[REG_ENC2D_R]) / 360.0; + _batteryVoltage = recvBuf[REG_BATTERY_VOLTS_R] / 10.0; + _motor1Current = recvBuf[REG_MOTOR1_CURRENT_R] / 10.0; + _motor2Current = recvBuf[REG_MOTOR2_CURRENT_R] / 10.0; + _motorAccel = recvBuf[REG_ACCEL_RATE_RW]; + _mode = e_mode(recvBuf[REG_MODE_RW]); + _command = e_cmd(recvBuf[REG_COMMAND_RW]); + } + + return ret; +} + +void MD25::status(char *string, size_t n) +{ + snprintf(string, n, + "version:\t%10d\n" \ + "motor 1 speed:\t%10.2f\n" \ + "motor 2 speed:\t%10.2f\n" \ + "revolutions 1:\t%10.2f\n" \ + "revolutions 2:\t%10.2f\n" \ + "battery volts :\t%10.2f\n" \ + "motor 1 current :\t%10.2f\n" \ + "motor 2 current :\t%10.2f\n" \ + "motor accel :\t%10d\n" \ + "mode :\t%10d\n" \ + "command :\t%10d\n", + getVersion(), + double(getMotor1Speed()), + double(getMotor2Speed()), + double(getRevolutions1()), + double(getRevolutions2()), + double(getBatteryVolts()), + double(getMotor1Current()), + double(getMotor2Current()), + getMotorAccel(), + getMode(), + getCommand()); +} + +uint8_t MD25::getVersion() +{ + return _version; +} + +float MD25::getMotor1Speed() +{ + return _motor1Speed; +} + +float MD25::getMotor2Speed() +{ + return _motor2Speed; +} + +float MD25::getRevolutions1() +{ + return _revolutions1; +} + +float MD25::getRevolutions2() +{ + return _revolutions2; +} + +float MD25::getBatteryVolts() +{ + return _batteryVoltage; +} + +float MD25::getMotor1Current() +{ + return _motor1Current; +} +float MD25::getMotor2Current() +{ + return _motor2Current; +} + +uint8_t MD25::getMotorAccel() +{ + return _motorAccel; +} + +MD25::e_mode MD25::getMode() +{ + return _mode; +} + +MD25::e_cmd MD25::getCommand() +{ + return _command; +} + +int MD25::resetEncoders() +{ + return _writeUint8(REG_COMMAND_RW, + CMD_RESET_ENCODERS); +} + +int MD25::_setMode(e_mode mode) +{ + return _writeUint8(REG_MODE_RW, + mode); +} + +int MD25::setSpeedRegulation(bool enable) +{ + if (enable) { + return _writeUint8(REG_COMMAND_RW, + CMD_ENABLE_SPEED_REGULATION); + + } else { + return _writeUint8(REG_COMMAND_RW, + CMD_DISABLE_SPEED_REGULATION); + } +} + +int MD25::setTimeout(bool enable) +{ + if (enable) { + return _writeUint8(REG_COMMAND_RW, + CMD_ENABLE_TIMEOUT); + + } else { + return _writeUint8(REG_COMMAND_RW, + CMD_DISABLE_TIMEOUT); + } +} + +int MD25::setDeviceAddress(uint8_t address) +{ + uint8_t sendBuf[1]; + sendBuf[0] = CMD_CHANGE_I2C_SEQ_0; + int ret = OK; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + usleep(5000); + sendBuf[0] = CMD_CHANGE_I2C_SEQ_1; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + usleep(5000); + sendBuf[0] = CMD_CHANGE_I2C_SEQ_2; + ret = transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); + + if (ret != OK) { + warnc(ret, "MD25::setDeviceAddress"); + return ret; + } + + return OK; +} + +int MD25::setMotor1Speed(float value) +{ + return _writeUint8(REG_SPEED1_RW, + _normToUint8(value)); +} + +int MD25::setMotor2Speed(float value) +{ + return _writeUint8(REG_SPEED2_RW, + _normToUint8(value)); +} + +void MD25::update() +{ + // wait for an actuator publication, + // check for exit condition every second + // note "::poll" is required to distinguish global + // poll from member function for driver + if (::poll(&_controlPoll, 1, 1000) < 0) return; // poll error + + // if new data, send to motors + if (_actuators.updated()) { + _actuators.update(); + setMotor1Speed(_actuators.control[CH_SPEED_LEFT]); + setMotor2Speed(_actuators.control[CH_SPEED_RIGHT]); + } +} + +int MD25::probe() +{ + uint8_t goodAddress = 0; + bool found = false; + int ret = OK; + + // try initial address first, if good, then done + if (readData() == OK) return ret; + + // try all other addresses + uint8_t testAddress = 0; + + //printf("searching for MD25 address\n"); + while (true) { + set_address(testAddress); + ret = readData(); + + if (ret == OK && !found) { + //printf("device found at address: 0x%X\n", testAddress); + if (!found) { + found = true; + goodAddress = testAddress; + } + } + + if (testAddress > 254) { + break; + } + + testAddress++; + } + + if (found) { + set_address(goodAddress); + return OK; + + } else { + set_address(0); + return ret; + } +} + +int MD25::search() +{ + uint8_t goodAddress = 0; + bool found = false; + int ret = OK; + // try all other addresses + uint8_t testAddress = 0; + + //printf("searching for MD25 address\n"); + while (true) { + set_address(testAddress); + ret = readData(); + + if (ret == OK && !found) { + printf("device found at address: 0x%X\n", testAddress); + + if (!found) { + found = true; + goodAddress = testAddress; + } + } + + if (testAddress > 254) { + break; + } + + testAddress++; + } + + if (found) { + set_address(goodAddress); + return OK; + + } else { + set_address(0); + return ret; + } +} + +int MD25::_writeUint8(uint8_t reg, uint8_t value) +{ + uint8_t sendBuf[2]; + sendBuf[0] = reg; + sendBuf[1] = value; + return transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); +} + +int MD25::_writeInt8(uint8_t reg, int8_t value) +{ + uint8_t sendBuf[2]; + sendBuf[0] = reg; + sendBuf[1] = value; + return transfer(sendBuf, sizeof(sendBuf), + nullptr, 0); +} + +float MD25::_uint8ToNorm(uint8_t value) +{ + // TODO, should go from 0 to 255 + // possibly should handle this differently + return (value - 128) / 127.0; +} + +uint8_t MD25::_normToUint8(float value) +{ + if (value > 1) value = 1; + + if (value < -1) value = -1; + + // TODO, should go from 0 to 255 + // possibly should handle this differently + return 127 * value + 128; +} + +int md25Test(const char *deviceName, uint8_t bus, uint8_t address) +{ + printf("md25 test: starting\n"); + + // setup + MD25 md25("/dev/md25", bus, address); + + // print status + char buf[200]; + md25.status(buf, sizeof(buf)); + printf("%s\n", buf); + + // setup for test + md25.setSpeedRegulation(true); + md25.setTimeout(true); + float dt = 0.1; + float speed = 0.2; + float t = 0; + + // motor 1 test + printf("md25 test: spinning motor 1 forward for 1 rev at 0.1 speed\n"); + t = 0; + + while (true) { + t += dt; + md25.setMotor1Speed(speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions1() > 1) { + printf("finished 1 revolution fwd\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor1Speed(0); + printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1())); + md25.resetEncoders(); + + t = 0; + + while (true) { + t += dt; + md25.setMotor1Speed(-speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions1() < -1) { + printf("finished 1 revolution rev\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor1Speed(0); + printf("revolution of wheel 1: %8.4f\n", double(md25.getRevolutions1())); + md25.resetEncoders(); + + // motor 2 test + printf("md25 test: spinning motor 2 forward for 1 rev at 0.1 speed\n"); + t = 0; + + while (true) { + t += dt; + md25.setMotor2Speed(speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions2() > 1) { + printf("finished 1 revolution fwd\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor2Speed(0); + printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2())); + md25.resetEncoders(); + + t = 0; + + while (true) { + t += dt; + md25.setMotor2Speed(-speed); + md25.readData(); + usleep(1000000 * dt); + + if (md25.getRevolutions2() < -1) { + printf("finished 1 revolution rev\n"); + break; + } + + if (t > 2.0f) break; + } + + md25.setMotor2Speed(0); + printf("revolution of wheel 2: %8.4f\n", double(md25.getRevolutions2())); + md25.resetEncoders(); + + printf("Test complete\n"); + return 0; +} + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp new file mode 100644 index 000000000..e77511b16 --- /dev/null +++ b/src/drivers/md25/md25.hpp @@ -0,0 +1,293 @@ +/**************************************************************************** + * + * Copyright (C) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#pragma once + +#include <poll.h> +#include <stdio.h> +#include <controllib/block/UOrbSubscription.hpp> +#include <uORB/topics/actuator_controls.h> +#include <drivers/device/i2c.h> + +/** + * This is a driver for the MD25 motor controller utilizing the I2C interface. + */ +class MD25 : public device::I2C +{ +public: + + /** + * modes + * + * NOTE: this driver assumes we are always + * in mode 0! + * + * seprate speed mode: + * motor speed1 = speed1 + * motor speed2 = speed2 + * turn speed mode: + * motor speed1 = speed1 + speed2 + * motor speed2 = speed2 - speed2 + * unsigned: + * full rev (0), stop(128), full fwd (255) + * signed: + * full rev (-127), stop(0), full fwd (128) + * + * modes numbers: + * 0 : unsigned separate (default) + * 1 : signed separate + * 2 : unsigned turn + * 3 : signed turn + */ + enum e_mode { + MODE_UNSIGNED_SPEED = 0, + MODE_SIGNED_SPEED, + MODE_UNSIGNED_SPEED_TURN, + MODE_SIGNED_SPEED_TURN, + }; + + /** commands */ + enum e_cmd { + CMD_RESET_ENCODERS = 32, + CMD_DISABLE_SPEED_REGULATION = 48, + CMD_ENABLE_SPEED_REGULATION = 49, + CMD_DISABLE_TIMEOUT = 50, + CMD_ENABLE_TIMEOUT = 51, + CMD_CHANGE_I2C_SEQ_0 = 160, + CMD_CHANGE_I2C_SEQ_1 = 170, + CMD_CHANGE_I2C_SEQ_2 = 165, + }; + + /** control channels */ + enum e_channels { + CH_SPEED_LEFT = 0, + CH_SPEED_RIGHT + }; + + /** + * constructor + * @param deviceName the name of the device e.g. "/dev/md25" + * @param bus the I2C bus + * @param address the adddress on the I2C bus + * @param speed the speed of the I2C communication + */ + MD25(const char *deviceName, + int bus, + uint16_t address, + uint32_t speed = 100000); + + /** + * deconstructor + */ + virtual ~MD25(); + + /** + * @return software version + */ + uint8_t getVersion(); + + /** + * @return speed of motor, normalized (-1, 1) + */ + float getMotor1Speed(); + + /** + * @return speed of motor 2, normalized (-1, 1) + */ + float getMotor2Speed(); + + /** + * @return number of rotations since reset + */ + float getRevolutions1(); + + /** + * @return number of rotations since reset + */ + float getRevolutions2(); + + /** + * @return battery voltage, volts + */ + float getBatteryVolts(); + + /** + * @return motor 1 current, amps + */ + float getMotor1Current(); + + /** + * @return motor 2 current, amps + */ + float getMotor2Current(); + + /** + * @return the motor acceleration + * controls motor speed change (1-10) + * accel rate | time for full fwd. to full rev. + * 1 | 6.375 s + * 2 | 1.6 s + * 3 | 0.675 s + * 5(default) | 1.275 s + * 10 | 0.65 s + */ + uint8_t getMotorAccel(); + + /** + * @return motor output mode + * */ + e_mode getMode(); + + /** + * @return current command register value + */ + e_cmd getCommand(); + + /** + * resets the encoders + * @return non-zero -> error + * */ + int resetEncoders(); + + /** + * enable/disable speed regulation + * @return non-zero -> error + */ + int setSpeedRegulation(bool enable); + + /** + * set the timeout for the motors + * enable/disable timeout (motor stop) + * after 2 sec of no i2c messages + * @return non-zero -> error + */ + int setTimeout(bool enable); + + /** + * sets the device address + * can only be done with one MD25 + * on the bus + * @return non-zero -> error + */ + int setDeviceAddress(uint8_t address); + + /** + * set motor 1 speed + * @param normSpeed normalize speed between -1 and 1 + * @return non-zero -> error + */ + int setMotor1Speed(float normSpeed); + + /** + * set motor 2 speed + * @param normSpeed normalize speed between -1 and 1 + * @return non-zero -> error + */ + int setMotor2Speed(float normSpeed); + + /** + * main update loop that updates MD25 motor + * speeds based on actuator publication + */ + void update(); + + /** + * probe for device + */ + virtual int probe(); + + /** + * search for device + */ + int search(); + + /** + * read data from i2c + */ + int readData(); + + /** + * print status + */ + void status(char *string, size_t n); + +private: + /** poll structure for control packets */ + struct pollfd _controlPoll; + + /** actuator controls subscription */ + control::UOrbSubscription<actuator_controls_s> _actuators; + + // local copy of data from i2c device + uint8_t _version; + float _motor1Speed; + float _motor2Speed; + float _revolutions1; + float _revolutions2; + float _batteryVoltage; + float _motor1Current; + float _motor2Current; + uint8_t _motorAccel; + e_mode _mode; + e_cmd _command; + + // private methods + int _writeUint8(uint8_t reg, uint8_t value); + int _writeInt8(uint8_t reg, int8_t value); + float _uint8ToNorm(uint8_t value); + uint8_t _normToUint8(float value); + + /** + * set motor control mode, + * this driver assumed we are always in mode 0 + * so we don't let the user change the mode + * @return non-zero -> error + */ + int _setMode(e_mode); +}; + +// unit testing +int md25Test(const char *deviceName, uint8_t bus, uint8_t address); + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp new file mode 100644 index 000000000..80850e708 --- /dev/null +++ b/src/drivers/md25/md25_main.cpp @@ -0,0 +1,264 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + + +/** + * @ file md25.cpp + * + * Driver for MD25 I2C Motor Driver + * + * references: + * http://www.robot-electronics.co.uk/htm/md25tech.htm + * http://www.robot-electronics.co.uk/files/rpi_md25.c + * + */ + +#include <nuttx/config.h> +#include <unistd.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <math.h> + +#include <systemlib/systemlib.h> +#include <systemlib/param/param.h> + +#include <arch/board/board.h> +#include "md25.hpp" + +static bool thread_should_exit = false; /**< Deamon exit flag */ +static bool thread_running = false; /**< Deamon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ + +/** + * Deamon management function. + */ +extern "C" __EXPORT int md25_main(int argc, char *argv[]); + +/** + * Mainloop of deamon. + */ +int md25_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n"); + exit(1); +} + +/** + * The deamon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int md25_main(int argc, char *argv[]) +{ + + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("md25 already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("md25", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 10, + 2048, + md25_thread_main, + (const char **)argv); + exit(0); + } + + if (!strcmp(argv[1], "test")) { + + if (argc < 4) { + printf("usage: md25 test bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + md25Test(deviceName, bus, address); + + exit(0); + } + + if (!strcmp(argv[1], "probe")) { + if (argc < 4) { + printf("usage: md25 probe bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + MD25 md25(deviceName, bus, address); + + int ret = md25.probe(); + + if (ret == OK) { + printf("MD25 found on bus %d at address 0x%X\n", bus, md25.get_address()); + + } else { + printf("MD25 not found on bus %d\n", bus); + } + + exit(0); + } + + if (!strcmp(argv[1], "search")) { + if (argc < 3) { + printf("usage: md25 search bus\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t address = strtoul(argv[3], nullptr, 0); + + MD25 md25(deviceName, bus, address); + + md25.search(); + + exit(0); + } + + if (!strcmp(argv[1], "change_address")) { + if (argc < 5) { + printf("usage: md25 change_address bus old_address new_address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[2], nullptr, 0); + + uint8_t old_address = strtoul(argv[3], nullptr, 0); + + uint8_t new_address = strtoul(argv[4], nullptr, 0); + + MD25 md25(deviceName, bus, old_address); + + int ret = md25.setDeviceAddress(new_address); + + if (ret == OK) { + printf("MD25 new address set to 0x%X\n", new_address); + + } else { + printf("MD25 failed to set address to 0x%X\n", new_address); + } + + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tmd25 app is running\n"); + + } else { + printf("\tmd25 app not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + +int md25_thread_main(int argc, char *argv[]) +{ + printf("[MD25] starting\n"); + + if (argc < 5) { + // extra md25 in arg list since this is a thread + printf("usage: md25 start bus address\n"); + exit(0); + } + + const char *deviceName = "/dev/md25"; + + uint8_t bus = strtoul(argv[3], nullptr, 0); + + uint8_t address = strtoul(argv[4], nullptr, 0); + + // start + MD25 md25("/dev/md25", bus, address); + + thread_running = true; + + // loop + while (!thread_should_exit) { + md25.update(); + } + + // exit + printf("[MD25] exiting.\n"); + thread_running = false; + return 0; +} + +// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78 diff --git a/src/drivers/md25/module.mk b/src/drivers/md25/module.mk new file mode 100644 index 000000000..13821a6b5 --- /dev/null +++ b/src/drivers/md25/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# MD25 I2C Based Motor Controller +# http://www.robot-electronics.co.uk/htm/md25tech.htm +# + +MODULE_COMMAND = md25 + +SRCS = md25.cpp \ + md25_main.cpp diff --git a/src/drivers/mkblctrl/mkblctrl.cpp b/src/drivers/mkblctrl/mkblctrl.cpp new file mode 100644 index 000000000..3a735e26f --- /dev/null +++ b/src/drivers/mkblctrl/mkblctrl.cpp @@ -0,0 +1,1442 @@ +/**************************************************************************** + * + * Copyright (C) 2012,2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file mkblctrl.cpp + * + * Driver/configurator for the Mikrokopter BL-Ctrl. + * Marco Bauer + * + */ + +#include <nuttx/config.h> + +#include <drivers/device/i2c.h> + +#include <sys/types.h> +#include <stdint.h> +#include <stdbool.h> +#include <stdlib.h> +#include <semaphore.h> +#include <string.h> +#include <fcntl.h> +#include <poll.h> +#include <errno.h> +#include <stdio.h> +#include <math.h> +#include <unistd.h> + +#include <nuttx/arch.h> +#include <nuttx/i2c.h> + +#include <drivers/device/device.h> +#include <drivers/drv_pwm_output.h> +#include <drivers/drv_gpio.h> +#include <drivers/boards/px4fmu/px4fmu_internal.h> +#include <drivers/drv_hrt.h> +#include <drivers/drv_rc_input.h> + +#include <systemlib/systemlib.h> +#include <systemlib/err.h> +#include <systemlib/mixer/mixer.h> +#include <drivers/drv_mixer.h> + +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/actuator_controls_effective.h> +#include <uORB/topics/actuator_outputs.h> + +#include <systemlib/err.h> +#include <systemlib/ppm_decode.h> + +#define I2C_BUS_SPEED 400000 +#define UPDATE_RATE 400 +#define MAX_MOTORS 8 +#define BLCTRL_BASE_ADDR 0x29 +#define BLCTRL_OLD 0 +#define BLCTRL_NEW 1 +#define BLCTRL_MIN_VALUE -0.920F +#define MOTOR_STATE_PRESENT_MASK 0x80 +#define MOTOR_STATE_ERROR_MASK 0x7F +#define MOTOR_SPINUP_COUNTER 2500 + + +class MK : public device::I2C +{ +public: + enum Mode { + MODE_2PWM, + MODE_4PWM, + MODE_NONE + }; + + enum MappingMode { + MAPPING_MK = 0, + MAPPING_PX4, + }; + + enum FrameType { + FRAME_PLUS = 0, + FRAME_X, + }; + + MK(int bus); + ~MK(); + + virtual int ioctl(file *filp, int cmd, unsigned long arg); + virtual int init(unsigned motors); + + int set_mode(Mode mode); + int set_pwm_rate(unsigned rate); + int set_motor_count(unsigned count); + int set_motor_test(bool motortest); + int set_px4mode(int px4mode); + int set_frametype(int frametype); + unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput); + +private: + static const unsigned _max_actuators = MAX_MOTORS; + static const bool showDebug = false; + + Mode _mode; + int _update_rate; + int _current_update_rate; + int _task; + int _t_actuators; + int _t_armed; + unsigned int _motor; + int _px4mode; + int _frametype; + orb_advert_t _t_outputs; + orb_advert_t _t_actuators_effective; + unsigned int _num_outputs; + bool _primary_pwm_device; + bool _motortest; + + volatile bool _task_should_exit; + bool _armed; + + unsigned long debugCounter; + + MixerGroup *_mixers; + + actuator_controls_s _controls; + + static void task_main_trampoline(int argc, char *argv[]); + void task_main() __attribute__((noreturn)); + + static int control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input); + + int pwm_ioctl(file *filp, int cmd, unsigned long arg); + + struct GPIOConfig { + uint32_t input; + uint32_t output; + uint32_t alt; + }; + + static const GPIOConfig _gpio_tab[]; + static const unsigned _ngpio; + + void gpio_reset(void); + void gpio_set_function(uint32_t gpios, int function); + void gpio_write(uint32_t gpios, int function); + uint32_t gpio_read(void); + int gpio_ioctl(file *filp, int cmd, unsigned long arg); + int mk_servo_arm(bool status); + + int mk_servo_set(unsigned int chan, float val); + int mk_servo_set_test(unsigned int chan, float val); + int mk_servo_test(unsigned int chan); + + +}; + +const MK::GPIOConfig MK::_gpio_tab[] = { + {GPIO_GPIO0_INPUT, GPIO_GPIO0_OUTPUT, 0}, + {GPIO_GPIO1_INPUT, GPIO_GPIO1_OUTPUT, 0}, + {GPIO_GPIO2_INPUT, GPIO_GPIO2_OUTPUT, GPIO_USART2_CTS_1}, + {GPIO_GPIO3_INPUT, GPIO_GPIO3_OUTPUT, GPIO_USART2_RTS_1}, + {GPIO_GPIO4_INPUT, GPIO_GPIO4_OUTPUT, GPIO_USART2_TX_1}, + {GPIO_GPIO5_INPUT, GPIO_GPIO5_OUTPUT, GPIO_USART2_RX_1}, + {GPIO_GPIO6_INPUT, GPIO_GPIO6_OUTPUT, GPIO_CAN2_TX_2}, + {GPIO_GPIO7_INPUT, GPIO_GPIO7_OUTPUT, GPIO_CAN2_RX_2}, +}; + +const unsigned MK::_ngpio = sizeof(MK::_gpio_tab) / sizeof(MK::_gpio_tab[0]); + +const int blctrlAddr_quad_plus[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad + configuration +const int blctrlAddr_hexa_plus[] = { 0, 2, 2, -2, 1, -3, 0, 0 }; // Addresstranslator for Hexa + configuration +const int blctrlAddr_octo_plus[] = { 0, 3, -1, 0, 3, 0, 0, -5 }; // Addresstranslator for Octo + configuration + +const int blctrlAddr_quad_x[] = { 2, 2, -2, -2, 0, 0, 0, 0 }; // Addresstranslator for Quad X configuration +const int blctrlAddr_hexa_x[] = { 2, 4, -2, 0, -3, -1, 0, 0 }; // Addresstranslator for Hexa X configuration +const int blctrlAddr_octo_x[] = { 1, 4, 0, 1, -4, 1, 1, -4 }; // Addresstranslator for Octo X configuration + +const int blctrlAddr_px4[] = { 0, 0, 0, 0, 0, 0, 0, 0}; + +int addrTranslator[] = {0,0,0,0,0,0,0,0}; + +struct MotorData_t +{ + unsigned int Version; // the version of the BL (0 = old) + unsigned int SetPoint; // written by attitude controller + unsigned int SetPointLowerBits; // for higher Resolution of new BLs + unsigned int State; // 7 bit for I2C error counter, highest bit indicates if motor is present + unsigned int ReadMode; // select data to read + // the following bytes must be exactly in that order! + unsigned int Current; // in 0.1 A steps, read back from BL + unsigned int MaxPWM; // read back from BL is less than 255 if BL is in current limit + unsigned int Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in + unsigned int RoundCount; +}; + +MotorData_t Motor[MAX_MOTORS]; + + +namespace +{ + +MK *g_mk; + +} // namespace + +MK::MK(int bus) : + I2C("mkblctrl", "/dev/mkblctrl", bus, 0, I2C_BUS_SPEED), + _mode(MODE_NONE), + _update_rate(50), + _task(-1), + _t_actuators(-1), + _t_armed(-1), + _t_outputs(0), + _t_actuators_effective(0), + _num_outputs(0), + _motortest(false), + _motor(-1), + _px4mode(MAPPING_MK), + _frametype(FRAME_PLUS), + _primary_pwm_device(false), + _task_should_exit(false), + _armed(false), + _mixers(nullptr) +{ + _debug_enabled = true; +} + +MK::~MK() +{ + if (_task != -1) { + /* tell the task we want it to go away */ + _task_should_exit = true; + + unsigned i = 10; + + do { + /* wait 50ms - it should wake every 100ms or so worst-case */ + usleep(50000); + + /* if we have given up, kill it */ + if (--i == 0) { + task_delete(_task); + break; + } + + } while (_task != -1); + } + + /* clean up the alternate device node */ + if (_primary_pwm_device) + unregister_driver(PWM_OUTPUT_DEVICE_PATH); + + g_mk = nullptr; +} + +int +MK::init(unsigned motors) +{ + _num_outputs = motors; + debugCounter = 0; + int ret; + ASSERT(_task == -1); + + ret = I2C::init(); + + if (ret != OK) { + warnx("I2C init failed"); + return ret; + } + + usleep(500000); + + /* try to claim the generic PWM output device node as well - it's OK if we fail at this */ + ret = register_driver(PWM_OUTPUT_DEVICE_PATH, &fops, 0666, (void *)this); + + if (ret == OK) { + log("default PWM output device"); + _primary_pwm_device = true; + } + + /* reset GPIOs */ + gpio_reset(); + + /* start the IO interface task */ + _task = task_spawn("mkblctrl", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX -20, + 2048, + (main_t)&MK::task_main_trampoline, + nullptr); + + + if (_task < 0) { + debug("task start failed: %d", errno); + return -errno; + } + + return OK; +} + +void +MK::task_main_trampoline(int argc, char *argv[]) +{ + g_mk->task_main(); +} + +int +MK::set_mode(Mode mode) +{ + /* + * Configure for PWM output. + * + * Note that regardless of the configured mode, the task is always + * listening and mixing; the mode just selects which of the channels + * are presented on the output pins. + */ + switch (mode) { + case MODE_2PWM: + if(_num_outputs == 4) { + //debug("MODE_QUAD"); + } else if(_num_outputs == 6) { + //debug("MODE_HEXA"); + } else if(_num_outputs == 8) { + //debug("MODE_OCTO"); + } + //up_pwm_servo_init(0x3); + up_pwm_servo_deinit(); + _update_rate = UPDATE_RATE; /* default output rate */ + break; + + case MODE_4PWM: + if(_num_outputs == 4) { + //debug("MODE_QUADRO"); + } else if(_num_outputs == 6) { + //debug("MODE_HEXA"); + } else if(_num_outputs == 8) { + //debug("MODE_OCTO"); + } + //up_pwm_servo_init(0xf); + up_pwm_servo_deinit(); + _update_rate = UPDATE_RATE; /* default output rate */ + break; + + case MODE_NONE: + debug("MODE_NONE"); + /* disable servo outputs and set a very low update rate */ + up_pwm_servo_deinit(); + _update_rate = UPDATE_RATE; + break; + + default: + return -EINVAL; + } + + _mode = mode; + return OK; +} + +int +MK::set_pwm_rate(unsigned rate) +{ + if ((rate > 500) || (rate < 10)) + return -EINVAL; + + _update_rate = rate; + return OK; +} + +int +MK::set_px4mode(int px4mode) +{ + _px4mode = px4mode; +} + +int +MK::set_frametype(int frametype) +{ + _frametype = frametype; +} + + +int +MK::set_motor_count(unsigned count) +{ + if(count > 0) { + + _num_outputs = count; + + if(_px4mode == MAPPING_MK) { + if(_frametype == FRAME_PLUS) { + fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: +\n"); + } else if(_frametype == FRAME_X) { + fprintf(stderr, "[mkblctrl] addresstanslator for Mikrokopter addressing used. Frametype: X\n"); + } + if(_num_outputs == 4) { + if(_frametype == FRAME_PLUS) { + memcpy(&addrTranslator, &blctrlAddr_quad_plus, sizeof(blctrlAddr_quad_plus)); + } else if(_frametype == FRAME_X) { + memcpy(&addrTranslator, &blctrlAddr_quad_x, sizeof(blctrlAddr_quad_x)); + } + } else if(_num_outputs == 6) { + if(_frametype == FRAME_PLUS) { + memcpy(&addrTranslator, &blctrlAddr_hexa_plus, sizeof(blctrlAddr_hexa_plus)); + } else if(_frametype == FRAME_X) { + memcpy(&addrTranslator, &blctrlAddr_hexa_x, sizeof(blctrlAddr_hexa_x)); + } + } else if(_num_outputs == 8) { + if(_frametype == FRAME_PLUS) { + memcpy(&addrTranslator, &blctrlAddr_octo_plus, sizeof(blctrlAddr_octo_plus)); + } else if(_frametype == FRAME_X) { + memcpy(&addrTranslator, &blctrlAddr_octo_x, sizeof(blctrlAddr_octo_x)); + } + } + } else { + fprintf(stderr, "[mkblctrl] PX4 native addressing used.\n"); + memcpy(&addrTranslator, &blctrlAddr_px4, sizeof(blctrlAddr_px4)); + } + + if(_num_outputs == 4) { + fprintf(stderr, "[mkblctrl] Quadrocopter Mode (4)\n"); + } else if(_num_outputs == 6) { + fprintf(stderr, "[mkblctrl] Hexacopter Mode (6)\n"); + } else if(_num_outputs == 8) { + fprintf(stderr, "[mkblctrl] Octocopter Mode (8)\n"); + } + + return OK; + + } else { + return -1; + } + +} + +int +MK::set_motor_test(bool motortest) +{ + _motortest = motortest; + return OK; +} + + +void +MK::task_main() +{ + /* + * Subscribe to the appropriate PWM output topic based on whether we are the + * primary PWM output or not. + */ + _t_actuators = orb_subscribe(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : + ORB_ID(actuator_controls_1)); + /* force a reset of the update rate */ + _current_update_rate = 0; + + _t_armed = orb_subscribe(ORB_ID(actuator_armed)); + orb_set_interval(_t_armed, 200); /* 5Hz update rate */ + + /* advertise the mixed control outputs */ + actuator_outputs_s outputs; + memset(&outputs, 0, sizeof(outputs)); + /* advertise the mixed control outputs */ + _t_outputs = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), + &outputs); + + /* advertise the effective control inputs */ + actuator_controls_effective_s controls_effective; + memset(&controls_effective, 0, sizeof(controls_effective)); + /* advertise the effective control inputs */ + _t_actuators_effective = orb_advertise(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), + &controls_effective); + + pollfd fds[2]; + fds[0].fd = _t_actuators; + fds[0].events = POLLIN; + fds[1].fd = _t_armed; + fds[1].events = POLLIN; + + // rc input, published to ORB + struct rc_input_values rc_in; + orb_advert_t to_input_rc = 0; + + memset(&rc_in, 0, sizeof(rc_in)); + rc_in.input_source = RC_INPUT_SOURCE_PX4FMU_PPM; + + log("starting"); + long update_rate_in_us = 0; + + /* loop until killed */ + while (!_task_should_exit) { + + /* handle update rate changes */ + if (_current_update_rate != _update_rate) { + int update_rate_in_ms = int(1000 / _update_rate); + update_rate_in_us = long(1000000 / _update_rate); + + /* reject faster than 500 Hz updates */ + if (update_rate_in_ms < 2) { + update_rate_in_ms = 2; + _update_rate = 500; + } + /* reject slower than 50 Hz updates */ + if (update_rate_in_ms > 20) { + update_rate_in_ms = 20; + _update_rate = 50; + } + + orb_set_interval(_t_actuators, update_rate_in_ms); + up_pwm_servo_set_rate(_update_rate); + _current_update_rate = _update_rate; + } + + /* sleep waiting for data, but no more than a second */ + int ret = ::poll(&fds[0], 2, 1000); + + /* this would be bad... */ + if (ret < 0) { + log("poll error %d", errno); + usleep(1000000); + continue; + } + + /* do we have a control update? */ + if (fds[0].revents & POLLIN) { + + /* get controls - must always do this to avoid spinning */ + orb_copy(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS : ORB_ID(actuator_controls_1), _t_actuators, &_controls); + + /* can we mix? */ + if (_mixers != nullptr) { + + /* do mixing */ + outputs.noutputs = _mixers->mix(&outputs.output[0], _num_outputs); + outputs.timestamp = hrt_absolute_time(); + + // XXX output actual limited values + memcpy(&controls_effective, &_controls, sizeof(controls_effective)); + + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE : ORB_ID(actuator_controls_effective_1), _t_actuators_effective, &controls_effective); + + /* iterate actuators */ + for (unsigned int i = 0; i < _num_outputs; i++) { + + /* last resort: catch NaN, INF and out-of-band errors */ + if (i < outputs.noutputs && + isfinite(outputs.output[i]) && + outputs.output[i] >= -1.0f && + outputs.output[i] <= 1.0f) { + /* scale for PWM output 900 - 2100us */ + //outputs.output[i] = 1500 + (600 * outputs.output[i]); + //outputs.output[i] = 127 + (127 * outputs.output[i]); + } else { + /* + * Value is NaN, INF or out of band - set to the minimum value. + * This will be clearly visible on the servo status and will limit the risk of accidentally + * spinning motors. It would be deadly in flight. + */ + if(outputs.output[i] < -1.0f) { + outputs.output[i] = -1.0f; + } else if(outputs.output[i] > 1.0f) { + outputs.output[i] = 1.0f; + } else { + outputs.output[i] = -1.0f; + } + } + + /* don't go under BLCTRL_MIN_VALUE */ + if(outputs.output[i] < BLCTRL_MIN_VALUE) { + outputs.output[i] = BLCTRL_MIN_VALUE; + } + //_motortest = true; + /* output to BLCtrl's */ + if(_motortest == true) { + mk_servo_test(i); + } else { + //mk_servo_set(i, outputs.output[i]); + mk_servo_set_test(i, outputs.output[i]); // 8Bit + } + + + } + + /* and publish for anyone that cares to see */ + orb_publish(_primary_pwm_device ? ORB_ID_VEHICLE_CONTROLS : ORB_ID(actuator_outputs_1), _t_outputs, &outputs); + } + } + + /* how about an arming update? */ + if (fds[1].revents & POLLIN) { + actuator_armed_s aa; + + /* get new value */ + orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); + + /* update PWM servo armed status if armed and not locked down */ + ////up_pwm_servo_arm(aa.armed && !aa.lockdown); + mk_servo_arm(aa.armed && !aa.lockdown); + } + + // see if we have new PPM input data + if (ppm_last_valid_decode != rc_in.timestamp) { + // we have a new PPM frame. Publish it. + rc_in.channel_count = ppm_decoded_channels; + if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { + rc_in.channel_count = RC_INPUT_MAX_CHANNELS; + } + for (uint8_t i=0; i<rc_in.channel_count; i++) { + rc_in.values[i] = ppm_buffer[i]; + } + rc_in.timestamp = ppm_last_valid_decode; + + /* lazily advertise on first publication */ + if (to_input_rc == 0) { + to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); + } else { + orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); + } + } + + } + + ::close(_t_actuators); + ::close(_t_actuators_effective); + ::close(_t_armed); + + + /* make sure servos are off */ + up_pwm_servo_deinit(); + + log("stopping"); + + /* note - someone else is responsible for restoring the GPIO config */ + + /* tell the dtor that we are exiting */ + _task = -1; + _exit(0); +} + + +int +MK::mk_servo_arm(bool status) +{ + _armed = status; + return 0; +} + + +unsigned int +MK::mk_check_for_blctrl(unsigned int count, bool showOutput) +{ + _retries = 50; + uint8_t foundMotorCount = 0; + + for(unsigned i=0; i<MAX_MOTORS; i++) { + Motor[i].Version = 0; + Motor[i].SetPoint = 0; + Motor[i].SetPointLowerBits = 0; + Motor[i].State = 0; + Motor[i].ReadMode = 0; + Motor[i].Current = 0; + Motor[i].MaxPWM = 0; + Motor[i].Temperature = 0; + Motor[i].RoundCount = 0; + } + + uint8_t msg = 0; + uint8_t result[3]; + + for(unsigned i=0; i< count; i++) { + result[0] = 0; + result[1] = 0; + result[2] = 0; + + set_address( BLCTRL_BASE_ADDR + i ); + + if (OK == transfer(&msg, 1, &result[0], 3)) { + Motor[i].Current = result[0]; + Motor[i].MaxPWM = result[1]; + Motor[i].Temperature = result[2]; + Motor[i].State |= MOTOR_STATE_PRESENT_MASK; // set present bit; + foundMotorCount++; + if(Motor[i].MaxPWM == 250) { + Motor[i].Version = BLCTRL_NEW; + } else { + Motor[i].Version = BLCTRL_OLD; + } + } + } + + if(showOutput) { + fprintf(stderr, "[mkblctrl] MotorsFound: %i\n",foundMotorCount); + for(unsigned i=0; i< foundMotorCount; i++) { + fprintf(stderr, "[mkblctrl] blctrl[%i] : found=%i\tversion=%i\tcurrent=%i\tmaxpwm=%i\ttemperature=%i\n", i,Motor[i].State, Motor[i].Version, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature); + } + + if(foundMotorCount != 4 && foundMotorCount != 6 && foundMotorCount != 8) { + _task_should_exit = true; + } + } + + return foundMotorCount; +} + + + + +int +MK::mk_servo_set(unsigned int chan, float val) +{ + float tmpVal = 0; + _retries = 0; + uint8_t result[3] = { 0,0,0 }; + uint8_t msg[2] = { 0,0 }; + uint8_t rod=0; + uint8_t bytesToSendBL2 = 2; + + + tmpVal = (1023 + (1023 * val)); + if(tmpVal > 2047) { + tmpVal = 2047; + } + + + Motor[chan].SetPoint = (uint8_t) tmpVal / 3; // divide 8 + Motor[chan].SetPointLowerBits = (uint8_t) tmpVal % 8; // rest of divide 8 + //rod = (uint8_t) tmpVal % 8; + //Motor[chan].SetPointLowerBits = rod<<1; // rest of divide 8 + Motor[chan].SetPointLowerBits = 0; + + if(_armed == false) { + Motor[chan].SetPoint = 0; + Motor[chan].SetPointLowerBits = 0; + } + + //if(Motor[chan].State & MOTOR_STATE_PRESENT_MASK) { + set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan])); + + if(Motor[chan].Version == BLCTRL_OLD) { + /* + * Old BL-Ctrl 8Bit served. Version < 2.0 + */ + msg[0] = Motor[chan].SetPoint; + if(Motor[chan].RoundCount >= 16) { + // on each 16th cyle we read out the status messages from the blctrl + if (OK == transfer(&msg[0], 1, &result[0], 2)) { + Motor[chan].Current = result[0]; + Motor[chan].MaxPWM = result[1]; + Motor[chan].Temperature = 255;; + } else { + if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error + } + Motor[chan].RoundCount = 0; + } else { + if (OK != transfer(&msg[0], 1, nullptr, 0)) { + if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error + } + } + + } else { + /* + * New BL-Ctrl 11Bit served. Version >= 2.0 + */ + msg[0] = Motor[chan].SetPoint; + msg[1] = Motor[chan].SetPointLowerBits; + + if(Motor[chan].SetPointLowerBits == 0) { + bytesToSendBL2 = 1; // if setpoint lower bits are zero, we send only the higher bits - this saves time + } + + if(Motor[chan].RoundCount >= 16) { + // on each 16th cyle we read out the status messages from the blctrl + if (OK == transfer(&msg[0], bytesToSendBL2, &result[0], 3)) { + Motor[chan].Current = result[0]; + Motor[chan].MaxPWM = result[1]; + Motor[chan].Temperature = result[2]; + } else { + if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error + } + Motor[chan].RoundCount = 0; + } else { + if (OK != transfer(&msg[0], bytesToSendBL2, nullptr, 0)) { + if((Motor[chan].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[chan].State++; // error + } + } + + } + + Motor[chan].RoundCount++; + //} + + if(showDebug == true) { + debugCounter++; + if(debugCounter == 2000) { + debugCounter = 0; + for(int i=0; i<_num_outputs; i++){ + if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) { + fprintf(stderr, "[mkblctrl] #%i:\tVer: %i\tVal: %i\tCurr: %i\tMaxPWM: %i\tTemp: %i\tState: %i\n", i, Motor[i].Version, Motor[i].SetPoint, Motor[i].Current, Motor[i].MaxPWM, Motor[i].Temperature, Motor[i].State); + } + } + fprintf(stderr, "\n"); + } + } + return 0; +} + +int +MK::mk_servo_set_test(unsigned int chan, float val) +{ + _retries = 0; + int ret; + + float tmpVal = 0; + + uint8_t msg[2] = { 0,0 }; + + tmpVal = (1023 + (1023 * val)); + if(tmpVal > 2048) { + tmpVal = 2048; + } + + Motor[chan].SetPoint = (uint8_t) (tmpVal / 8); + + if(_armed == false) { + Motor[chan].SetPoint = 0; + Motor[chan].SetPointLowerBits = 0; + } + + msg[0] = Motor[chan].SetPoint; + + set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan])); + ret = transfer(&msg[0], 1, nullptr, 0); + + ret = OK; + + return ret; +} + + +int +MK::mk_servo_test(unsigned int chan) +{ + int ret=0; + float tmpVal = 0; + float val = -1; + _retries = 0; + uint8_t msg[2] = { 0,0 }; + + if(debugCounter >= MOTOR_SPINUP_COUNTER) { + debugCounter = 0; + _motor++; + + if(_motor < _num_outputs) { + fprintf(stderr, "[mkblctrl] Motortest - #%i:\tspinup\n", _motor); + } + + if(_motor >= _num_outputs) { + _motor = -1; + _motortest = false; + } + + } + debugCounter++; + + if(_motor == chan) { + val = BLCTRL_MIN_VALUE; + } else { + val = -1; + } + + tmpVal = (1023 + (1023 * val)); + if(tmpVal > 2048) { + tmpVal = 2048; + } + + //Motor[chan].SetPoint = (uint8_t) (tmpVal / 8); + //Motor[chan].SetPointLowerBits = (uint8_t) (tmpVal % 8) & 0x07; + Motor[chan].SetPoint = (uint8_t) tmpVal>>3; + Motor[chan].SetPointLowerBits = (uint8_t) tmpVal & 0x07; + + if(_motor != chan) { + Motor[chan].SetPoint = 0; + Motor[chan].SetPointLowerBits = 0; + } + + if(Motor[chan].Version == BLCTRL_OLD) { + msg[0] = Motor[chan].SetPoint; + } else { + msg[0] = Motor[chan].SetPoint; + msg[1] = Motor[chan].SetPointLowerBits; + } + + set_address(BLCTRL_BASE_ADDR + (chan + addrTranslator[chan])); + if(Motor[chan].Version == BLCTRL_OLD) { + ret = transfer(&msg[0], 1, nullptr, 0); + } else { + ret = transfer(&msg[0], 2, nullptr, 0); + } + + return ret; +} + + +int +MK::control_callback(uintptr_t handle, + uint8_t control_group, + uint8_t control_index, + float &input) +{ + const actuator_controls_s *controls = (actuator_controls_s *)handle; + + input = controls->control[control_index]; + return 0; +} + +int +MK::ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret; + + // XXX disabled, confusing users + //debug("ioctl 0x%04x 0x%08x", cmd, arg); + + /* try it as a GPIO ioctl first */ + ret = gpio_ioctl(filp, cmd, arg); + + if (ret != -ENOTTY) + return ret; + + /* if we are in valid PWM mode, try it as a PWM ioctl as well */ + switch (_mode) { + case MODE_2PWM: + case MODE_4PWM: + ret = pwm_ioctl(filp, cmd, arg); + break; + + default: + debug("not in a PWM mode"); + break; + } + + /* if nobody wants it, let CDev have it */ + if (ret == -ENOTTY) + ret = CDev::ioctl(filp, cmd, arg); + + return ret; +} + +int +MK::pwm_ioctl(file *filp, int cmd, unsigned long arg) +{ + int ret = OK; + int channel; + + lock(); + + switch (cmd) { + case PWM_SERVO_ARM: + ////up_pwm_servo_arm(true); + mk_servo_arm(true); + break; + + case PWM_SERVO_DISARM: + ////up_pwm_servo_arm(false); + mk_servo_arm(false); + break; + + case PWM_SERVO_SET_UPDATE_RATE: + set_pwm_rate(arg); + break; + + + case PWM_SERVO_SET(0) ... PWM_SERVO_SET(_max_actuators - 1): + + /* fake an update to the selected 'servo' channel */ + if ((arg >= 0) && (arg <= 255)) { + channel = cmd - PWM_SERVO_SET(0); + //mk_servo_set(channel, arg); + } else { + ret = -EINVAL; + } + + break; + + case PWM_SERVO_GET(0) ... PWM_SERVO_GET(_max_actuators - 1): + /* copy the current output value from the channel */ + *(servo_position_t *)arg = cmd - PWM_SERVO_GET(0); + break; + + case MIXERIOCGETOUTPUTCOUNT: + /* + if (_mode == MODE_4PWM) { + *(unsigned *)arg = 4; + } else { + *(unsigned *)arg = 2; + } + */ + + *(unsigned *)arg = _num_outputs; + + break; + + case MIXERIOCRESET: + if (_mixers != nullptr) { + delete _mixers; + _mixers = nullptr; + } + + break; + + case MIXERIOCADDSIMPLE: { + mixer_simple_s *mixinfo = (mixer_simple_s *)arg; + + SimpleMixer *mixer = new SimpleMixer(control_callback, + (uintptr_t)&_controls, mixinfo); + + if (mixer->check()) { + delete mixer; + ret = -EINVAL; + + } else { + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, + (uintptr_t)&_controls); + + _mixers->add_mixer(mixer); + } + + break; + } + + case MIXERIOCLOADBUF: { + const char *buf = (const char *)arg; + unsigned buflen = strnlen(buf, 1024); + + if (_mixers == nullptr) + _mixers = new MixerGroup(control_callback, (uintptr_t)&_controls); + + if (_mixers == nullptr) { + ret = -ENOMEM; + + } else { + + ret = _mixers->load_from_buf(buf, buflen); + + if (ret != 0) { + debug("mixer load failed with %d", ret); + delete _mixers; + _mixers = nullptr; + ret = -EINVAL; + } + } + break; + } + + default: + ret = -ENOTTY; + break; + } + + unlock(); + + return ret; +} + +void +MK::gpio_reset(void) +{ + /* + * Setup default GPIO config - all pins as GPIOs, GPIO driver chip + * to input mode. + */ + for (unsigned i = 0; i < _ngpio; i++) + stm32_configgpio(_gpio_tab[i].input); + + stm32_gpiowrite(GPIO_GPIO_DIR, 0); + stm32_configgpio(GPIO_GPIO_DIR); +} + +void +MK::gpio_set_function(uint32_t gpios, int function) +{ + /* + * GPIOs 0 and 1 must have the same direction as they are buffered + * by a shared 2-port driver. Any attempt to set either sets both. + */ + if (gpios & 3) { + gpios |= 3; + + /* flip the buffer to output mode if required */ + if (GPIO_SET_OUTPUT == function) + stm32_gpiowrite(GPIO_GPIO_DIR, 1); + } + + /* configure selected GPIOs as required */ + for (unsigned i = 0; i < _ngpio; i++) { + if (gpios & (1 << i)) { + switch (function) { + case GPIO_SET_INPUT: + stm32_configgpio(_gpio_tab[i].input); + break; + + case GPIO_SET_OUTPUT: + stm32_configgpio(_gpio_tab[i].output); + break; + + case GPIO_SET_ALT_1: + if (_gpio_tab[i].alt != 0) + stm32_configgpio(_gpio_tab[i].alt); + + break; + } + } + } + + /* flip buffer to input mode if required */ + if ((GPIO_SET_INPUT == function) && (gpios & 3)) + stm32_gpiowrite(GPIO_GPIO_DIR, 0); +} + +void +MK::gpio_write(uint32_t gpios, int function) +{ + int value = (function == GPIO_SET) ? 1 : 0; + + for (unsigned i = 0; i < _ngpio; i++) + if (gpios & (1 << i)) + stm32_gpiowrite(_gpio_tab[i].output, value); +} + +uint32_t +MK::gpio_read(void) +{ + uint32_t bits = 0; + + for (unsigned i = 0; i < _ngpio; i++) + if (stm32_gpioread(_gpio_tab[i].input)) + bits |= (1 << i); + + return bits; +} + +int +MK::gpio_ioctl(struct file *filp, int cmd, unsigned long arg) +{ + int ret = OK; + + lock(); + + switch (cmd) { + + case GPIO_RESET: + gpio_reset(); + break; + + case GPIO_SET_OUTPUT: + case GPIO_SET_INPUT: + case GPIO_SET_ALT_1: + gpio_set_function(arg, cmd); + break; + + case GPIO_SET_ALT_2: + case GPIO_SET_ALT_3: + case GPIO_SET_ALT_4: + ret = -EINVAL; + break; + + case GPIO_SET: + case GPIO_CLEAR: + gpio_write(arg, cmd); + break; + + case GPIO_GET: + *(uint32_t *)arg = gpio_read(); + break; + + default: + ret = -ENOTTY; + } + + unlock(); + + return ret; +} + +namespace +{ + +enum PortMode { + PORT_MODE_UNSET = 0, + PORT_FULL_GPIO, + PORT_FULL_SERIAL, + PORT_FULL_PWM, + PORT_GPIO_AND_SERIAL, + PORT_PWM_AND_SERIAL, + PORT_PWM_AND_GPIO, +}; + +enum MappingMode { + MAPPING_MK = 0, + MAPPING_PX4, +}; + + enum FrameType { + FRAME_PLUS = 0, + FRAME_X, + }; + +PortMode g_port_mode; + +int +mk_new_mode(PortMode new_mode, int update_rate, int motorcount, bool motortest, int px4mode, int frametype) +{ + uint32_t gpio_bits; + int shouldStop = 0; + MK::Mode servo_mode; + + /* reset to all-inputs */ + g_mk->ioctl(0, GPIO_RESET, 0); + + gpio_bits = 0; + servo_mode = MK::MODE_NONE; + + switch (new_mode) { + case PORT_FULL_GPIO: + case PORT_MODE_UNSET: + /* nothing more to do here */ + break; + + case PORT_FULL_SERIAL: + /* set all multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_1 | GPIO_MULTI_2 | GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_FULL_PWM: + /* select 4-pin PWM mode */ + servo_mode = MK::MODE_4PWM; + break; + + case PORT_GPIO_AND_SERIAL: + /* set RX/TX multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_PWM_AND_SERIAL: + /* select 2-pin PWM mode */ + servo_mode = MK::MODE_2PWM; + /* set RX/TX multi-GPIOs to serial mode */ + gpio_bits = GPIO_MULTI_3 | GPIO_MULTI_4; + break; + + case PORT_PWM_AND_GPIO: + /* select 2-pin PWM mode */ + servo_mode = MK::MODE_2PWM; + break; + } + + /* adjust GPIO config for serial mode(s) */ + if (gpio_bits != 0) + g_mk->ioctl(0, GPIO_SET_ALT_1, gpio_bits); + + /* native PX4 addressing) */ + g_mk->set_px4mode(px4mode); + + /* set frametype (geometry) */ + g_mk->set_frametype(frametype); + + /* motortest if enabled */ + g_mk->set_motor_test(motortest); + + + /* (re)set count of used motors */ + ////g_mk->set_motor_count(motorcount); + /* count used motors */ + + do { + if(g_mk->mk_check_for_blctrl(8, false) != 0) { + shouldStop = 4; + } else { + shouldStop++; + } + sleep(1); + } while ( shouldStop < 3); + + g_mk->set_motor_count(g_mk->mk_check_for_blctrl(8, true)); + + /* (re)set the PWM output mode */ + g_mk->set_mode(servo_mode); + + + if ((servo_mode != MK::MODE_NONE) && (update_rate != 0)) + g_mk->set_pwm_rate(update_rate); + + return OK; +} + +int +mk_start(unsigned bus, unsigned motors) +{ + int ret = OK; + + if (g_mk == nullptr) { + + g_mk = new MK(bus); + + if (g_mk == nullptr) { + ret = -ENOMEM; + + } else { + ret = g_mk->init(motors); + + if (ret != OK) { + delete g_mk; + g_mk = nullptr; + } + } + } + + return ret; +} + + +} // namespace + +extern "C" __EXPORT int mkblctrl_main(int argc, char *argv[]); + +int +mkblctrl_main(int argc, char *argv[]) +{ + PortMode port_mode = PORT_FULL_PWM; + int pwm_update_rate_in_hz = UPDATE_RATE; + int motorcount = 8; + int bus = 1; + int px4mode = MAPPING_PX4; + int frametype = FRAME_PLUS; // + plus is default + bool motortest = false; + bool showHelp = false; + bool newMode = false; + + /* + * optional parameters + */ + for (int i = 1; i < argc; i++) { + + /* look for the optional i2c bus parameter */ + if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--bus") == 0) { + if (argc > i + 1) { + bus = atoi(argv[i + 1]); + newMode = true; + } else { + errx(1, "missing argument for i2c bus (-b)"); + return 1; + } + } + + /* look for the optional frame parameter */ + if (strcmp(argv[i], "-mkmode") == 0 || strcmp(argv[i], "--mkmode") == 0) { + if (argc > i + 1) { + if(strcmp(argv[i + 1], "+") == 0 || strcmp(argv[i + 1], "x") == 0 || strcmp(argv[i + 1], "X") == 0) { + px4mode = MAPPING_MK; + newMode = true; + if(strcmp(argv[i + 1], "+") == 0) { + frametype = FRAME_PLUS; + } else { + frametype = FRAME_X; + } + } else { + errx(1, "only + or x for frametype supported !"); + } + } else { + errx(1, "missing argument for mkmode (-mkmode)"); + return 1; + } + } + + /* look for the optional test parameter */ + if (strcmp(argv[i], "-t") == 0) { + motortest = true; + newMode = true; + } + + /* look for the optional -h --help parameter */ + if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) { + showHelp == true; + } + + } + + if(showHelp) { + fprintf(stderr, "mkblctrl: help:\n"); + fprintf(stderr, " [-mkmode frame{+/x}] [-b i2c_bus_number] [-t motortest] [-h / --help]\n"); + exit(1); + } + + + if (g_mk == nullptr) { + if (mk_start(bus, motorcount) != OK) { + errx(1, "failed to start the MK-BLCtrl driver"); + } else { + newMode = true; + } + } + + + /* parameter set ? */ + if (newMode) { + /* switch parameter */ + return mk_new_mode(port_mode, pwm_update_rate_in_hz, motorcount, motortest, px4mode, frametype); + } + + /* test, etc. here g*/ + + exit(1); +} diff --git a/src/drivers/mkblctrl/module.mk b/src/drivers/mkblctrl/module.mk new file mode 100644 index 000000000..3ac263b00 --- /dev/null +++ b/src/drivers/mkblctrl/module.mk @@ -0,0 +1,42 @@ +############################################################################ +# +# Copyright (c) 2012,2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Interface driver for the Mikrokopter BLCtrl +# + +MODULE_COMMAND = mkblctrl + +SRCS = mkblctrl.cpp + +INCLUDE_DIRS += $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index d3865f053..e199a5998 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -574,7 +574,11 @@ PX4FMU::task_main() orb_copy(ORB_ID(actuator_armed), _t_armed, &aa); /* update PWM servo armed status if armed and not locked down */ - up_pwm_servo_arm(aa.armed && !aa.lockdown); + bool set_armed = aa.armed && !aa.lockdown; + if (set_armed != _armed) { + _armed = set_armed; + up_pwm_servo_arm(set_armed); + } } #ifdef FMU_HAVE_PPM @@ -675,6 +679,11 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg) up_pwm_servo_arm(true); break; + case PWM_SERVO_SET_ARM_OK: + case PWM_SERVO_CLEAR_ARM_OK: + // these are no-ops, as no safety switch + break; + case PWM_SERVO_DISARM: up_pwm_servo_arm(false); break; diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 4c2f1736f..a40142792 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -109,6 +109,14 @@ public: int set_update_rate(int rate); /** + * Set the battery current scaling and bias + * + * @param amp_per_volt + * @param amp_bias + */ + void set_battery_current_scaling(float amp_per_volt, float amp_bias); + + /** * Print the current status of IO */ void print_status(); @@ -151,6 +159,10 @@ private: bool _primary_pwm_device; ///< true if we are the default PWM output + float _battery_amp_per_volt; + float _battery_amp_bias; + float _battery_mamphour_total; + uint64_t _battery_last_timestamp; /** * Trampoline to the worker task @@ -314,6 +326,10 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor + _battery_amp_bias(0), + _battery_mamphour_total(0), + _battery_last_timestamp(0), _primary_pwm_device(false) { /* we need this potentially before it could be set in task_main */ @@ -400,7 +416,7 @@ PX4IO::init() * already armed, and has been configured for in-air restart */ if ((reg & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) && - (reg & PX4IO_P_SETUP_ARMING_ARM_OK)) { + (reg & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { mavlink_log_emergency(_mavlink_fd, "[IO] RECOVERING FROM FMU IN-AIR RESTART"); @@ -484,10 +500,9 @@ PX4IO::init() /* dis-arm IO before touching anything */ io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, - PX4IO_P_SETUP_ARMING_ARM_OK | + PX4IO_P_SETUP_ARMING_FMU_ARMED | PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | - PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | - PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK, 0); + PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK, 0); /* publish RC config to IO */ ret = io_set_rc_config(); @@ -686,16 +701,18 @@ PX4IO::io_set_arming_state() uint16_t set = 0; uint16_t clear = 0; - if (armed.armed) { - set |= PX4IO_P_SETUP_ARMING_ARM_OK; + if (armed.armed && !armed.lockdown) { + set |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } else { - clear |= PX4IO_P_SETUP_ARMING_ARM_OK; + clear |= PX4IO_P_SETUP_ARMING_FMU_ARMED; } - if (vstatus.flag_vector_flight_mode_ok) { - set |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; + + if (armed.ready_to_arm) { + set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } else { - clear |= PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK; + clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK; } + if (vstatus.flag_external_manual_override_ok) { set |= PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK; } else { @@ -884,11 +901,22 @@ PX4IO::io_get_status() /* voltage is scaled to mV */ battery_status.voltage_v = regs[2] / 1000.0f; - /* current scaling should be to cA in order to avoid limiting at 65A */ - battery_status.current_a = regs[3] / 100.f; + /* + regs[3] contains the raw ADC count, as 12 bit ADC + value, with full range being 3.3v + */ + battery_status.current_a = regs[3] * (3.3f/4096.0f) * _battery_amp_per_volt; + battery_status.current_a += _battery_amp_bias; - /* this requires integration over time - not currently implemented */ - battery_status.discharged_mah = -1.0f; + /* + integrate battery over time to get total mAh used + */ + if (_battery_last_timestamp != 0) { + _battery_mamphour_total += battery_status.current_a * + (battery_status.timestamp - _battery_last_timestamp) * 1.0e-3f / 3600; + } + battery_status.discharged_mah = _battery_mamphour_total; + _battery_last_timestamp = battery_status.timestamp; /* lazily publish the battery voltage */ if (_to_battery > 0) { @@ -1245,9 +1273,14 @@ PX4IO::print_status() ((alarms & PX4IO_P_STATUS_ALARMS_FMU_LOST) ? " FMU_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_RC_LOST) ? " RC_LOST" : ""), ((alarms & PX4IO_P_STATUS_ALARMS_PWM_ERROR) ? " PWM_ERROR" : "")); - printf("vbatt %u ibatt %u\n", - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), - io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT)); + printf("vbatt %u ibatt %u vbatt scale %u\n", + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VBATT), + io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_IBATT), + io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE)); + printf("amp_per_volt %.3f amp_offset %.3f mAhDischarged %.3f\n", + (double)_battery_amp_per_volt, + (double)_battery_amp_bias, + (double)_battery_mamphour_total); printf("actuators"); for (unsigned i = 0; i < _max_actuators; i++) printf(" %u", io_reg_get(PX4IO_PAGE_ACTUATORS, i)); @@ -1279,19 +1312,15 @@ PX4IO::print_status() uint16_t arming = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING); printf("arming 0x%04x%s%s%s%s\n", arming, - ((arming & PX4IO_P_SETUP_ARMING_ARM_OK) ? " ARM_OK" : ""), + ((arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) ? " FMU_ARMED" : ""), + ((arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) ? " IO_ARM_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) ? " MANUAL_OVERRIDE_OK" : ""), - ((arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) ? " VECTOR_FLIGHT_OK" : ""), ((arming & PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) ? " INAIR_RESTART_OK" : "")); printf("rates 0x%04x default %u alt %u relays 0x%04x\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RELAYS)); - printf("vbatt scale %u ibatt scale %u ibatt bias %u\n", - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_SCALE), - io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_IBATT_BIAS)); printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); printf("controls"); for (unsigned i = 0; i < _max_controls; i++) @@ -1326,21 +1355,27 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) switch (cmd) { case PWM_SERVO_ARM: /* set the 'armed' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_ARM_OK); + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FMU_ARMED); + break; + + case PWM_SERVO_SET_ARM_OK: + /* set the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_IO_ARM_OK); + break; + + case PWM_SERVO_CLEAR_ARM_OK: + /* clear the 'OK to arm' bit */ + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_IO_ARM_OK, 0); break; case PWM_SERVO_DISARM: /* clear the 'armed' bit */ - ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_ARM_OK, 0); + ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FMU_ARMED, 0); break; case PWM_SERVO_SET_UPDATE_RATE: /* set the requested alternate rate */ - if ((arg >= 50) && (arg <= 400)) { /* TODO: we could go higher for e.g. TurboPWM */ - ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); - } else { - ret = -EINVAL; - } + ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE, arg); break; case PWM_SERVO_SELECT_UPDATE_RATE: { @@ -1525,6 +1560,12 @@ PX4IO::set_update_rate(int rate) return 0; } +void +PX4IO::set_battery_current_scaling(float amp_per_volt, float amp_bias) +{ + _battery_amp_per_volt = amp_per_volt; + _battery_amp_bias = amp_bias; +} extern "C" __EXPORT int px4io_main(int argc, char *argv[]); @@ -1662,6 +1703,18 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "current")) { + if (g_dev != nullptr) { + if ((argc > 3)) { + g_dev->set_battery_current_scaling(atof(argv[2]), atof(argv[3])); + } else { + errx(1, "missing argument (apm_per_volt, amp_offset)"); + return 1; + } + } + exit(0); + } + if (!strcmp(argv[1], "recovery")) { if (g_dev != nullptr) { @@ -1789,5 +1842,5 @@ px4io_main(int argc, char *argv[]) monitor(); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'"); } diff --git a/src/drivers/px4io/uploader.cpp b/src/drivers/px4io/uploader.cpp index 9a67875e8..15524c3ae 100644 --- a/src/drivers/px4io/uploader.cpp +++ b/src/drivers/px4io/uploader.cpp @@ -127,6 +127,8 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; return -EIO; } @@ -145,18 +147,25 @@ PX4IO_Uploader::upload(const char *filenames[]) if (filename == NULL) { log("no firmware found"); + close(_io_fd); + _io_fd = -1; return -ENOENT; } struct stat st; if (stat(filename, &st) != 0) { log("Failed to stat %s - %d\n", filename, (int)errno); + close(_io_fd); + _io_fd = -1; return -errno; } fw_size = st.st_size; - if (_fw_fd == -1) + if (_fw_fd == -1) { + close(_io_fd); + _io_fd = -1; return -ENOENT; + } /* do the usual program thing - allow for failure */ for (unsigned retries = 0; retries < 1; retries++) { @@ -167,6 +176,8 @@ PX4IO_Uploader::upload(const char *filenames[]) if (ret != OK) { /* this is immediately fatal */ log("bootloader not responding"); + close(_io_fd); + _io_fd = -1; return -EIO; } } @@ -178,6 +189,8 @@ PX4IO_Uploader::upload(const char *filenames[]) log("found bootloader revision: %d", bl_rev); } else { log("found unsupported bootloader revision %d, exiting", bl_rev); + close(_io_fd); + _io_fd = -1; return OK; } } @@ -221,6 +234,8 @@ PX4IO_Uploader::upload(const char *filenames[]) } close(_fw_fd); + close(_io_fd); + _io_fd = -1; return ret; } diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c new file mode 100644 index 000000000..1753070e2 --- /dev/null +++ b/src/examples/fixedwing_control/main.c @@ -0,0 +1,474 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ +/** + * @file main.c + * Implementation of a fixed wing attitude controller. This file is a complete + * fixed wing controller flying manual attitude control or auto waypoint control. + * There is no need to touch any other system components to extend / modify the + * complete control architecture. + */ + +#include <nuttx/config.h> +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <unistd.h> +#include <fcntl.h> +#include <errno.h> +#include <math.h> +#include <poll.h> +#include <time.h> +#include <drivers/drv_hrt.h> +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/vehicle_global_position_setpoint.h> +#include <uORB/topics/vehicle_attitude.h> +#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_attitude_setpoint.h> +#include <uORB/topics/manual_control_setpoint.h> +#include <uORB/topics/actuator_controls.h> +#include <uORB/topics/vehicle_rates_setpoint.h> +#include <uORB/topics/vehicle_global_position.h> +#include <uORB/topics/debug_key_value.h> +#include <uORB/topics/parameter_update.h> +#include <systemlib/param/param.h> +#include <systemlib/pid/pid.h> +#include <systemlib/geo/geo.h> +#include <systemlib/perf_counter.h> +#include <systemlib/systemlib.h> +#include <systemlib/err.h> + +/* process-specific header files */ +#include "params.h" + +/* Prototypes */ +/** + * Daemon management function. + */ +__EXPORT int ex_fixedwing_control_main(int argc, char *argv[]); + +/** + * Mainloop of daemon. + */ +int fixedwing_control_thread_main(int argc, char *argv[]); + +/** + * Print the correct usage. + */ +static void usage(const char *reason); + +void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, + float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp, + struct actuator_controls_s *actuators); + +void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp, + const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp); + +/* Variables */ +static bool thread_should_exit = false; /**< Daemon exit flag */ +static bool thread_running = false; /**< Daemon status flag */ +static int deamon_task; /**< Handle of deamon task / thread */ +static struct params p; +static struct param_handles ph; + +void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, + float speed_body[], float gyro[], struct vehicle_rates_setpoint_s *rates_sp, + struct actuator_controls_s *actuators) +{ + + /* + * The PX4 architecture provides a mixer outside of the controller. + * The mixer is fed with a default vector of actuator controls, representing + * moments applied to the vehicle frame. This vector + * is structured as: + * + * Control Group 0 (attitude): + * + * 0 - roll (-1..+1) + * 1 - pitch (-1..+1) + * 2 - yaw (-1..+1) + * 3 - thrust ( 0..+1) + * 4 - flaps (-1..+1) + * ... + * + * Control Group 1 (payloads / special): + * + * ... + */ + + /* + * Calculate roll error and apply P gain + */ + float roll_err = att->roll - att_sp->roll_body; + actuators->control[0] = roll_err * p.roll_p; + + /* + * Calculate pitch error and apply P gain + */ + float pitch_err = att->pitch - att_sp->pitch_body; + actuators->control[1] = pitch_err * p.pitch_p; +} + +void control_heading(const struct vehicle_global_position_s *pos, const struct vehicle_global_position_setpoint_s *sp, + const struct vehicle_attitude_s *att, struct vehicle_attitude_setpoint_s *att_sp) +{ + + /* + * Calculate heading error of current position to desired position + */ + + /* PX4 uses 1e7 scaled integers to represent global coordinates for max resolution */ + float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d); + + /* calculate heading error */ + float yaw_err = att->yaw - bearing; + /* apply control gain */ + att_sp->roll_body = yaw_err * p.hdng_p; +} + +/* Main Thread */ +int fixedwing_control_thread_main(int argc, char *argv[]) +{ + /* read arguments */ + bool verbose = false; + + for (int i = 1; i < argc; i++) { + if (strcmp(argv[i], "-v") == 0 || strcmp(argv[i], "--verbose") == 0) { + verbose = true; + } + } + + /* welcome user (warnx prints a line, including an appended\n, with variable arguments */ + warnx("[example fixedwing control] started"); + + /* initialize parameters, first the handles, then the values */ + parameters_init(&ph); + parameters_update(&ph, &p); + + /* declare and safely initialize all structs to zero */ + struct vehicle_attitude_s att; + memset(&att, 0, sizeof(att)); + struct vehicle_attitude_setpoint_s att_sp; + memset(&att_sp, 0, sizeof(att_sp)); + struct vehicle_rates_setpoint_s rates_sp; + memset(&rates_sp, 0, sizeof(rates_sp)); + struct vehicle_global_position_s global_pos; + memset(&global_pos, 0, sizeof(global_pos)); + struct manual_control_setpoint_s manual_sp; + memset(&manual_sp, 0, sizeof(manual_sp)); + struct vehicle_status_s vstatus; + memset(&vstatus, 0, sizeof(vstatus)); + struct vehicle_global_position_setpoint_s global_sp; + memset(&global_sp, 0, sizeof(global_sp)); + + /* output structs */ + struct actuator_controls_s actuators; + memset(&actuators, 0, sizeof(actuators)); + + + /* publish actuator controls */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) { + actuators.control[i] = 0.0f; + } + + orb_advert_t actuator_pub = orb_advertise(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, &actuators); + orb_advert_t rates_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &rates_sp); + + /* subscribe */ + int att_sub = orb_subscribe(ORB_ID(vehicle_attitude)); + int att_sp_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint)); + int global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position)); + int manual_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); + int vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); + int global_sp_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint)); + int param_sub = orb_subscribe(ORB_ID(parameter_update)); + + /* Setup of loop */ + float gyro[3] = {0.0f, 0.0f, 0.0f}; + float speed_body[3] = {0.0f, 0.0f, 0.0f}; + struct pollfd fds[2] = {{ .fd = param_sub, .events = POLLIN }, + { .fd = att_sub, .events = POLLIN }}; + + while (!thread_should_exit) { + + /* + * Wait for a sensor or param update, check for exit condition every 500 ms. + * This means that the execution will block here without consuming any resources, + * but will continue to execute the very moment a new attitude measurement or + * a param update is published. So no latency in contrast to the polling + * design pattern (do not confuse the poll() system call with polling). + * + * This design pattern makes the controller also agnostic of the attitude + * update speed - it runs as fast as the attitude updates with minimal latency. + */ + int ret = poll(fds, 2, 500); + + if (ret < 0) { + /* poll error, this will not really happen in practice */ + warnx("poll error"); + + } else if (ret == 0) { + /* no return value = nothing changed for 500 ms, ignore */ + } else { + + /* only update parameters if they changed */ + if (fds[0].revents & POLLIN) { + /* read from param to clear updated flag (uORB API requirement) */ + struct parameter_update_s update; + orb_copy(ORB_ID(parameter_update), param_sub, &update); + + /* if a param update occured, re-read our parameters */ + parameters_update(&ph, &p); + } + + /* only run controller if attitude changed */ + if (fds[1].revents & POLLIN) { + + + /* Check if there is a new position measurement or position setpoint */ + bool pos_updated; + orb_check(global_pos_sub, &pos_updated); + bool global_sp_updated; + orb_check(global_sp_sub, &global_sp_updated); + + /* get a local copy of attitude */ + orb_copy(ORB_ID(vehicle_attitude), att_sub, &att); + + if (global_sp_updated) + orb_copy(ORB_ID(vehicle_global_position_setpoint), global_sp_sub, &global_sp); + + if (pos_updated) { + orb_copy(ORB_ID(vehicle_global_position), global_pos_sub, &global_pos); + + if (att.R_valid) { + speed_body[0] = att.R[0][0] * global_pos.vx + att.R[0][1] * global_pos.vy + att.R[0][2] * global_pos.vz; + speed_body[1] = att.R[1][0] * global_pos.vx + att.R[1][1] * global_pos.vy + att.R[1][2] * global_pos.vz; + speed_body[2] = att.R[2][0] * global_pos.vx + att.R[2][1] * global_pos.vy + att.R[2][2] * global_pos.vz; + + } else { + speed_body[0] = 0; + speed_body[1] = 0; + speed_body[2] = 0; + + warnx("Did not get a valid R\n"); + } + } + + orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp); + orb_copy(ORB_ID(vehicle_status), vstatus_sub, &vstatus); + + gyro[0] = att.rollspeed; + gyro[1] = att.pitchspeed; + gyro[2] = att.yawspeed; + + /* control */ + + if (vstatus.state_machine == SYSTEM_STATE_AUTO || + vstatus.state_machine == SYSTEM_STATE_STABILIZED) { + + /* simple heading control */ + control_heading(&global_pos, &global_sp, &att, &att_sp); + + /* nail pitch and yaw (rudder) to zero. This example only controls roll (index 0) */ + actuators.control[1] = 0.0f; + actuators.control[2] = 0.0f; + + /* simple attitude control */ + control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* set flaps to zero */ + actuators.control[4] = 0.0f; + + } else if (vstatus.state_machine == SYSTEM_STATE_MANUAL) { + if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { + + /* if the RC signal is lost, try to stay level and go slowly back down to ground */ + if (vstatus.rc_signal_lost) { + + /* put plane into loiter */ + att_sp.roll_body = 0.3f; + att_sp.pitch_body = 0.0f; + + /* limit throttle to 60 % of last value if sane */ + if (isfinite(manual_sp.throttle) && + (manual_sp.throttle >= 0.0f) && + (manual_sp.throttle <= 1.0f)) { + att_sp.thrust = 0.6f * manual_sp.throttle; + + } else { + att_sp.thrust = 0.0f; + } + + att_sp.yaw_body = 0; + + // XXX disable yaw control, loiter + + } else { + + att_sp.roll_body = manual_sp.roll; + att_sp.pitch_body = manual_sp.pitch; + att_sp.yaw_body = 0; + att_sp.thrust = manual_sp.throttle; + } + + att_sp.timestamp = hrt_absolute_time(); + + /* attitude control */ + control_attitude(&att_sp, &att, speed_body, gyro, &rates_sp, &actuators); + + /* pass through throttle */ + actuators.control[3] = att_sp.thrust; + + /* pass through flaps */ + if (isfinite(manual_sp.flaps)) { + actuators.control[4] = manual_sp.flaps; + + } else { + actuators.control[4] = 0.0f; + } + + } else if (vstatus.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_DIRECT) { + /* directly pass through values */ + actuators.control[0] = manual_sp.roll; + /* positive pitch means negative actuator -> pull up */ + actuators.control[1] = manual_sp.pitch; + actuators.control[2] = manual_sp.yaw; + actuators.control[3] = manual_sp.throttle; + + if (isfinite(manual_sp.flaps)) { + actuators.control[4] = manual_sp.flaps; + + } else { + actuators.control[4] = 0.0f; + } + } + } + + /* publish rates */ + orb_publish(ORB_ID(vehicle_rates_setpoint), rates_pub, &rates_sp); + + /* sanity check and publish actuator outputs */ + if (isfinite(actuators.control[0]) && + isfinite(actuators.control[1]) && + isfinite(actuators.control[2]) && + isfinite(actuators.control[3])) { + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + } + } + } + } + + printf("[ex_fixedwing_control] exiting, stopping all motors.\n"); + thread_running = false; + + /* kill all outputs */ + for (unsigned i = 0; i < NUM_ACTUATOR_CONTROLS; i++) + actuators.control[i] = 0.0f; + + orb_publish(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_pub, &actuators); + + fflush(stdout); + + return 0; +} + +/* Startup Functions */ + +static void +usage(const char *reason) +{ + if (reason) + fprintf(stderr, "%s\n", reason); + + fprintf(stderr, "usage: ex_fixedwing_control {start|stop|status}\n\n"); + exit(1); +} + +/** + * The daemon app only briefly exists to start + * the background job. The stack size assigned in the + * Makefile does only apply to this management task. + * + * The actual stack size should be set in the call + * to task_create(). + */ +int ex_fixedwing_control_main(int argc, char *argv[]) +{ + if (argc < 1) + usage("missing command"); + + if (!strcmp(argv[1], "start")) { + + if (thread_running) { + printf("ex_fixedwing_control already running\n"); + /* this is not an error */ + exit(0); + } + + thread_should_exit = false; + deamon_task = task_spawn("ex_fixedwing_control", + SCHED_DEFAULT, + SCHED_PRIORITY_MAX - 20, + 2048, + fixedwing_control_thread_main, + (argv) ? (const char **)&argv[2] : (const char **)NULL); + thread_running = true; + exit(0); + } + + if (!strcmp(argv[1], "stop")) { + thread_should_exit = true; + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (thread_running) { + printf("\tex_fixedwing_control is running\n"); + + } else { + printf("\tex_fixedwing_control not started\n"); + } + + exit(0); + } + + usage("unrecognized command"); + exit(1); +} + + + diff --git a/src/examples/fixedwing_control/module.mk b/src/examples/fixedwing_control/module.mk new file mode 100644 index 000000000..d2c48934f --- /dev/null +++ b/src/examples/fixedwing_control/module.mk @@ -0,0 +1,41 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Fixedwing Attitude Control Demo / Example Application +# + +MODULE_COMMAND = ex_fixedwing_control + +SRCS = main.c \ + params.c diff --git a/src/examples/fixedwing_control/params.c b/src/examples/fixedwing_control/params.c new file mode 100644 index 000000000..8042c74f5 --- /dev/null +++ b/src/examples/fixedwing_control/params.c @@ -0,0 +1,77 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file params.c + * + * Parameters for fixedwing demo + */ + +#include "params.h" + +/* controller parameters, use max. 15 characters for param name! */ + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_HDNG_P, 0.2f); + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_ROLL_P, 0.2f); + +/** + * + */ +PARAM_DEFINE_FLOAT(EXFW_PITCH_P, 0.2f); + +int parameters_init(struct param_handles *h) +{ + /* PID parameters */ + h->hdng_p = param_find("EXFW_HDNG_P"); + h->roll_p = param_find("EXFW_ROLL_P"); + h->pitch_p = param_find("EXFW_PITCH_P"); + + return OK; +} + +int parameters_update(const struct param_handles *h, struct params *p) +{ + param_get(h->hdng_p, &(p->hdng_p)); + param_get(h->roll_p, &(p->roll_p)); + param_get(h->pitch_p, &(p->pitch_p)); + + return OK; +} diff --git a/src/examples/fixedwing_control/params.h b/src/examples/fixedwing_control/params.h new file mode 100644 index 000000000..4ae8e90ec --- /dev/null +++ b/src/examples/fixedwing_control/params.h @@ -0,0 +1,65 @@ +/**************************************************************************** + * + * Copyright (c) 2013 PX4 Development Team. All rights reserved. + * Author: Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file params.h + * + * Definition of parameters for fixedwing example + */ + +#include <systemlib/param/param.h> + +struct params { + float hdng_p; + float roll_p; + float pitch_p; +}; + +struct param_handles { + param_t hdng_p; + param_t roll_p; + param_t pitch_p; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct param_handles *h, struct params *p); diff --git a/src/examples/px4_daemon_app/module.mk b/src/examples/px4_daemon_app/module.mk index d23c19b75..5f8aa73d5 100644 --- a/src/examples/px4_daemon_app/module.mk +++ b/src/examples/px4_daemon_app/module.mk @@ -37,4 +37,4 @@ MODULE_COMMAND = px4_daemon_app -SRCS = px4_daemon_app.c +SRCS = px4_daemon_app.c diff --git a/src/examples/px4_mavlink_debug/module.mk b/src/examples/px4_mavlink_debug/module.mk index 3d400fdbf..fefd61496 100644 --- a/src/examples/px4_mavlink_debug/module.mk +++ b/src/examples/px4_mavlink_debug/module.mk @@ -37,4 +37,4 @@ MODULE_COMMAND = px4_mavlink_debug -SRCS = px4_mavlink_debug.c
\ No newline at end of file +SRCS = px4_mavlink_debug.c
\ No newline at end of file diff --git a/src/examples/px4_simple_app/module.mk b/src/examples/px4_simple_app/module.mk index 2c102fa50..32b06c3a5 100644 --- a/src/examples/px4_simple_app/module.mk +++ b/src/examples/px4_simple_app/module.mk @@ -37,4 +37,4 @@ MODULE_COMMAND = px4_simple_app -SRCS = px4_simple_app.c +SRCS = px4_simple_app.c diff --git a/src/modules/commander/accelerometer_calibration.c b/src/modules/commander/accelerometer_calibration.c new file mode 100644 index 000000000..d79dd93dd --- /dev/null +++ b/src/modules/commander/accelerometer_calibration.c @@ -0,0 +1,414 @@ +/* + * accelerometer_calibration.c + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin <rk3dov@gmail.com> + * + * Transform acceleration vector to true orientation and scale + * + * * * * Model * * * + * accel_corr = accel_T * (accel_raw - accel_offs) + * + * accel_corr[3] - fully corrected acceleration vector in body frame + * accel_T[3][3] - accelerometers transform matrix, rotation and scaling transform + * accel_raw[3] - raw acceleration vector + * accel_offs[3] - acceleration offset vector + * + * * * * Calibration * * * + * + * Reference vectors + * accel_corr_ref[6][3] = [ g 0 0 ] // nose up + * | -g 0 0 | // nose down + * | 0 g 0 | // left side down + * | 0 -g 0 | // right side down + * | 0 0 g | // on back + * [ 0 0 -g ] // level + * accel_raw_ref[6][3] + * + * accel_corr_ref[i] = accel_T * (accel_raw_ref[i] - accel_offs), i = 0...5 + * + * 6 reference vectors * 3 axes = 18 equations + * 9 (accel_T) + 3 (accel_offs) = 12 unknown constants + * + * Find accel_offs + * + * accel_offs[i] = (accel_raw_ref[i*2][i] + accel_raw_ref[i*2+1][i]) / 2 + * + * + * Find accel_T + * + * 9 unknown constants + * need 9 equations -> use 3 of 6 measurements -> 3 * 3 = 9 equations + * + * accel_corr_ref[i*2] = accel_T * (accel_raw_ref[i*2] - accel_offs), i = 0...2 + * + * Solve separate system for each row of accel_T: + * + * accel_corr_ref[j*2][i] = accel_T[i] * (accel_raw_ref[j*2] - accel_offs), j = 0...2 + * + * A * x = b + * + * x = [ accel_T[0][i] ] + * | accel_T[1][i] | + * [ accel_T[2][i] ] + * + * b = [ accel_corr_ref[0][i] ] // One measurement per axis is enough + * | accel_corr_ref[2][i] | + * [ accel_corr_ref[4][i] ] + * + * a[i][j] = accel_raw_ref[i][j] - accel_offs[j], i = 0;2;4, j = 0...2 + * + * Matrix A is common for all three systems: + * A = [ a[0][0] a[0][1] a[0][2] ] + * | a[2][0] a[2][1] a[2][2] | + * [ a[4][0] a[4][1] a[4][2] ] + * + * x = A^-1 * b + * + * accel_T = A^-1 * g + * g = 9.80665 + */ + +#include "accelerometer_calibration.h" + +#include <poll.h> +#include <drivers/drv_hrt.h> +#include <uORB/topics/sensor_combined.h> +#include <drivers/drv_accel.h> +#include <systemlib/conversions.h> +#include <mavlink/mavlink_log.h> + +void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); +int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]); +int detect_orientation(int mavlink_fd, int sub_sensor_combined); +int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num); +int mat_invert3(float src[3][3], float dst[3][3]); +int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g); + +void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd) { + /* announce change */ + mavlink_log_info(mavlink_fd, "accel calibration started"); + /* set to accel calibration mode */ + status->flag_preflight_accel_calibration = true; + state_machine_publish(status_pub, status, mavlink_fd); + + /* measure and calculate offsets & scales */ + float accel_offs[3]; + float accel_scale[3]; + int res = do_accel_calibration_mesurements(mavlink_fd, accel_offs, accel_scale); + + if (res == OK) { + /* measurements complete successfully, set parameters */ + if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offs[0])) + || param_set(param_find("SENS_ACC_YOFF"), &(accel_offs[1])) + || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offs[2])) + || param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale[0])) + || param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale[1])) + || param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale[2]))) { + mavlink_log_critical(mavlink_fd, "ERROR: setting offs or scale failed"); + } + + int fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale = { + accel_offs[0], + accel_scale[0], + accel_offs[1], + accel_scale[1], + accel_offs[2], + accel_scale[2], + }; + + if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) + warn("WARNING: failed to set scale / offsets for accel"); + + close(fd); + + /* auto-save to EEPROM */ + int save_ret = param_save_default(); + + if (save_ret != 0) { + warn("WARNING: auto-save of params to storage failed"); + } + + mavlink_log_info(mavlink_fd, "accel calibration done"); + tune_confirm(); + sleep(2); + tune_confirm(); + sleep(2); + /* third beep by cal end routine */ + } else { + /* measurements error */ + mavlink_log_info(mavlink_fd, "accel calibration aborted"); + tune_error(); + sleep(2); + } + + /* exit accel calibration mode */ + status->flag_preflight_accel_calibration = false; + state_machine_publish(status_pub, status, mavlink_fd); +} + +int do_accel_calibration_mesurements(int mavlink_fd, float accel_offs[3], float accel_scale[3]) { + const int samples_num = 2500; + float accel_ref[6][3]; + bool data_collected[6] = { false, false, false, false, false, false }; + const char *orientation_strs[6] = { "x+", "x-", "y+", "y-", "z+", "z-" }; + + /* reset existing calibration */ + int fd = open(ACCEL_DEVICE_PATH, 0); + struct accel_scale ascale_null = { + 0.0f, + 1.0f, + 0.0f, + 1.0f, + 0.0f, + 1.0f, + }; + int ioctl_res = ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null); + close(fd); + + if (OK != ioctl_res) { + warn("ERROR: failed to set scale / offsets for accel"); + return ERROR; + } + + int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined)); + while (true) { + bool done = true; + char str[80]; + int str_ptr; + str_ptr = sprintf(str, "keep vehicle still:"); + for (int i = 0; i < 6; i++) { + if (!data_collected[i]) { + str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]); + done = false; + } + } + if (done) + break; + mavlink_log_info(mavlink_fd, str); + + int orient = detect_orientation(mavlink_fd, sensor_combined_sub); + if (orient < 0) + return ERROR; + + sprintf(str, "meas started: %s", orientation_strs[orient]); + mavlink_log_info(mavlink_fd, str); + read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num); + str_ptr = sprintf(str, "meas result for %s: [ %.2f %.2f %.2f ]", orientation_strs[orient], accel_ref[orient][0], accel_ref[orient][1], accel_ref[orient][2]); + mavlink_log_info(mavlink_fd, str); + data_collected[orient] = true; + tune_confirm(); + } + close(sensor_combined_sub); + + /* calculate offsets and rotation+scale matrix */ + float accel_T[3][3]; + int res = calculate_calibration_values(accel_ref, accel_T, accel_offs, CONSTANTS_ONE_G); + if (res != 0) { + mavlink_log_info(mavlink_fd, "ERROR: calibration values calc error"); + return ERROR; + } + + /* convert accel transform matrix to scales, + * rotation part of transform matrix is not used by now + */ + for (int i = 0; i < 3; i++) { + accel_scale[i] = accel_T[i][i]; + } + + return OK; +} + +/* + * Wait for vehicle become still and detect it's orientation. + * + * @return 0..5 according to orientation when vehicle is still and ready for measurements, + * ERROR if vehicle is not still after 30s or orientation error is more than 5m/s^2 + */ +int detect_orientation(int mavlink_fd, int sub_sensor_combined) { + struct sensor_combined_s sensor; + /* exponential moving average of accel */ + float accel_ema[3] = { 0.0f, 0.0f, 0.0f }; + /* max-hold dispersion of accel */ + float accel_disp[3] = { 0.0f, 0.0f, 0.0f }; + /* EMA time constant in seconds*/ + float ema_len = 0.2f; + /* set "still" threshold to 0.1 m/s^2 */ + float still_thr2 = pow(0.1f, 2); + /* set accel error threshold to 5m/s^2 */ + float accel_err_thr = 5.0f; + /* still time required in us */ + int64_t still_time = 2000000; + struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; + + hrt_abstime t_start = hrt_absolute_time(); + /* set timeout to 30s */ + hrt_abstime timeout = 30000000; + hrt_abstime t_timeout = t_start + timeout; + hrt_abstime t = t_start; + hrt_abstime t_prev = t_start; + hrt_abstime t_still = 0; + while (true) { + /* wait blocking for new data */ + int poll_ret = poll(fds, 1, 1000); + if (poll_ret) { + orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &sensor); + t = hrt_absolute_time(); + float dt = (t - t_prev) / 1000000.0f; + t_prev = t; + float w = dt / ema_len; + for (int i = 0; i < 3; i++) { + accel_ema[i] = accel_ema[i] * (1.0f - w) + sensor.accelerometer_m_s2[i] * w; + float d = (float) sensor.accelerometer_m_s2[i] - accel_ema[i]; + d = d * d; + accel_disp[i] = accel_disp[i] * (1.0f - w); + if (d > accel_disp[i]) + accel_disp[i] = d; + } + /* still detector with hysteresis */ + if ( accel_disp[0] < still_thr2 && + accel_disp[1] < still_thr2 && + accel_disp[2] < still_thr2 ) { + /* is still now */ + if (t_still == 0) { + /* first time */ + mavlink_log_info(mavlink_fd, "still..."); + t_still = t; + t_timeout = t + timeout; + } else { + /* still since t_still */ + if ((int64_t) t - (int64_t) t_still > still_time) { + /* vehicle is still, exit from the loop to detection of its orientation */ + break; + } + } + } else if ( accel_disp[0] > still_thr2 * 2.0f || + accel_disp[1] > still_thr2 * 2.0f || + accel_disp[2] > still_thr2 * 2.0f) { + /* not still, reset still start time */ + if (t_still != 0) { + mavlink_log_info(mavlink_fd, "moving..."); + t_still = 0; + } + } + } else if (poll_ret == 0) { + /* any poll failure for 1s is a reason to abort */ + mavlink_log_info(mavlink_fd, "ERROR: poll failure"); + return -3; + } + if (t > t_timeout) { + mavlink_log_info(mavlink_fd, "ERROR: timeout"); + return -1; + } + } + + if ( fabs(accel_ema[0] - CONSTANTS_ONE_G) < accel_err_thr && + fabs(accel_ema[1]) < accel_err_thr && + fabs(accel_ema[2]) < accel_err_thr ) + return 0; // [ g, 0, 0 ] + if ( fabs(accel_ema[0] + CONSTANTS_ONE_G) < accel_err_thr && + fabs(accel_ema[1]) < accel_err_thr && + fabs(accel_ema[2]) < accel_err_thr ) + return 1; // [ -g, 0, 0 ] + if ( fabs(accel_ema[0]) < accel_err_thr && + fabs(accel_ema[1] - CONSTANTS_ONE_G) < accel_err_thr && + fabs(accel_ema[2]) < accel_err_thr ) + return 2; // [ 0, g, 0 ] + if ( fabs(accel_ema[0]) < accel_err_thr && + fabs(accel_ema[1] + CONSTANTS_ONE_G) < accel_err_thr && + fabs(accel_ema[2]) < accel_err_thr ) + return 3; // [ 0, -g, 0 ] + if ( fabs(accel_ema[0]) < accel_err_thr && + fabs(accel_ema[1]) < accel_err_thr && + fabs(accel_ema[2] - CONSTANTS_ONE_G) < accel_err_thr ) + return 4; // [ 0, 0, g ] + if ( fabs(accel_ema[0]) < accel_err_thr && + fabs(accel_ema[1]) < accel_err_thr && + fabs(accel_ema[2] + CONSTANTS_ONE_G) < accel_err_thr ) + return 5; // [ 0, 0, -g ] + + mavlink_log_info(mavlink_fd, "ERROR: invalid orientation"); + + return -2; // Can't detect orientation +} + +/* + * Read specified number of accelerometer samples, calculate average and dispersion. + */ +int read_accelerometer_avg(int sensor_combined_sub, float accel_avg[3], int samples_num) { + struct pollfd fds[1] = { { .fd = sensor_combined_sub, .events = POLLIN } }; + int count = 0; + float accel_sum[3] = { 0.0f, 0.0f, 0.0f }; + + while (count < samples_num) { + int poll_ret = poll(fds, 1, 1000); + if (poll_ret == 1) { + struct sensor_combined_s sensor; + orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor); + for (int i = 0; i < 3; i++) + accel_sum[i] += sensor.accelerometer_m_s2[i]; + count++; + } else { + return ERROR; + } + } + + for (int i = 0; i < 3; i++) { + accel_avg[i] = accel_sum[i] / count; + } + + return OK; +} + +int mat_invert3(float src[3][3], float dst[3][3]) { + float det = src[0][0] * (src[1][1] * src[2][2] - src[1][2] * src[2][1]) - + src[0][1] * (src[1][0] * src[2][2] - src[1][2] * src[2][0]) + + src[0][2] * (src[1][0] * src[2][1] - src[1][1] * src[2][0]); + if (det == 0.0) + return ERROR; // Singular matrix + + dst[0][0] = (src[1][1] * src[2][2] - src[1][2] * src[2][1]) / det; + dst[1][0] = (src[1][2] * src[2][0] - src[1][0] * src[2][2]) / det; + dst[2][0] = (src[1][0] * src[2][1] - src[1][1] * src[2][0]) / det; + dst[0][1] = (src[0][2] * src[2][1] - src[0][1] * src[2][2]) / det; + dst[1][1] = (src[0][0] * src[2][2] - src[0][2] * src[2][0]) / det; + dst[2][1] = (src[0][1] * src[2][0] - src[0][0] * src[2][1]) / det; + dst[0][2] = (src[0][1] * src[1][2] - src[0][2] * src[1][1]) / det; + dst[1][2] = (src[0][2] * src[1][0] - src[0][0] * src[1][2]) / det; + dst[2][2] = (src[0][0] * src[1][1] - src[0][1] * src[1][0]) / det; + + return OK; +} + +int calculate_calibration_values(float accel_ref[6][3], float accel_T[3][3], float accel_offs[3], float g) { + /* calculate offsets */ + for (int i = 0; i < 3; i++) { + accel_offs[i] = (accel_ref[i * 2][i] + accel_ref[i * 2 + 1][i]) / 2; + } + + /* fill matrix A for linear equations system*/ + float mat_A[3][3]; + memset(mat_A, 0, sizeof(mat_A)); + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + float a = accel_ref[i * 2][j] - accel_offs[j]; + mat_A[i][j] = a; + } + } + + /* calculate inverse matrix for A */ + float mat_A_inv[3][3]; + if (mat_invert3(mat_A, mat_A_inv) != OK) + return ERROR; + + /* copy results to accel_T */ + for (int i = 0; i < 3; i++) { + for (int j = 0; j < 3; j++) { + /* simplify matrices mult because b has only one non-zero element == g at index i */ + accel_T[j][i] = mat_A_inv[j][i] * g; + } + } + + return OK; +} diff --git a/src/modules/commander/accelerometer_calibration.h b/src/modules/commander/accelerometer_calibration.h new file mode 100644 index 000000000..a11cf93d3 --- /dev/null +++ b/src/modules/commander/accelerometer_calibration.h @@ -0,0 +1,16 @@ +/* + * accelerometer_calibration.h + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin <rk3dov@gmail.com> + */ + +#ifndef ACCELEROMETER_CALIBRATION_H_ +#define ACCELEROMETER_CALIBRATION_H_ + +#include <stdint.h> +#include <uORB/topics/vehicle_status.h> + +void do_accel_calibration(int status_pub, struct vehicle_status_s *status, int mavlink_fd); + +#endif /* ACCELEROMETER_CALIBRATION_H_ */ diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c index 7c0a25f86..aab8f3e04 100644 --- a/src/modules/commander/commander.c +++ b/src/modules/commander/commander.c @@ -94,7 +94,7 @@ #include <drivers/drv_baro.h> #include "calibration_routines.h" - +#include "accelerometer_calibration.h" PARAM_DEFINE_INT32(SYS_FAILSAVE_LL, 0); /**< Go into low-level failsafe after 0 ms */ //PARAM_DEFINE_INT32(SYS_FAILSAVE_HL, 0); /**< Go into high-level failsafe after 0 ms */ @@ -158,7 +158,6 @@ static int led_off(int led); static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status); static void do_mag_calibration(int status_pub, struct vehicle_status_s *status); static void do_rc_calibration(int status_pub, struct vehicle_status_s *status); -static void do_accel_calibration(int status_pub, struct vehicle_status_s *status); static void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd); int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state); @@ -666,126 +665,6 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status) close(sub_sensor_combined); } -void do_accel_calibration(int status_pub, struct vehicle_status_s *status) -{ - /* announce change */ - - mavlink_log_info(mavlink_fd, "keep it level and still"); - /* set to accel calibration mode */ - status->flag_preflight_accel_calibration = true; - state_machine_publish(status_pub, status, mavlink_fd); - - const int calibration_count = 2500; - - int sub_sensor_combined = orb_subscribe(ORB_ID(sensor_combined)); - struct sensor_combined_s raw; - - int calibration_counter = 0; - float accel_offset[3] = {0.0f, 0.0f, 0.0f}; - - int fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale_null = { - 0.0f, - 1.0f, - 0.0f, - 1.0f, - 0.0f, - 1.0f, - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale_null)) - warn("WARNING: failed to set scale / offsets for accel"); - - close(fd); - - while (calibration_counter < calibration_count) { - - /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } }; - - int poll_ret = poll(fds, 1, 1000); - - if (poll_ret) { - orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw); - accel_offset[0] += raw.accelerometer_m_s2[0]; - accel_offset[1] += raw.accelerometer_m_s2[1]; - accel_offset[2] += raw.accelerometer_m_s2[2]; - calibration_counter++; - - } else if (poll_ret == 0) { - /* any poll failure for 1s is a reason to abort */ - mavlink_log_info(mavlink_fd, "acceleration calibration aborted"); - return; - } - } - - accel_offset[0] = accel_offset[0] / calibration_count; - accel_offset[1] = accel_offset[1] / calibration_count; - accel_offset[2] = accel_offset[2] / calibration_count; - - if (isfinite(accel_offset[0]) && isfinite(accel_offset[1]) && isfinite(accel_offset[2])) { - - /* add the removed length from x / y to z, since we induce a scaling issue else */ - float total_len = sqrtf(accel_offset[0] * accel_offset[0] + accel_offset[1] * accel_offset[1] + accel_offset[2] * accel_offset[2]); - - /* if length is correct, zero results here */ - accel_offset[2] = accel_offset[2] + total_len; - - float scale = 9.80665f / total_len; - - if (param_set(param_find("SENS_ACC_XOFF"), &(accel_offset[0])) - || param_set(param_find("SENS_ACC_YOFF"), &(accel_offset[1])) - || param_set(param_find("SENS_ACC_ZOFF"), &(accel_offset[2])) - || param_set(param_find("SENS_ACC_XSCALE"), &(scale)) - || param_set(param_find("SENS_ACC_YSCALE"), &(scale)) - || param_set(param_find("SENS_ACC_ZSCALE"), &(scale))) { - mavlink_log_critical(mavlink_fd, "Setting offs or scale failed!"); - } - - fd = open(ACCEL_DEVICE_PATH, 0); - struct accel_scale ascale = { - accel_offset[0], - scale, - accel_offset[1], - scale, - accel_offset[2], - scale, - }; - - if (OK != ioctl(fd, ACCELIOCSSCALE, (long unsigned int)&ascale)) - warn("WARNING: failed to set scale / offsets for accel"); - - close(fd); - - /* auto-save to EEPROM */ - int save_ret = param_save_default(); - - if (save_ret != 0) { - warn("WARNING: auto-save of params to storage failed"); - } - - //char buf[50]; - //sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]); - //mavlink_log_info(mavlink_fd, buf); - mavlink_log_info(mavlink_fd, "accel calibration done"); - - tune_confirm(); - sleep(2); - tune_confirm(); - sleep(2); - /* third beep by cal end routine */ - - } else { - mavlink_log_info(mavlink_fd, "accel calibration FAILED (NaN)"); - } - - /* exit accel calibration mode */ - status->flag_preflight_accel_calibration = false; - state_machine_publish(status_pub, status, mavlink_fd); - - close(sub_sensor_combined); -} - void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) { /* announce change */ @@ -797,22 +676,22 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) const int calibration_count = 2500; - int sub_differential_pressure = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; int calibration_counter = 0; - float airspeed_offset = 0.0f; + float diff_pres_offset = 0.0f; while (calibration_counter < calibration_count) { /* wait blocking for new data */ - struct pollfd fds[1] = { { .fd = sub_differential_pressure, .events = POLLIN } }; + struct pollfd fds[1] = { { .fd = diff_pres_sub, .events = POLLIN } }; int poll_ret = poll(fds, 1, 1000); if (poll_ret) { - orb_copy(ORB_ID(differential_pressure), sub_differential_pressure, &differential_pressure); - airspeed_offset += differential_pressure.voltage; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + diff_pres_offset += diff_pres.differential_pressure_pa; calibration_counter++; } else if (poll_ret == 0) { @@ -822,11 +701,11 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) } } - airspeed_offset = airspeed_offset / calibration_count; + diff_pres_offset = diff_pres_offset / calibration_count; - if (isfinite(airspeed_offset)) { + if (isfinite(diff_pres_offset)) { - if (param_set(param_find("SENS_VAIR_OFF"), &(airspeed_offset))) { + if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) { mavlink_log_critical(mavlink_fd, "Setting offs failed!"); } @@ -856,7 +735,7 @@ void do_airspeed_calibration(int status_pub, struct vehicle_status_s *status) status->flag_preflight_airspeed_calibration = false; state_machine_publish(status_pub, status, mavlink_fd); - close(sub_differential_pressure); + close(diff_pres_sub); } @@ -1040,7 +919,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) { mavlink_log_info(mavlink_fd, "CMD starting accel cal"); tune_confirm(); - do_accel_calibration(status_pub, ¤t_status); + do_accel_calibration(status_pub, ¤t_status, mavlink_fd); tune_confirm(); mavlink_log_info(mavlink_fd, "CMD finished accel cal"); do_state_update(status_pub, ¤t_status, mavlink_fd, SYSTEM_STATE_STANDBY); @@ -1477,10 +1356,10 @@ int commander_thread_main(int argc, char *argv[]) struct sensor_combined_s sensors; memset(&sensors, 0, sizeof(sensors)); - int differential_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - struct differential_pressure_s differential_pressure; - memset(&differential_pressure, 0, sizeof(differential_pressure)); - uint64_t last_differential_pressure_time = 0; + int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + struct differential_pressure_s diff_pres; + memset(&diff_pres, 0, sizeof(diff_pres)); + uint64_t last_diff_pres_time = 0; /* Subscribe to command topic */ int cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1535,11 +1414,11 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(sensor_combined), sensor_sub, &sensors); } - orb_check(differential_pressure_sub, &new_data); + orb_check(diff_pres_sub, &new_data); if (new_data) { - orb_copy(ORB_ID(differential_pressure), differential_pressure_sub, &differential_pressure); - last_differential_pressure_time = differential_pressure.timestamp; + orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); + last_diff_pres_time = diff_pres.timestamp; } orb_check(cmd_sub, &new_data); @@ -1624,21 +1503,39 @@ int commander_thread_main(int argc, char *argv[]) if ((current_status.state_machine == SYSTEM_STATE_GROUND_READY || current_status.state_machine == SYSTEM_STATE_AUTO || current_status.state_machine == SYSTEM_STATE_MANUAL)) { - /* armed */ - led_toggle(LED_BLUE); + /* armed, solid */ + led_on(LED_AMBER); } else if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { /* not armed */ - led_toggle(LED_BLUE); + led_toggle(LED_AMBER); } - /* toggle error led at 5 Hz in HIL mode */ + if (hrt_absolute_time() - gps_position.timestamp_position < 2000000) { + + /* toggle GPS (blue) led at 1 Hz if GPS present but no lock, make is solid once locked */ + if ((hrt_absolute_time() - gps_position.timestamp_position < 2000000) + && (gps_position.fix_type == GPS_FIX_TYPE_3D)) { + /* GPS lock */ + led_on(LED_BLUE); + + } else if ((counter + 4) % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) { + /* no GPS lock, but GPS module is aquiring lock */ + led_toggle(LED_BLUE); + } + + } else { + /* no GPS info, don't light the blue led */ + led_off(LED_BLUE); + } + + /* toggle GPS led at 5 Hz in HIL mode */ if (current_status.flag_hil_enabled) { /* hil enabled */ - led_toggle(LED_AMBER); + led_toggle(LED_BLUE); } else if (bat_remain < 0.3f && (low_voltage_counter > LOW_VOLTAGE_BATTERY_COUNTER_LIMIT)) { - /* toggle error (red) at 5 Hz on low battery or error */ + /* toggle arming (red) at 5 Hz on low battery or error */ led_toggle(LED_AMBER); } else { @@ -1754,7 +1651,7 @@ int commander_thread_main(int argc, char *argv[]) } /* Check for valid airspeed/differential pressure measurements */ - if (hrt_absolute_time() - last_differential_pressure_time < 2000000) { + if (hrt_absolute_time() - last_diff_pres_time < 2000000) { current_status.flag_airspeed_valid = true; } else { diff --git a/src/modules/commander/module.mk b/src/modules/commander/module.mk index 556d5c2df..fe44e955a 100644 --- a/src/modules/commander/module.mk +++ b/src/modules/commander/module.mk @@ -35,7 +35,9 @@ # Main system state machine # -MODULE_COMMAND = commander -SRCS = commander.c \ - state_machine_helper.c \ - calibration_routines.c +MODULE_COMMAND = commander +SRCS = commander.c \ + state_machine_helper.c \ + calibration_routines.c \ + accelerometer_calibration.c + diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c index bea388a10..ab728c7bb 100644 --- a/src/modules/commander/state_machine_helper.c +++ b/src/modules/commander/state_machine_helper.c @@ -249,6 +249,11 @@ void publish_armed_status(const struct vehicle_status_s *current_status) { struct actuator_armed_s armed; armed.armed = current_status->flag_system_armed; + + /* XXX allow arming by external components on multicopters only if not yet armed by RC */ + /* XXX allow arming only if core sensors are ok */ + armed.ready_to_arm = true; + /* lock down actuators if required, only in HIL */ armed.lockdown = (current_status->flag_hil_enabled) ? true : false; orb_advert_t armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed); diff --git a/src/modules/controllib/fixedwing.cpp b/src/modules/controllib/fixedwing.cpp index 1cc28b9dd..7be38015c 100644 --- a/src/modules/controllib/fixedwing.cpp +++ b/src/modules/controllib/fixedwing.cpp @@ -56,9 +56,9 @@ BlockYawDamper::BlockYawDamper(SuperBlock *parent, const char *name) : BlockYawDamper::~BlockYawDamper() {}; -void BlockYawDamper::update(float rCmd, float r) +void BlockYawDamper::update(float rCmd, float r, float outputScale) { - _rudder = _r2Rdr.update(rCmd - + _rudder = outputScale*_r2Rdr.update(rCmd - _rWashout.update(_rLowPass.update(r))); } @@ -77,13 +77,13 @@ BlockStabilization::BlockStabilization(SuperBlock *parent, const char *name) : BlockStabilization::~BlockStabilization() {}; void BlockStabilization::update(float pCmd, float qCmd, float rCmd, - float p, float q, float r) + float p, float q, float r, float outputScale) { - _aileron = _p2Ail.update( + _aileron = outputScale*_p2Ail.update( pCmd - _pLowPass.update(p)); - _elevator = _q2Elv.update( + _elevator = outputScale*_q2Elv.update( qCmd - _qLowPass.update(q)); - _yawDamper.update(rCmd, r); + _yawDamper.update(rCmd, r, outputScale); } BlockWaypointGuidance::BlockWaypointGuidance(SuperBlock *parent, const char *name) : @@ -156,21 +156,21 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par _theLimit(this, "THE"), _vLimit(this, "V"), - // altitude/roc hold + // altitude/climb rate hold _h2Thr(this, "H2THR"), - _roc2Thr(this, "ROC2THR"), + _cr2Thr(this, "CR2THR"), // guidance block _guide(this, ""), - // block params - _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */ - _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */ - _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */ - _trimThr(this, "TRIM_THR", true), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */ + _trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */ + _trimElv(this, "TRIM_PITCH", false), /* general pitch trim */ + _trimRdr(this, "TRIM_YAW", false), /* general yaw trim */ + _trimThr(this, "TRIM_THR"), /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */ + _trimV(this, "TRIM_V"), /* FWB_ specific trim velocity (full name : FWB_TRIM_V) */ _vCmd(this, "V_CMD"), - _rocMax(this, "ROC_MAX"), + _crMax(this, "CR_MAX"), _attPoll(), _lastPosCmd(), _timeStamp(0) @@ -228,7 +228,15 @@ void BlockMultiModeBacksideAutopilot::update() _guide.update(_pos, _att, _posCmd, _lastPosCmd); // calculate velocity, XXX should be airspeed, but using ground speed for now - float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz); + // for the purpose of control we will limit the velocity feedback between + // the min/max velocity + float v = _vLimit.update(sqrtf( + _pos.vx * _pos.vx + + _pos.vy * _pos.vy + + _pos.vz * _pos.vz)); + + // limit velocity command between min/max velocity + float vCmd = _vLimit.update(_vCmd.get()); // altitude hold float dThrottle = _h2Thr.update(_posCmd.altitude - _pos.alt); @@ -240,16 +248,19 @@ void BlockMultiModeBacksideAutopilot::update() // velocity hold // negative sign because nose over to increase speed - float thetaCmd = _theLimit.update(-_v2Theta.update( - _vLimit.update(_vCmd.get()) - v)); + float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); float qCmd = _theta2Q.update(thetaCmd - _att.pitch); // yaw rate cmd float rCmd = 0; // stabilization + float velocityRatio = _trimV.get()/v; + float outputScale = velocityRatio*velocityRatio; + // this term scales the output based on the dynamic pressure change from trim _stabilization.update(pCmd, qCmd, rCmd, - _att.rollspeed, _att.pitchspeed, _att.yawspeed); + _att.rollspeed, _att.pitchspeed, _att.yawspeed, + outputScale); // output _actuators.control[CH_AIL] = _stabilization.getAileron() + _trimAil.get(); @@ -280,13 +291,18 @@ void BlockMultiModeBacksideAutopilot::update() } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) { // calculate velocity, XXX should be airspeed, but using ground speed for now - float v = sqrtf(_pos.vx * _pos.vx + _pos.vy * _pos.vy + _pos.vz * _pos.vz); + // for the purpose of control we will limit the velocity feedback between + // the min/max velocity + float v = _vLimit.update(sqrtf( + _pos.vx * _pos.vx + + _pos.vy * _pos.vy + + _pos.vz * _pos.vz)); // pitch channel -> rate of climb // TODO, might want to put a gain on this, otherwise commanding // from +1 -> -1 m/s for rate of climb - //float dThrottle = _roc2Thr.update( - //_rocMax.get()*_manual.pitch - _pos.vz); + //float dThrottle = _cr2Thr.update( + //_crMax.get()*_manual.pitch - _pos.vz); // roll channel -> bank angle float phiCmd = _phiLimit.update(_manual.roll * _phiLimit.getMax()); @@ -294,8 +310,10 @@ void BlockMultiModeBacksideAutopilot::update() // throttle channel -> velocity // negative sign because nose over to increase speed - float vCmd = _manual.throttle * (_vLimit.getMax() - _vLimit.getMin()) + _vLimit.getMin(); - float thetaCmd = _theLimit.update(-_v2Theta.update(_vLimit.update(vCmd) - v)); + float vCmd = _vLimit.update(_manual.throttle * + (_vLimit.getMax() - _vLimit.getMin()) + + _vLimit.getMin()); + float thetaCmd = _theLimit.update(-_v2Theta.update(vCmd - v)); float qCmd = _theta2Q.update(thetaCmd - _att.pitch); // yaw rate cmd diff --git a/src/modules/controllib/fixedwing.hpp b/src/modules/controllib/fixedwing.hpp index 281cbb4cb..53d0cf893 100644 --- a/src/modules/controllib/fixedwing.hpp +++ b/src/modules/controllib/fixedwing.hpp @@ -193,7 +193,7 @@ public: * good idea to declare a member to store the temporary * variable. */ - void update(float rCmd, float r); + void update(float rCmd, float r, float outputScale = 1.0); /** * Rudder output value accessor @@ -226,7 +226,8 @@ public: BlockStabilization(SuperBlock *parent, const char *name); virtual ~BlockStabilization(); void update(float pCmd, float qCmd, float rCmd, - float p, float q, float r); + float p, float q, float r, + float outputScale = 1.0); float getAileron() { return _aileron; } float getElevator() { return _elevator; } float getRudder() { return _yawDamper.getRudder(); } @@ -310,9 +311,9 @@ private: BlockLimit _theLimit; BlockLimit _vLimit; - // altitude/ roc hold + // altitude/ climb rate hold BlockPID _h2Thr; - BlockPID _roc2Thr; + BlockPID _cr2Thr; // guidance BlockWaypointGuidance _guide; @@ -322,8 +323,9 @@ private: BlockParam<float> _trimElv; BlockParam<float> _trimRdr; BlockParam<float> _trimThr; + BlockParam<float> _trimV; BlockParam<float> _vCmd; - BlockParam<float> _rocMax; + BlockParam<float> _crMax; struct pollfd _attPoll; vehicle_global_position_setpoint_s _lastPosCmd; diff --git a/src/modules/fixedwing_backside/params.c b/src/modules/fixedwing_backside/params.c index 428b779b1..db30af416 100644 --- a/src/modules/fixedwing_backside/params.c +++ b/src/modules/fixedwing_backside/params.c @@ -59,13 +59,14 @@ PARAM_DEFINE_FLOAT(FWB_V_MAX, 16.0f); // maximum commanded velocity // rate of climb // this is what rate of climb is commanded (in m/s) // when the pitch stick is fully defelcted in simple mode -PARAM_DEFINE_FLOAT(FWB_ROC_MAX, 1.0f); +PARAM_DEFINE_FLOAT(FWB_CR_MAX, 1.0f); -// rate of climb -> thr -PARAM_DEFINE_FLOAT(FWB_ROC2THR_P, 0.01f); // rate of climb to throttle PID -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_D_LP, 0.0f); -PARAM_DEFINE_FLOAT(FWB_ROC2THR_I_MAX, 0.0f); +// climb rate -> thr +PARAM_DEFINE_FLOAT(FWB_CR2THR_P, 0.01f); // rate of climb to throttle PID +PARAM_DEFINE_FLOAT(FWB_CR2THR_I, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_D_LP, 0.0f); +PARAM_DEFINE_FLOAT(FWB_CR2THR_I_MAX, 0.0f); -PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_THR, 0.8f); // trim throttle (0,1) +PARAM_DEFINE_FLOAT(FWB_TRIM_V, 12.0f); // trim velocity, m/s diff --git a/src/modules/mathlib/CMSIS/module.mk b/src/modules/mathlib/CMSIS/module.mk index c676f3261..5e1abe642 100644 --- a/src/modules/mathlib/CMSIS/module.mk +++ b/src/modules/mathlib/CMSIS/module.mk @@ -38,8 +38,9 @@ # # Find sources # -DSPLIB_SRCDIR := $(PX4_MODULE_SRC)/modules/mathlib/CMSIS -ABS_SRCS := $(wildcard $(DSPLIB_SRCDIR)/DSP_Lib/Source/*/*.c) +DSPLIB_SRCDIR := $(dir $(lastword $(MAKEFILE_LIST))) +SRCLIST := $(wildcard $(DSPLIB_SRCDIR)DSP_Lib/Source/*/*.c) +SRCS := $(patsubst $(DSPLIB_SRCDIR)%,%,$(SRCLIST)) INCLUDE_DIRS += $(DSPLIB_SRCDIR)/Include \ $(DSPLIB_SRCDIR)/Device/ARM/ARMCM4/Include \ diff --git a/src/modules/mavlink/mavlink_receiver.c b/src/modules/mavlink/mavlink_receiver.c index e62e4dcc4..a42612f9e 100644 --- a/src/modules/mavlink/mavlink_receiver.c +++ b/src/modules/mavlink/mavlink_receiver.c @@ -308,82 +308,6 @@ handle_message(mavlink_message_t *msg) uint64_t timestamp = hrt_absolute_time(); - /* TODO, set ground_press/ temp during calib */ - static const float ground_press = 1013.25f; // mbar - static const float ground_tempC = 21.0f; - static const float ground_alt = 0.0f; - static const float T0 = 273.15f; - static const float R = 287.05f; - static const float g = 9.806f; - - if (msg->msgid == MAVLINK_MSG_ID_RAW_IMU) { - - mavlink_raw_imu_t imu; - mavlink_msg_raw_imu_decode(msg, &imu); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = imu.time_usec; - - /* hil gyro */ - static const float mrad2rad = 1.0e-3f; - hil_sensors.gyro_counter = hil_counter; - hil_sensors.gyro_raw[0] = imu.xgyro; - hil_sensors.gyro_raw[1] = imu.ygyro; - hil_sensors.gyro_raw[2] = imu.zgyro; - hil_sensors.gyro_rad_s[0] = imu.xgyro * mrad2rad; - hil_sensors.gyro_rad_s[1] = imu.ygyro * mrad2rad; - hil_sensors.gyro_rad_s[2] = imu.zgyro * mrad2rad; - - /* accelerometer */ - hil_sensors.accelerometer_counter = hil_counter; - static const float mg2ms2 = 9.8f / 1000.0f; - hil_sensors.accelerometer_raw[0] = imu.xacc; - hil_sensors.accelerometer_raw[1] = imu.yacc; - hil_sensors.accelerometer_raw[2] = imu.zacc; - hil_sensors.accelerometer_m_s2[0] = mg2ms2 * imu.xacc; - hil_sensors.accelerometer_m_s2[1] = mg2ms2 * imu.yacc; - hil_sensors.accelerometer_m_s2[2] = mg2ms2 * imu.zacc; - hil_sensors.accelerometer_mode = 0; // TODO what is this? - hil_sensors.accelerometer_range_m_s2 = 32.7f; // int16 - - /* adc */ - hil_sensors.adc_voltage_v[0] = 0; - hil_sensors.adc_voltage_v[1] = 0; - hil_sensors.adc_voltage_v[2] = 0; - - /* magnetometer */ - float mga2ga = 1.0e-3f; - hil_sensors.magnetometer_counter = hil_counter; - hil_sensors.magnetometer_raw[0] = imu.xmag; - hil_sensors.magnetometer_raw[1] = imu.ymag; - hil_sensors.magnetometer_raw[2] = imu.zmag; - hil_sensors.magnetometer_ga[0] = imu.xmag * mga2ga; - hil_sensors.magnetometer_ga[1] = imu.ymag * mga2ga; - hil_sensors.magnetometer_ga[2] = imu.zmag * mga2ga; - hil_sensors.magnetometer_range_ga = 32.7f; // int16 - hil_sensors.magnetometer_mode = 0; // TODO what is this - hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil imu at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIGHRES_IMU) { mavlink_highres_imu_t imu; @@ -437,13 +361,9 @@ handle_message(mavlink_message_t *msg) hil_sensors.magnetometer_mode = 0; // TODO what is this hil_sensors.magnetometer_cuttoff_freq_hz = 50.0f; + /* baro */ hil_sensors.baro_pres_mbar = imu.abs_pressure; - - float tempC = imu.temperature; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / imu.abs_pressure); - - hil_sensors.baro_alt_meter = h; + hil_sensors.baro_alt_meter = imu.pressure_alt; hil_sensors.baro_temp_celcius = imu.temperature; hil_sensors.gyro_counter = hil_counter; @@ -516,44 +436,6 @@ handle_message(mavlink_message_t *msg) } } - if (msg->msgid == MAVLINK_MSG_ID_RAW_PRESSURE) { - - mavlink_raw_pressure_t press; - mavlink_msg_raw_pressure_decode(msg, &press); - - /* packet counter */ - static uint16_t hil_counter = 0; - static uint16_t hil_frames = 0; - static uint64_t old_timestamp = 0; - - /* sensors general */ - hil_sensors.timestamp = press.time_usec; - - /* baro */ - - float tempC = press.temperature / 100.0f; - float tempAvgK = T0 + (tempC + ground_tempC) / 2.0f; - float h = ground_alt + (R / g) * tempAvgK * logf(ground_press / press.press_abs); - hil_sensors.baro_counter = hil_counter; - hil_sensors.baro_pres_mbar = press.press_abs; - hil_sensors.baro_alt_meter = h; - hil_sensors.baro_temp_celcius = tempC; - - /* publish */ - orb_publish(ORB_ID(sensor_combined), pub_hil_sensors, &hil_sensors); - - // increment counters - hil_counter += 1 ; - hil_frames += 1 ; - - // output - if ((timestamp - old_timestamp) > 10000000) { - printf("receiving hil pressure at %d hz\n", hil_frames/10); - old_timestamp = timestamp; - hil_frames = 0; - } - } - if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) { mavlink_hil_state_t hil_state; diff --git a/src/modules/px4iofirmware/adc.c b/src/modules/px4iofirmware/adc.c index 670b8d635..f744698be 100644 --- a/src/modules/px4iofirmware/adc.c +++ b/src/modules/px4iofirmware/adc.c @@ -135,6 +135,9 @@ adc_init(void) return 0; } +/* + return one measurement, or 0xffff on error + */ uint16_t adc_measure(unsigned channel) { @@ -154,9 +157,10 @@ adc_measure(unsigned channel) while (!(rSR & ADC_SR_EOC)) { /* never spin forever - this will give a bogus result though */ - if (hrt_elapsed_time(&now) > 1000) { + if (hrt_elapsed_time(&now) > 100) { debug("adc timeout"); - break; + perf_end(adc_perf); + return 0xffff; } } @@ -165,4 +169,4 @@ adc_measure(unsigned channel) perf_end(adc_perf); return result; -}
\ No newline at end of file +} diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 25eeca3be..dc36f6c93 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -288,8 +288,8 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_OVERRIDE; /* mix new RC input control values to servos */ - //if (dsm_updated || sbus_updated || ppm_updated) - // mixer_tick(); + if (dsm_updated || sbus_updated || ppm_updated) + mixer_tick(); } else { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE; diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index f38593d2a..5ada1b220 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -174,7 +174,7 @@ mixer_tick(void) * here. */ bool should_arm = ( - /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + /* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && /* there is valid input */ (r_status_flags & (PX4IO_P_STATUS_FLAGS_RAW_PWM | PX4IO_P_STATUS_FLAGS_MIXER_OK)) && /* IO initialised without error */ (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK) && @@ -246,7 +246,7 @@ void mixer_handle_text(const void *buffer, size_t length) { /* do not allow a mixer change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { return; } diff --git a/src/modules/px4iofirmware/module.mk b/src/modules/px4iofirmware/module.mk index 53d1ec2b9..6379366f4 100644 --- a/src/modules/px4iofirmware/module.mk +++ b/src/modules/px4iofirmware/module.mk @@ -10,10 +10,10 @@ SRCS = adc.c \ sbus.c \ ../systemlib/up_cxxinitialize.c \ ../systemlib/hx_stream.c \ - ../systemlib/perf_counter.c - -# mixer.cpp \ -# ../systemlib/mixer/mixer.cpp \ -# ../systemlib/mixer/mixer_group.cpp \ -# ../systemlib/mixer/mixer_multirotor.cpp \ -# ../systemlib/mixer/mixer_simple.cpp \
\ No newline at end of file + ../systemlib/perf_counter.c \ + mixer.cpp \ + ../systemlib/mixer/mixer.cpp \ + ../systemlib/mixer/mixer_group.cpp \ + ../systemlib/mixer/mixer_multirotor.cpp \ + ../systemlib/mixer/mixer_simple.cpp \ +
\ No newline at end of file diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 8d8b7e941..e575bd841 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -115,7 +115,7 @@ #define PX4IO_P_STATUS_ALARMS_PWM_ERROR (1 << 6) /* PWM configuration or output was bad */ #define PX4IO_P_STATUS_VBATT 4 /* battery voltage in mV */ -#define PX4IO_P_STATUS_IBATT 5 /* battery current in cA */ +#define PX4IO_P_STATUS_IBATT 5 /* battery current (raw ADC) */ /* array of post-mix actuator outputs, -10000..10000 */ #define PX4IO_PAGE_ACTUATORS 2 /* 0..CONFIG_ACTUATOR_COUNT-1 */ @@ -145,9 +145,9 @@ #define PX4IO_P_SETUP_FEATURES 0 #define PX4IO_P_SETUP_ARMING 1 /* arming controls */ -#define PX4IO_P_SETUP_ARMING_ARM_OK (1 << 0) /* OK to arm */ +#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */ +#define PX4IO_P_SETUP_ARMING_FMU_ARMED (1 << 1) /* FMU is already armed */ #define PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK (1 << 2) /* OK to switch to manual override via override RC channel */ -#define PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK (1 << 3) /* OK to perform position / vector control (= position lock) */ #define PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK (1 << 4) /* OK to try in-air restart */ #define PX4IO_P_SETUP_PWM_RATES 2 /* bitmask, 0 = low rate, 1 = high rate */ @@ -155,8 +155,6 @@ #define PX4IO_P_SETUP_PWM_ALTRATE 4 /* 'high' PWM frame output rate in Hz */ #define PX4IO_P_SETUP_RELAYS 5 /* bitmask of relay/switch outputs, 0 = off, 1 = on */ #define PX4IO_P_SETUP_VBATT_SCALE 6 /* battery voltage correction factor (float) */ -#define PX4IO_P_SETUP_IBATT_SCALE 7 /* battery current scaling factor (float) */ -#define PX4IO_P_SETUP_IBATT_BIAS 8 /* battery current bias value */ #define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */ /* autopilot control values, -10000..10000 */ diff --git a/src/modules/px4iofirmware/px4io.c b/src/modules/px4iofirmware/px4io.c index 6244b1551..bc8dfc116 100644 --- a/src/modules/px4iofirmware/px4io.c +++ b/src/modules/px4iofirmware/px4io.c @@ -207,7 +207,7 @@ user_start(int argc, char *argv[]) /* kick the mixer */ perf_begin(mixer_perf); - // mixer_tick(); + mixer_tick(); perf_end(mixer_perf); /* kick the control inputs */ diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h index 3647842c0..272cdb7bf 100644 --- a/src/modules/px4iofirmware/px4io.h +++ b/src/modules/px4iofirmware/px4io.h @@ -148,8 +148,8 @@ extern struct sys_state_s system_state; /* * Mixer */ -//extern void mixer_tick(void); -//extern void mixer_handle_text(const void *buffer, size_t length); +extern void mixer_tick(void); +extern void mixer_handle_text(const void *buffer, size_t length); /** * Safety switch/LED. diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 64a87a58b..61049c8b6 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -138,15 +138,14 @@ volatile uint16_t r_page_setup[] = [PX4IO_P_SETUP_PWM_ALTRATE] = 200, [PX4IO_P_SETUP_RELAYS] = 0, [PX4IO_P_SETUP_VBATT_SCALE] = 10000, - [PX4IO_P_SETUP_IBATT_SCALE] = 0, - [PX4IO_P_SETUP_IBATT_BIAS] = 0, [PX4IO_P_SETUP_SET_DEBUG] = 0, }; #define PX4IO_P_SETUP_FEATURES_VALID (0) -#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_ARM_OK | \ +#define PX4IO_P_SETUP_ARMING_VALID (PX4IO_P_SETUP_ARMING_FMU_ARMED | \ PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK | \ - PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK) + PX4IO_P_SETUP_ARMING_INAIR_RESTART_OK | \ + PX4IO_P_SETUP_ARMING_IO_ARM_OK) #define PX4IO_P_SETUP_RATES_VALID ((1 << IO_SERVO_COUNT) - 1) #define PX4IO_P_SETUP_RELAYS_VALID ((1 << PX4IO_RELAY_CHANNELS) - 1) @@ -245,7 +244,7 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num /* handle text going to the mixer parser */ case PX4IO_PAGE_MIXERLOAD: - //mixer_handle_text(values, num_values * sizeof(*values)); + mixer_handle_text(values, num_values * sizeof(*values)); break; default: @@ -313,7 +312,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) * so that an in-air reset of FMU can not lead to a * lockup of the IO arming state. */ - if ((r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && !(value & PX4IO_P_SETUP_ARMING_ARM_OK)) { + if ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && !(value & PX4IO_P_SETUP_ARMING_FMU_ARMED)) { r_status_flags &= ~PX4IO_P_STATUS_FLAGS_ARMED; } @@ -364,7 +363,7 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value) case PX4IO_PAGE_RC_CONFIG: { /* do not allow a RC config change while fully armed */ - if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) && + if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) && /* IO is armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { break; } @@ -508,20 +507,27 @@ registers_get(uint8_t page, uint8_t offset, uint16_t **values, unsigned *num_val * Intercept corrected for best results @ 12V. */ unsigned counts = adc_measure(ADC_VBATT); - unsigned mV = (4150 + (counts * 46)) / 10 - 200; - unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; + if (counts != 0xffff) { + unsigned mV = (4150 + (counts * 46)) / 10 - 200; + unsigned corrected = (mV * r_page_setup[PX4IO_P_SETUP_VBATT_SCALE]) / 10000; - r_page_status[PX4IO_P_STATUS_VBATT] = corrected; + r_page_status[PX4IO_P_STATUS_VBATT] = corrected; + } } /* PX4IO_P_STATUS_IBATT */ { - unsigned counts = adc_measure(ADC_VBATT); - unsigned scaled = (counts * r_page_setup[PX4IO_P_SETUP_IBATT_SCALE]) / 10000; - int corrected = scaled + REG_TO_SIGNED(r_page_setup[PX4IO_P_SETUP_IBATT_BIAS]); - if (corrected < 0) - corrected = 0; - r_page_status[PX4IO_P_STATUS_IBATT] = corrected; + /* + note that we have no idea what sort of + current sensor is attached, so we just + return the raw 12 bit ADC value and let the + FMU sort it out, with user selectable + configuration for their sensor + */ + unsigned counts = adc_measure(ADC_IN5); + if (counts != 0xffff) { + r_page_status[PX4IO_P_STATUS_IBATT] = counts; + } } SELECT_PAGE(r_page_status); diff --git a/src/modules/px4iofirmware/safety.c b/src/modules/px4iofirmware/safety.c index 5495d5ae1..4dbecc274 100644 --- a/src/modules/px4iofirmware/safety.c +++ b/src/modules/px4iofirmware/safety.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -32,7 +32,8 @@ ****************************************************************************/ /** - * @file Safety button logic. + * @file safety.c + * Safety button logic. */ #include <nuttx/config.h> @@ -56,11 +57,11 @@ static unsigned counter = 0; /* * Define the various LED flash sequences for each system state. */ -#define LED_PATTERN_SAFE 0xffff /**< always on */ -#define LED_PATTERN_VECTOR_FLIGHT_MODE_OK 0xFFFE /**< always on with short break */ -#define LED_PATTERN_FMU_ARMED 0x4444 /**< slow blinking */ -#define LED_PATTERN_IO_ARMED 0x5555 /**< fast blinking */ -#define LED_PATTERN_IO_FMU_ARMED 0x5050 /**< long off then double blink */ +#define LED_PATTERN_FMU_OK_TO_ARM 0x0003 /**< slow blinking */ +#define LED_PATTERN_FMU_REFUSE_TO_ARM 0x5555 /**< fast blinking */ +#define LED_PATTERN_IO_ARMED 0x5050 /**< long off, then double blink */ +#define LED_PATTERN_FMU_ARMED 0x5500 /**< long off, then quad blink */ +#define LED_PATTERN_IO_FMU_ARMED 0xffff /**< constantly on */ static unsigned blink_counter = 0; @@ -109,7 +110,8 @@ safety_check_button(void *arg) * state machine, keep ARM_COUNTER_THRESHOLD the same * length in all cases of the if/else struct below. */ - if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { + if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) && + (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) { if (counter < ARM_COUNTER_THRESHOLD) { counter++; @@ -120,8 +122,6 @@ safety_check_button(void *arg) counter++; } - /* Disarm quickly */ - } else if (safety_button_pressed && (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED)) { if (counter < ARM_COUNTER_THRESHOLD) { @@ -138,21 +138,21 @@ safety_check_button(void *arg) } /* Select the appropriate LED flash pattern depending on the current IO/FMU arm state */ - uint16_t pattern = LED_PATTERN_SAFE; + uint16_t pattern = LED_PATTERN_FMU_REFUSE_TO_ARM; if (r_status_flags & PX4IO_P_STATUS_FLAGS_ARMED) { - if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { + if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) { pattern = LED_PATTERN_IO_FMU_ARMED; } else { pattern = LED_PATTERN_IO_ARMED; } - } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_ARM_OK) { + } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED) { pattern = LED_PATTERN_FMU_ARMED; + } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK) { + pattern = LED_PATTERN_FMU_OK_TO_ARM; - } else if (r_setup_arming & PX4IO_P_SETUP_ARMING_VECTOR_FLIGHT_OK) { - pattern = LED_PATTERN_VECTOR_FLIGHT_MODE_OK; } /* Turn the LED on if we have a 1 at the current bit position */ diff --git a/src/modules/sdlog/sdlog.c b/src/modules/sdlog/sdlog.c index df8745d9f..84a9eb6ac 100644 --- a/src/modules/sdlog/sdlog.c +++ b/src/modules/sdlog/sdlog.c @@ -71,6 +71,7 @@ #include <uORB/topics/optical_flow.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/airspeed.h> #include <systemlib/systemlib.h> @@ -443,7 +444,8 @@ int sdlog_thread_main(int argc, char *argv[]) struct vehicle_vicon_position_s vicon_pos; struct optical_flow_s flow; struct battery_status_s batt; - struct differential_pressure_s diff_pressure; + struct differential_pressure_s diff_pres; + struct airspeed_s airspeed; } buf; memset(&buf, 0, sizeof(buf)); @@ -461,7 +463,8 @@ int sdlog_thread_main(int argc, char *argv[]) int vicon_pos_sub; int flow_sub; int batt_sub; - int diff_pressure_sub; + int diff_pres_sub; + int airspeed_sub; } subs; /* --- MANAGEMENT - LOGGING COMMAND --- */ @@ -558,11 +561,18 @@ int sdlog_thread_main(int argc, char *argv[]) /* --- DIFFERENTIAL PRESSURE --- */ /* subscribe to ORB for flow measurements */ - subs.diff_pressure_sub = orb_subscribe(ORB_ID(differential_pressure)); - fds[fdsc_count].fd = subs.diff_pressure_sub; + subs.diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); + fds[fdsc_count].fd = subs.diff_pres_sub; fds[fdsc_count].events = POLLIN; fdsc_count++; + /* --- AIRSPEED --- */ + /* subscribe to ORB for airspeed */ + subs.airspeed_sub = orb_subscribe(ORB_ID(airspeed)); + fds[fdsc_count].fd = subs.airspeed_sub; + fds[fdsc_count].events = POLLIN; + fdsc_count++; + /* WARNING: If you get the error message below, * then the number of registered messages (fdsc) * differs from the number of messages in the above list. @@ -654,7 +664,8 @@ int sdlog_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_attitude), subs.att_sub, &buf.att); orb_copy(ORB_ID(vehicle_vicon_position), subs.vicon_pos_sub, &buf.vicon_pos); orb_copy(ORB_ID(optical_flow), subs.flow_sub, &buf.flow); - orb_copy(ORB_ID(differential_pressure), subs.diff_pressure_sub, &buf.diff_pressure); + orb_copy(ORB_ID(differential_pressure), subs.diff_pres_sub, &buf.diff_pres); + orb_copy(ORB_ID(airspeed), subs.airspeed_sub, &buf.airspeed); orb_copy(ORB_ID(battery_status), subs.batt_sub, &buf.batt); /* if skipping is on or logging is disabled, ignore */ @@ -691,9 +702,9 @@ int sdlog_thread_main(int argc, char *argv[]) .vicon = {buf.vicon_pos.x, buf.vicon_pos.y, buf.vicon_pos.z, buf.vicon_pos.roll, buf.vicon_pos.pitch, buf.vicon_pos.yaw}, .control_effective = {buf.act_controls_effective.control_effective[0], buf.act_controls_effective.control_effective[1], buf.act_controls_effective.control_effective[2], buf.act_controls_effective.control_effective[3]}, .flow = {buf.flow.flow_raw_x, buf.flow.flow_raw_y, buf.flow.flow_comp_x_m, buf.flow.flow_comp_y_m, buf.flow.ground_distance_m, buf.flow.quality}, - .diff_pressure = buf.diff_pressure.differential_pressure_mbar, - .ind_airspeed = buf.diff_pressure.indicated_airspeed_m_s, - .true_airspeed = buf.diff_pressure.true_airspeed_m_s + .diff_pressure = buf.diff_pres.differential_pressure_pa, + .ind_airspeed = buf.airspeed.indicated_airspeed_m_s, + .true_airspeed = buf.airspeed.true_airspeed_m_s }; /* put into buffer for later IO */ diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c index c850e3a1e..230060148 100644 --- a/src/modules/sensors/sensor_params.c +++ b/src/modules/sensors/sensor_params.c @@ -64,7 +64,7 @@ PARAM_DEFINE_FLOAT(SENS_ACC_XSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_YSCALE, 1.0f); PARAM_DEFINE_FLOAT(SENS_ACC_ZSCALE, 1.0f); -PARAM_DEFINE_FLOAT(SENS_VAIR_OFF, 2.5f); +PARAM_DEFINE_INT32(SENS_DPRES_OFF, 1667); PARAM_DEFINE_FLOAT(RC1_MIN, 1000.0f); PARAM_DEFINE_FLOAT(RC1_TRIM, 1500.0f); diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 123bbb120..6b6aeedee 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -77,6 +77,7 @@ #include <uORB/topics/parameter_update.h> #include <uORB/topics/battery_status.h> #include <uORB/topics/differential_pressure.h> +#include <uORB/topics/airspeed.h> #define GYRO_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ #define ACC_HEALTH_COUNTER_LIMIT_ERROR 20 /* 40 ms downtime at 500 Hz update rate */ @@ -98,6 +99,12 @@ #define BAT_VOL_LOWPASS_2 0.01f #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f +/** + * HACK - true temperature is much less than indicated temperature in baro, + * subtract 5 degrees in an attempt to account for the electrical upheating of the PCB + */ +#define PCB_TEMP_ESTIMATE_DEG 5.0f + #define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ #define limit_minus_one_to_one(arg) (arg < -1.0f) ? -1.0f : ((arg > 1.0f) ? 1.0f : arg) @@ -156,6 +163,8 @@ private: int _mag_sub; /**< raw mag data subscription */ int _rc_sub; /**< raw rc channels data subscription */ int _baro_sub; /**< raw baro data subscription */ + int _airspeed_sub; /**< airspeed subscription */ + int _diff_pres_sub; /**< raw differential pressure subscription */ int _vstatus_sub; /**< vehicle status subscription */ int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ @@ -165,13 +174,15 @@ private: orb_advert_t _rc_pub; /**< raw r/c control topic */ orb_advert_t _battery_pub; /**< battery status */ orb_advert_t _airspeed_pub; /**< airspeed */ + orb_advert_t _diff_pres_pub; /**< differential_pressure */ perf_counter_t _loop_perf; /**< loop performance counter */ struct rc_channels_s _rc; /**< r/c channel data */ struct battery_status_s _battery_status; /**< battery status */ struct baro_report _barometer; /**< barometer data */ - struct differential_pressure_s _differential_pressure; + struct differential_pressure_s _diff_pres; + struct airspeed_s _airspeed; struct { float min[_rc_max_chan_count]; @@ -187,7 +198,7 @@ private: float mag_scale[3]; float accel_offset[3]; float accel_scale[3]; - float airspeed_offset; + int diff_pres_offset_pa; int rc_type; @@ -236,7 +247,7 @@ private: param_t accel_scale[3]; param_t mag_offset[3]; param_t mag_scale[3]; - param_t airspeed_offset; + param_t diff_pres_offset_pa; param_t rc_map_roll; param_t rc_map_pitch; @@ -331,6 +342,14 @@ private: void baro_poll(struct sensor_combined_s &raw); /** + * Poll the differential pressure sensor for updated data. + * + * @param raw Combined sensor data structure into which + * data should be returned. + */ + void diff_pres_poll(struct sensor_combined_s &raw); + + /** * Check for changes in vehicle status. */ void vehicle_status_poll(); @@ -400,6 +419,7 @@ Sensors::Sensors() : _rc_pub(-1), _battery_pub(-1), _airspeed_pub(-1), + _diff_pres_pub(-1), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")) @@ -484,8 +504,8 @@ Sensors::Sensors() : _parameter_handles.mag_scale[1] = param_find("SENS_MAG_YSCALE"); _parameter_handles.mag_scale[2] = param_find("SENS_MAG_ZSCALE"); - /*Airspeed offset */ - _parameter_handles.airspeed_offset = param_find("SENS_VAIR_OFF"); + /* Differential pressure offset */ + _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF"); _parameter_handles.battery_voltage_scaling = param_find("BAT_V_SCALING"); @@ -695,7 +715,7 @@ Sensors::parameters_update() param_get(_parameter_handles.mag_scale[2], &(_parameters.mag_scale[2])); /* Airspeed offset */ - param_get(_parameter_handles.airspeed_offset, &(_parameters.airspeed_offset)); + param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa)); /* scaling of ADC ticks to battery voltage */ if (param_get(_parameter_handles.battery_voltage_scaling, &(_parameters.battery_voltage_scaling)) != OK) { @@ -890,6 +910,32 @@ Sensors::baro_poll(struct sensor_combined_s &raw) } void +Sensors::diff_pres_poll(struct sensor_combined_s &raw) +{ + bool updated; + orb_check(_diff_pres_sub, &updated); + + if (updated) { + orb_copy(ORB_ID(differential_pressure), _diff_pres_sub, &_diff_pres); + + raw.differential_pressure_pa = _diff_pres.differential_pressure_pa; + raw.differential_pressure_counter++; + + _airspeed.indicated_airspeed_m_s = calc_indicated_airspeed(_diff_pres.differential_pressure_pa); + _airspeed.true_airspeed_m_s = calc_true_airspeed(_diff_pres.differential_pressure_pa + raw.baro_pres_mbar*1e2f, + raw.baro_pres_mbar*1e2f, raw.baro_temp_celcius - PCB_TEMP_ESTIMATE_DEG); + + /* announce the airspeed if needed, just publish else */ + if (_airspeed_pub > 0) { + orb_publish(ORB_ID(airspeed), _airspeed_pub, &_airspeed); + + } else { + _airspeed_pub = orb_advertise(ORB_ID(airspeed), &_airspeed); + } + } +} + +void Sensors::vehicle_status_poll() { struct vehicle_status_s vstatus; @@ -1047,31 +1093,18 @@ Sensors::adc_poll(struct sensor_combined_s &raw) */ if (voltage > 0.4f) { - float diff_pres_pa = (voltage - _parameters.airspeed_offset) * 1000.0f; //for MPXV7002DP sensor - - float airspeed_true = calc_true_airspeed(diff_pres_pa + _barometer.pressure*1e2f, - _barometer.pressure*1e2f, _barometer.temperature - 5.0f); //factor 1e2 for conversion from mBar to Pa - // XXX HACK - true temperature is much less than indicated temperature in baro, - // subtract 5 degrees in an attempt to account for the electrical upheating of the PCB + float diff_pres_pa = voltage * 1000.0f - _parameters.diff_pres_offset_pa; //for MPXV7002DP sensor - float airspeed_indicated = calc_indicated_airspeed(diff_pres_pa); - - //printf("voltage: %.4f, diff_pres_pa %.4f, baro press %.4f Pa, v_ind %.4f, v_true %.4f\n", (double)voltage, (double)diff_pres_pa, (double)_barometer.pressure*1e2f, (double)airspeed_indicated, (double)airspeed_true); - - _differential_pressure.timestamp = hrt_absolute_time(); - _differential_pressure.static_pressure_mbar = _barometer.pressure; - _differential_pressure.differential_pressure_mbar = diff_pres_pa*1e-2f; - _differential_pressure.temperature_celcius = _barometer.temperature; - _differential_pressure.indicated_airspeed_m_s = airspeed_indicated; - _differential_pressure.true_airspeed_m_s = airspeed_true; - _differential_pressure.voltage = voltage; + _diff_pres.timestamp = hrt_absolute_time(); + _diff_pres.differential_pressure_pa = diff_pres_pa; + _diff_pres.voltage = voltage; /* announce the airspeed if needed, just publish else */ - if (_airspeed_pub > 0) { - orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &_differential_pressure); + if (_diff_pres_pub > 0) { + orb_publish(ORB_ID(differential_pressure), _diff_pres_pub, &_diff_pres); } else { - _airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &_differential_pressure); + _diff_pres_pub = orb_advertise(ORB_ID(differential_pressure), &_diff_pres); } } } @@ -1310,6 +1343,7 @@ Sensors::task_main() _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); _rc_sub = orb_subscribe(ORB_ID(input_rc)); _baro_sub = orb_subscribe(ORB_ID(sensor_baro)); + _diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); @@ -1336,6 +1370,7 @@ Sensors::task_main() gyro_poll(raw); mag_poll(raw); baro_poll(raw); + diff_pres_poll(raw); parameter_update_poll(true /* forced */); @@ -1384,6 +1419,8 @@ Sensors::task_main() /* check battery voltage */ adc_poll(raw); + diff_pres_poll(raw); + /* Inform other processes that new data is available to copy */ if (_publishing) orb_publish(ORB_ID(sensor_combined), _sensor_pub, &raw); diff --git a/src/modules/systemlib/airspeed.c b/src/modules/systemlib/airspeed.c index 264287b10..15bb833a9 100644 --- a/src/modules/systemlib/airspeed.c +++ b/src/modules/systemlib/airspeed.c @@ -97,7 +97,7 @@ float calc_true_airspeed(float total_pressure, float static_pressure, float temp float density = get_air_density(static_pressure, temperature_celsius); if (density < 0.0001f || !isfinite(density)) { density = CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C; - printf("[airspeed] Invalid air density, using density at sea level\n"); +// printf("[airspeed] Invalid air density, using density at sea level\n"); } float pressure_difference = total_pressure - static_pressure; diff --git a/src/modules/systemlib/mixer/mixer.h b/src/modules/systemlib/mixer/mixer.h index 40d37fce2..bbfa130a9 100644 --- a/src/modules/systemlib/mixer/mixer.h +++ b/src/modules/systemlib/mixer/mixer.h @@ -419,6 +419,7 @@ public: QUAD_X = 0, /**< quad in X configuration */ QUAD_PLUS, /**< quad in + configuration */ QUAD_V, /**< quad in V configuration */ + QUAD_WIDE, /**< quad in wide configuration */ HEX_X, /**< hex in X configuration */ HEX_PLUS, /**< hex in + configuration */ OCTA_X, diff --git a/src/modules/systemlib/mixer/mixer_multirotor.cpp b/src/modules/systemlib/mixer/mixer_multirotor.cpp index d79811c0f..8ded0b05c 100644 --- a/src/modules/systemlib/mixer/mixer_multirotor.cpp +++ b/src/modules/systemlib/mixer/mixer_multirotor.cpp @@ -88,6 +88,12 @@ const MultirotorMixer::Rotor _config_quad_v[] = { { 0.927184, 0.374607, -1.00 }, { -0.694658, -0.719340, -1.00 }, }; +const MultirotorMixer::Rotor _config_quad_wide[] = { + { -0.927184, 0.374607, 1.00 }, + { 0.777146, -0.629320, 1.00 }, + { 0.927184, 0.374607, -1.00 }, + { -0.777146, -0.629320, -1.00 }, +}; const MultirotorMixer::Rotor _config_hex_x[] = { { -1.000000, 0.000000, -1.00 }, { 1.000000, 0.000000, 1.00 }, @@ -128,6 +134,7 @@ const MultirotorMixer::Rotor *_config_index[MultirotorMixer::Geometry::MAX_GEOME &_config_quad_x[0], &_config_quad_plus[0], &_config_quad_v[0], + &_config_quad_wide[0], &_config_hex_x[0], &_config_hex_plus[0], &_config_octa_x[0], @@ -137,6 +144,7 @@ const unsigned _config_rotor_count[MultirotorMixer::Geometry::MAX_GEOMETRY] = { 4, /* quad_x */ 4, /* quad_plus */ 4, /* quad_v */ + 4, /* quad_wide */ 6, /* hex_x */ 6, /* hex_plus */ 8, /* octa_x */ @@ -195,6 +203,9 @@ MultirotorMixer::from_text(Mixer::ControlCallback control_cb, uintptr_t cb_handl } else if (!strcmp(geomname, "4v")) { geometry = MultirotorMixer::QUAD_V; + } else if (!strcmp(geomname, "4w")) { + geometry = MultirotorMixer::QUAD_WIDE; + } else if (!strcmp(geomname, "6+")) { geometry = MultirotorMixer::HEX_PLUS; diff --git a/src/modules/systemlib/mixer/multi_tables b/src/modules/systemlib/mixer/multi_tables index 19a8239a6..683c63040 100755 --- a/src/modules/systemlib/mixer/multi_tables +++ b/src/modules/systemlib/mixer/multi_tables @@ -27,6 +27,13 @@ set quad_v { 136 CW } +set quad_wide { + 68 CCW + -129 CCW + -68 CW + 129 CW +} + set hex_x { 90 CW -90 CCW @@ -67,7 +74,7 @@ set octa_plus { 90 CW } -set tables {quad_x quad_plus quad_v hex_x hex_plus octa_x octa_plus} +set tables {quad_x quad_plus quad_v quad_wide hex_x hex_plus octa_x octa_plus} proc factors {a d} { puts [format "\t{ %9.6f, %9.6f, %5.2f }," [rcos [expr $a + 90]] [rcos $a] [expr -$d]]} diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index 136375140..4197f6fb2 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -122,6 +122,9 @@ ORB_DEFINE(optical_flow, struct optical_flow_s); #include "topics/omnidirectional_flow.h" ORB_DEFINE(omnidirectional_flow, struct omnidirectional_flow_s); +#include "topics/airspeed.h" +ORB_DEFINE(airspeed, struct airspeed_s); + #include "topics/differential_pressure.h" ORB_DEFINE(differential_pressure, struct differential_pressure_s); diff --git a/src/modules/uORB/topics/actuator_controls.h b/src/modules/uORB/topics/actuator_controls.h index 0b50a29ac..b7c4196c0 100644 --- a/src/modules/uORB/topics/actuator_controls.h +++ b/src/modules/uORB/topics/actuator_controls.h @@ -69,6 +69,7 @@ ORB_DECLARE(actuator_controls_3); /** global 'actuator output is live' control. */ struct actuator_armed_s { bool armed; /**< Set to true if system is armed */ + bool ready_to_arm; /**< Set to true if system is ready to be armed */ bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */ }; diff --git a/src/modules/uORB/topics/airspeed.h b/src/modules/uORB/topics/airspeed.h new file mode 100644 index 000000000..a3da3758f --- /dev/null +++ b/src/modules/uORB/topics/airspeed.h @@ -0,0 +1,67 @@ +/**************************************************************************** + * + * Copyright (C) 2012-2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file airspeed.h + * + * Definition of airspeed topic + */ + +#ifndef TOPIC_AIRSPEED_H_ +#define TOPIC_AIRSPEED_H_ + +#include "../uORB.h" +#include <stdint.h> + +/** + * @addtogroup topics + * @{ + */ + +/** + * Airspeed + */ +struct airspeed_s { + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ + float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(airspeed); + +#endif diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h index d5e4bf37e..8ce85213b 100644 --- a/src/modules/uORB/topics/differential_pressure.h +++ b/src/modules/uORB/topics/differential_pressure.h @@ -49,16 +49,14 @@ */ /** - * Differential pressure and airspeed + * Differential pressure. */ struct differential_pressure_s { - uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ - float static_pressure_mbar; /**< Static / environment pressure */ - float differential_pressure_mbar; /**< Differential pressure reading */ - float temperature_celcius; /**< ambient temperature in celcius, -1 if unknown */ - float indicated_airspeed_m_s; /**< indicated airspeed in meters per second, -1 if unknown */ - float true_airspeed_m_s; /**< true airspeed in meters per second, -1 if unknown */ - float voltage; /**< Voltage from the airspeed sensor (voltage divider already compensated) */ + uint64_t timestamp; /**< microseconds since system boot, needed to integrate */ + uint16_t differential_pressure_pa; /**< Differential pressure reading */ + uint16_t max_differential_pressure_pa; /**< Maximum differential pressure reading */ + float voltage; /**< Voltage from analog airspeed sensors (voltage divider already compensated) */ + }; /** diff --git a/src/modules/uORB/topics/sensor_combined.h b/src/modules/uORB/topics/sensor_combined.h index 961ee8b4a..9a76b5182 100644 --- a/src/modules/uORB/topics/sensor_combined.h +++ b/src/modules/uORB/topics/sensor_combined.h @@ -103,6 +103,8 @@ struct sensor_combined_s { float mcu_temp_celcius; /**< Internal temperature measurement of MCU */ uint32_t baro_counter; /**< Number of raw baro measurements taken */ + float differential_pressure_pa; /**< Airspeed sensor differential pressure */ + uint32_t differential_pressure_counter; /**< Number of raw differential pressure measurements taken */ }; /** diff --git a/src/systemcmds/param/param.c b/src/systemcmds/param/param.c index 56f5317e3..60e61d07b 100644 --- a/src/systemcmds/param/param.c +++ b/src/systemcmds/param/param.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. * Author: Lorenz Meier <lm@inf.ethz.ch> * * Redistribution and use in source and binary forms, with or without @@ -34,6 +34,7 @@ /** * @file param.c + * @author Lorenz Meier <lm@inf.ethz.ch> * * Parameter tool. */ @@ -262,7 +263,7 @@ do_set(const char* name, const char* val) switch (param_type(param)) { case PARAM_TYPE_INT32: if (!param_get(param, &i)) { - printf("old: %d", i); + printf("curr: %d", i); /* convert string */ char* end; @@ -276,14 +277,13 @@ do_set(const char* name, const char* val) case PARAM_TYPE_FLOAT: if (!param_get(param, &f)) { - printf("float values are not yet supported."); - // printf("old: %4.4f", (double)f); - - // /* convert string */ - // char* end; - // f = strtof(val,&end); - // param_set(param, &f); - // printf(" -> new: %4.4f\n", f); + printf("curr: %4.4f", (double)f); + + /* convert string */ + char* end; + f = strtod(val,&end); + param_set(param, &f); + printf(" -> new: %f\n", f); } diff --git a/src/systemcmds/pwm/pwm.c b/src/systemcmds/pwm/pwm.c index de7a53199..ff733df52 100644 --- a/src/systemcmds/pwm/pwm.c +++ b/src/systemcmds/pwm/pwm.c @@ -71,13 +71,14 @@ usage(const char *reason) warnx("%s", reason); errx(1, "usage:\n" - "pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [arm|disarm] [<channel_value> ...]\n" + "pwm [-v] [-d <device>] [-u <alt_rate>] [-c <channel group>] [-m chanmask ] [arm|disarm] [<channel_value> ...]\n" " -v Print information about the PWM device\n" " <device> PWM output device (defaults to " PWM_OUTPUT_DEVICE_PATH ")\n" " <alt_rate> PWM update rate for channels in <alt_channel_mask>\n" " <channel_group> Channel group that should update at the alternate rate (may be specified more than once)\n" " arm | disarm Arm or disarm the ouptut\n" " <channel_value>... PWM output values in microseconds to assign to the PWM outputs\n" + " <chanmask> Directly supply alt rate channel mask (debug use only)\n" "\n" "When -c is specified, any channel groups not listed with -c will update at the default rate.\n" ); @@ -96,11 +97,12 @@ pwm_main(int argc, char *argv[]) int ret; char *ep; unsigned group; + int32_t set_mask = -1; if (argc < 2) usage(NULL); - while ((ch = getopt(argc, argv, "c:d:u:v")) != EOF) { + while ((ch = getopt(argc, argv, "c:d:u:vm:")) != EOF) { switch (ch) { case 'c': group = strtoul(optarg, &ep, 0); @@ -120,6 +122,12 @@ pwm_main(int argc, char *argv[]) usage("bad alt_rate value"); break; + case 'm': + set_mask = strtol(optarg, &ep, 0); + if (*ep != '\0') + usage("bad set_mask value"); + break; + case 'v': print_info = true; break; @@ -143,6 +151,13 @@ pwm_main(int argc, char *argv[]) err(1, "PWM_SERVO_SET_UPDATE_RATE (check rate for sanity)"); } + /* directly supplied channel mask */ + if (set_mask != -1) { + ret = ioctl(fd, PWM_SERVO_SELECT_UPDATE_RATE, set_mask); + if (ret != OK) + err(1, "PWM_SERVO_SELECT_UPDATE_RATE"); + } + /* assign alternate rate to channel groups */ if (alt_channels_set) { uint32_t mask = 0; |