{"id":99388,"date":"2024-11-20T09:58:07","date_gmt":"2024-11-20T01:58:07","guid":{"rendered":"\/\/www.viralrail.com\/?p=99388"},"modified":"2024-11-20T09:58:12","modified_gmt":"2024-11-20T01:58:12","slug":"mssmxy-2","status":"publish","type":"post","link":"\/\/www.viralrail.com\/blog\/99388.html","title":{"rendered":"MAVLink\u662f\u4ec0\u4e48\u534f\u8bae?"},"content":{"rendered":"\n<p>\u3000\u3000<strong><a href=\"https:\/\/baike.baidu.com\/item\/MavLink\/18545255\" target=\"_blank\" data-type=\"link\" data-id=\"https:\/\/baike.baidu.com\/item\/MavLink\/18545255\" rel=\"noreferrer noopener nofollow\">MAVLink<\/a>\uff08Micro Air Vehicle Link\uff09<\/strong>\u00a0\u662f\u4e00\u79cd\u8f7b\u91cf\u7ea7\u3001\u9ad8\u6548\u4e14\u53ef\u9760\u7684\u901a\u4fe1\u534f\u8bae\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a(UAV)\u53ca\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u7528\u4e8e\u5728\u63a7\u5236\u53f0(\u5982\u5730\u9762\u63a7\u5236\u7ad9)\u4e0e\u65e0\u4eba\u673a(\u6216\u5176\u4ed6\u673a\u5668\u4eba\u5e73\u53f0)\u4e4b\u95f4\u8fdb\u884c\u901a\u4fe1\u3002MAVLink\u6700\u521d\u7531\u00a0<strong>Paparazzi\u65e0\u4eba\u673a\u9879\u76ee<\/strong>\u5f00\u53d1\uff0c\u540e\u6765\u88ab\u5e7f\u6cdb\u91c7\u7eb3\u5e76\u6210\u4e3a\u65e0\u4eba\u673a\u901a\u4fe1\u7684\u6807\u51c6\u534f\u8bae\u4e4b\u4e00\u3002\u5b83\u7684\u8bbe\u8ba1\u76ee\u6807\u662f\u63d0\u4f9b\u4e00\u79cd\u80fd\u591f\u9ad8\u6548\u3001\u7a33\u5b9a\u3001\u4f4e\u5e26\u5bbd\u7684\u534f\u8bae\uff0c\u7528\u4e8e\u65e0\u7ebf\u901a\u4fe1\u3002MAVLink\u7684\u5e7f\u6cdb\u5e94\u7528\u4e0d\u4ec5\u9650\u4e8e\u65e0\u4eba\u673a\uff0c\u8fd8\u5305\u62ec\u673a\u5668\u4eba\u3001\u81ea\u52a8\u5316\u63a7\u5236\u7cfb\u7edf\u3001\u4f20\u611f\u5668\u548c\u5176\u4ed6\u7269\u8054\u7f51(IoT)\u8bbe\u5907\u4e4b\u95f4\u7684\u901a\u4fe1\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u3000\u3000<strong>\u4e00\u3001 MAVLink\u7684\u5de5\u4f5c\u539f\u7406<\/strong><\/h2>\n\n\n\n<p>\u3000\u3000MAVLink\u7684\u5de5\u4f5c\u539f\u7406\u57fa\u4e8e&nbsp;<strong>\u6d88\u606f\u4f20\u9012<\/strong>&nbsp;\u548c&nbsp;<strong>\u5e8f\u5217\u5316\u901a\u4fe1<\/strong>\uff0c\u5176\u6838\u5fc3\u662f\u57fa\u4e8e\u56fa\u5b9a\u683c\u5f0f\u7684\u6d88\u606f\u8fdb\u884c\u901a\u4fe1\u3002\u4e0b\u9762\u8be6\u7ec6\u63cf\u8ff0MAVLink\u534f\u8bae\u7684\u5de5\u4f5c\u539f\u7406\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30001.&nbsp;<strong>MAVLink\u6d88\u606f\u7684\u7ed3\u6784<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u6d88\u606f\u7ed3\u6784\u7531&nbsp;<strong>\u6d88\u606f\u5934\uff08Header\uff09<\/strong>&nbsp;\u548c&nbsp;<strong>\u6d88\u606f\u4f53\uff08Payload\uff09<\/strong>&nbsp;\u7ec4\u6210\uff1a<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u6d88\u606f\u5934\uff08Header\uff09<\/strong>\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6807\u8bc6\u7b26\uff08Message ID\uff09<\/strong>\uff1a\u6bcf\u4e2a\u6d88\u606f\u90fd\u6709\u4e00\u4e2a\u552f\u4e00\u7684\u6807\u8bc6\u7b26\uff0c\u7528\u4e8e\u6807\u8bc6\u6d88\u606f\u7684\u7c7b\u578b\u3002\u5e38\u89c1\u7684\u6d88\u606f\u7c7b\u578b\u5305\u62ec\u63a7\u5236\u6307\u4ee4\u3001\u4f20\u611f\u5668\u6570\u636e\u3001\u72b6\u6001\u4fe1\u606f\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7cfb\u7edfID\uff08System ID\uff09<\/strong>\uff1a\u6807\u8bc6\u53d1\u9001\u6d88\u606f\u7684\u7cfb\u7edf\u3002\u7cfb\u7edfID\u5bf9\u4e8e\u591a\u4e2a\u8bbe\u5907\u4e4b\u95f4\u7684\u901a\u4fe1\u81f3\u5173\u91cd\u8981\uff0c\u53ef\u4ee5\u6807\u8bc6\u4e0d\u540c\u7684\u65e0\u4eba\u673a\u3001\u5730\u9762\u7ad9\u6216\u5176\u4ed6\u8bbe\u5907\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7ec4\u4ef6ID\uff08Component ID\uff09<\/strong>\uff1a\u6807\u8bc6\u7cfb\u7edf\u5185\u7684\u5177\u4f53\u7ec4\u4ef6\uff0c\u5982\u98de\u884c\u63a7\u5236\u5668\u3001GPS\u6a21\u5757\u3001\u4f20\u611f\u5668\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5e8f\u5217\u53f7\uff08Sequence Number\uff09<\/strong>\uff1a\u7528\u4e8e\u9632\u6b62\u6d88\u606f\u4e22\u5931\u548c\u91cd\u590d\uff0c\u5e76\u63d0\u4f9b\u6d88\u606f\u7684\u987a\u5e8f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u6821\u9a8c\u548c\uff08Checksum\uff09<\/strong>\uff1a\u7528\u4e8e\u786e\u4fdd\u6d88\u606f\u5728\u4f20\u8f93\u8fc7\u7a0b\u4e2d\u6ca1\u6709\u88ab\u7be1\u6539\u6216\u635f\u574f\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000\u3000<strong>\u6d88\u606f\u4f53\uff08Payload\uff09<\/strong>\uff1a<\/p>\n\n\n\n<p>\u3000\u3000\u6d88\u606f\u4f53\u5305\u542b\u5177\u4f53\u7684\u6570\u636e\u5185\u5bb9\uff0c\u6570\u636e\u683c\u5f0f\u548c\u957f\u5ea6\u6839\u636e\u6d88\u606f\u7c7b\u578b\u4e0d\u540c\u800c\u53d8\u5316\u3002\u6bd4\u5982\uff0c\u5bf9\u4e8e\u4f20\u611f\u5668\u6570\u636e\u6d88\u606f\uff0c\u6d88\u606f\u4f53\u53ef\u80fd\u5305\u542b\u6e29\u5ea6\u3001\u6e7f\u5ea6\u3001\u52a0\u901f\u5ea6\u7b49\u4fe1\u606f;\u5bf9\u4e8e\u63a7\u5236\u6307\u4ee4\u6d88\u606f\uff0c\u6d88\u606f\u4f53\u53ef\u80fd\u5305\u542b\u98de\u884c\u65b9\u5411\u3001\u901f\u5ea6\u7b49\u63a7\u5236\u547d\u4ee4\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30002.&nbsp;<strong>\u6d88\u606f\u7684\u5e8f\u5217\u5316\u4e0e\u53cd\u5e8f\u5217\u5316<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u91c7\u7528&nbsp;<strong>\u4e8c\u8fdb\u5236\u5e8f\u5217\u5316\uff08Binary Serialization\uff09<\/strong>&nbsp;\u7684\u65b9\u5f0f\u8fdb\u884c\u6d88\u606f\u7f16\u7801\u548c\u89e3\u7801\u3002\u6d88\u606f\u4f53\u7684\u5185\u5bb9\u901a\u8fc7\u4e8c\u8fdb\u5236\u683c\u5f0f\u7f16\u7801\uff0c\u4ee5\u786e\u4fdd\u6700\u5927\u9650\u5ea6\u51cf\u5c11\u6570\u636e\u4f20\u8f93\u7684\u5e26\u5bbd\u5360\u7528\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u5e8f\u5217\u5316\uff08Serialization\uff09<\/strong>\uff1a\u5728\u53d1\u9001\u6d88\u606f\u65f6\uff0cMAVLink\u4f1a\u5c06\u6d88\u606f\u7684\u5404\u4e2a\u5b57\u6bb5(\u5982\u6d88\u606f\u5934\u548c\u6d88\u606f\u4f53)\u6309\u4e00\u5b9a\u683c\u5f0f\u8f6c\u6362\u4e3a\u4e8c\u8fdb\u5236\u6570\u636e\u6d41\u3002\u8fd9\u4e00\u8fc7\u7a0b\u79f0\u4e3a\u5e8f\u5217\u5316\u3002<\/p>\n\n\n\n<p>\u3000\u3000<strong>\u53cd\u5e8f\u5217\u5316\uff08Deserialization\uff09<\/strong>\uff1a\u63a5\u6536\u65b9\u63a5\u6536\u5230\u4e8c\u8fdb\u5236\u6570\u636e\u6d41\u540e\uff0c\u4f1a\u6309\u76f8\u540c\u7684\u683c\u5f0f\u5c06\u5176\u8f6c\u6362\u56de\u539f\u59cb\u7684\u6d88\u606f\u7ed3\u6784\uff0c\u8fd9\u4e00\u8fc7\u7a0b\u79f0\u4e3a\u53cd\u5e8f\u5217\u5316\u3002<\/p>\n\n\n\n<p>\u3000\u3000\u901a\u8fc7\u8fd9\u79cd\u65b9\u5f0f\uff0cMAVLink\u80fd\u591f\u5728\u8d44\u6e90\u53d7\u9650\u7684\u8bbe\u5907(\u5982\u65e0\u4eba\u673a\u7684\u98de\u884c\u63a7\u5236\u5668)\u548c\u5730\u9762\u7ad9\u4e4b\u95f4\u4f20\u8f93\u4fe1\u606f\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30003.&nbsp;<strong>\u6d88\u606f\u4f20\u8f93\u673a\u5236<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u652f\u6301\u591a\u79cd\u901a\u4fe1\u65b9\u5f0f\uff0c\u5305\u62ec\u4e32\u53e3\u3001UDP\u3001TCP\u7b49\u3002\u6d88\u606f\u5728\u7f51\u7edc\u5c42\u7684\u4f20\u8f93\u901a\u5e38\u91c7\u7528&nbsp;<strong>\u65e0\u8fde\u63a5\u534f\u8bae<\/strong>\uff0c\u5982UDP\uff0c\u56e0\u4e3aUDP\u534f\u8bae\u5f00\u9500\u5c0f\uff0c\u9002\u5408\u4f4e\u5ef6\u8fdf\u7684\u5e94\u7528\u573a\u666f\u3002MAVLink\u7684\u6d88\u606f\u4f20\u8f93\u673a\u5236\u901a\u5e38\u5305\u62ec\u4ee5\u4e0b\u6b65\u9aa4\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u6570\u636e\u5305\u521b\u5efa<\/strong>\uff1a\u53d1\u9001\u65b9\u6309\u7167MAVLink\u7684\u6d88\u606f\u683c\u5f0f\u6784\u5efa\u6570\u636e\u5305\uff0c\u5305\u62ec\u6d88\u606f\u5934\u548c\u6d88\u606f\u4f53\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u53d1\u9001<\/strong>\uff1a\u6570\u636e\u5305\u901a\u8fc7\u9009\u62e9\u7684\u4f20\u8f93\u4ecb\u8d28(\u5982\u4e32\u53e3\u3001UDP\u3001TCP\u7b49)\u53d1\u9001\u5230\u63a5\u6536\u65b9\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u63a5\u6536<\/strong>\uff1a\u63a5\u6536\u65b9\u901a\u8fc7\u5bf9\u5e94\u7684\u901a\u4fe1\u63a5\u53e3(\u5982\u4e32\u53e3\u6216\u7f51\u7edc\u7aef\u53e3)\u63a5\u6536\u6570\u636e\u5305\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6570\u636e\u5305\u89e3\u6790<\/strong>\uff1a\u63a5\u6536\u65b9\u5bf9\u63a5\u6536\u5230\u7684\u4e8c\u8fdb\u5236\u6570\u636e\u5305\u8fdb\u884c\u53cd\u5e8f\u5217\u5316\uff0c\u6062\u590d\u51fa\u6d88\u606f\u7684\u5185\u5bb9\uff0c\u5e76\u4f20\u9012\u7ed9\u5e94\u7528\u7a0b\u5e8f\u8fdb\u884c\u5904\u7406\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u6d88\u606f\u5e94\u7b54\u4e0e\u786e\u8ba4<\/strong>\uff1a\u4e3a\u4e86\u786e\u4fdd\u6d88\u606f\u7684\u53ef\u9760\u4f20\u8f93\uff0cMAVLink\u534f\u8bae\u652f\u6301\u6d88\u606f\u7684\u786e\u8ba4\u673a\u5236\u3002\u63a5\u6536\u65b9\u4f1a\u53d1\u9001\u786e\u8ba4\u6d88\u606f(ACK)\u544a\u8bc9\u53d1\u9001\u65b9\u6d88\u606f\u5df2\u7ecf\u6210\u529f\u63a5\u6536\u3002\u5982\u679c\u63a5\u6536\u65b9\u6ca1\u6709\u6536\u5230\u6709\u6548\u6d88\u606f\uff0c\u53d1\u9001\u65b9\u4f1a\u91cd\u65b0\u53d1\u9001\u6570\u636e\u5305\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30004.&nbsp;<strong>MAVLink\u7684\u901a\u4fe1\u6a21\u5f0f<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u652f\u6301&nbsp;<strong>\u70b9\u5bf9\u70b9\u901a\u4fe1\uff08Peer-to-Peer\uff09<\/strong>&nbsp;\u548c&nbsp;<strong>\u5e7f\u64ad\u901a\u4fe1\uff08Broadcast\uff09<\/strong>&nbsp;\u4e24\u79cd\u6a21\u5f0f\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u70b9\u5bf9\u70b9\u901a\u4fe1<\/strong>\uff1a\u4e00\u4e2a\u7cfb\u7edf(\u5982\u5730\u9762\u63a7\u5236\u7ad9)\u5411\u4e00\u4e2a\u8bbe\u5907(\u5982\u65e0\u4eba\u673a)\u53d1\u9001\u63a7\u5236\u6307\u4ee4\u6216\u63a5\u6536\u4f20\u611f\u5668\u6570\u636e\u3002\u901a\u5e38\u7528\u4e8e\u7cbe\u786e\u63a7\u5236\u548c\u53cd\u9988\u7684\u573a\u666f\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u5e7f\u64ad\u901a\u4fe1<\/strong>\uff1a\u7cfb\u7edf\u5411\u591a\u4e2a\u8bbe\u5907\u5e7f\u64ad\u6d88\u606f(\u4f8b\u5982\uff0c\u53d1\u9001\u6307\u4ee4\u6216\u540c\u6b65\u65f6\u95f4)\uff0c\u6240\u6709\u5728\u901a\u4fe1\u8303\u56f4\u5185\u7684\u8bbe\u5907\u90fd\u80fd\u591f\u63a5\u6536\u5230\u8be5\u6d88\u606f\u3002\u8fd9\u5bf9\u4e8e\u7fa4\u4f53\u98de\u884c\u6216\u591a\u8bbe\u5907\u540c\u6b65\u975e\u5e38\u91cd\u8981\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30005.&nbsp;<strong>MAVLink\u7684\u6d88\u606f\u7c7b\u578b<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u652f\u6301\u5404\u79cd\u6d88\u606f\u7c7b\u578b\uff0c\u6309\u529f\u80fd\u53ef\u4ee5\u5927\u81f4\u5206\u4e3a\u4ee5\u4e0b\u51e0\u7c7b\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u3000\u3000<strong>\u63a7\u5236\u7c7b\u6d88\u606f<\/strong>\uff1a\u5305\u62ec\u8d77\u98de\u3001\u964d\u843d\u3001\u98de\u884c\u8def\u5f84\u63a7\u5236\u7b49\u6307\u4ee4\uff0c\u901a\u5e38\u7528\u4e8e\u5730\u9762\u63a7\u5236\u7ad9\u5411\u65e0\u4eba\u673a\u53d1\u9001\u6307\u4ee4\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u72b6\u6001\u7c7b\u6d88\u606f<\/strong>\uff1a\u7528\u4e8e\u62a5\u544a\u8bbe\u5907\u7684\u72b6\u6001\u4fe1\u606f\uff0c\u5982\u7535\u6c60\u7535\u91cf\u3001GPS\u5750\u6807\u3001\u98de\u884c\u9ad8\u5ea6\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u4f20\u611f\u5668\u7c7b\u6d88\u606f<\/strong>\uff1a\u5982\u6e29\u5ea6\u3001\u538b\u529b\u3001\u52a0\u901f\u5ea6\u3001\u59ff\u6001\u3001GPS\u4f4d\u7f6e\u7b49\u4f20\u611f\u5668\u6570\u636e\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u9065\u6d4b\u7c7b\u6d88\u606f<\/strong>\uff1a\u5b9e\u65f6\u53d1\u9001\u7684\u9065\u6d4b\u6570\u636e\uff0c\u5982\u901f\u5ea6\u3001\u98de\u884c\u59ff\u6001\u3001\u65b9\u4f4d\u89d2\u7b49\u3002<\/li>\n\n\n\n<li>\u3000\u3000<strong>\u7cfb\u7edf\u7ba1\u7406\u7c7b\u6d88\u606f<\/strong>\uff1a\u4f8b\u5982\u8bbe\u5907\u5fc3\u8df3\u4fe1\u53f7\u3001\u8bbe\u5907\u8fde\u63a5\u72b6\u6001\u3001\u7cfb\u7edf\u91cd\u542f\u7b49\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\u3000\u30006.&nbsp;<strong>\u5fc3\u8df3\u4e0e\u8fde\u63a5\u7ba1\u7406<\/strong><\/h3>\n\n\n\n<p>\u3000\u3000MAVLink\u534f\u8bae\u901a\u8fc7&nbsp;<strong>\u5fc3\u8df3\u673a\u5236\uff08Heartbeat\uff09<\/strong>&nbsp;\u6765\u7ba1\u7406\u8bbe\u5907\u4e4b\u95f4\u7684\u8fde\u63a5\u548c\u72b6\u6001\u4fe1\u606f\u3002\u6bcf\u4e2aMAVLink\u8bbe\u5907(\u5982\u65e0\u4eba\u673a\u3001\u5730\u9762\u63a7\u5236\u7ad9\u6216\u5176\u4ed6\u8bbe\u5907)\u4f1a\u5b9a\u671f\u53d1\u9001\u5fc3\u8df3\u6d88\u606f\uff0c\u8868\u793a\u8bbe\u5907\u5728\u7ebf\u5e76\u544a\u77e5\u5176\u72b6\u6001(\u5982\u8bbe\u5907\u7c7b\u578b\u3001\u529f\u80fd\u3001\u6a21\u5f0f\u7b49)\u3002\u901a\u8fc7\u5fc3\u8df3\u6d88\u606f\uff0c\u7cfb\u7edf\u53ef\u4ee5\u68c0\u6d4b\u5230\u8bbe\u5907\u662f\u5426\u5931\u8054\u6216\u8fdb\u5165\u5f02\u5e38\u72b6\u6001\u3002<\/p>\n\n\n\n<p>\u3000\u3000MAVLink\u662f\u4e00\u79cd\u4e13\u4e3a\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u8bbe\u8ba1\u7684\u9ad8\u6548\u3001\u53ef\u9760\u7684\u901a\u4fe1\u534f\u8bae\uff0c\u5b83\u901a\u8fc7\u7075\u6d3b\u7684\u6d88\u606f\u7ed3\u6784\u548c\u9ad8\u6548\u7684\u6570\u636e\u4f20\u8f93\u673a\u5236\uff0c\u5e7f\u6cdb\u5e94\u7528\u4e8e\u65e0\u4eba\u673a\u3001\u673a\u5668\u4eba\u4ee5\u53ca\u7269\u8054\u7f51\u8bbe\u5907\u4e4b\u95f4\u7684\u901a\u4fe1\u3002MAVLink\u4e0d\u4ec5\u80fd\u591f\u6ee1\u8db3\u4f4e\u5e26\u5bbd\u548c\u9ad8\u5ef6\u8fdf\u73af\u5883\u4e0b\u7684\u901a\u4fe1\u9700\u6c42\uff0c\u8fd8\u63d0\u4f9b\u4e86\u591a\u79cd\u529f\u80fd\u6269\u5c55\u548c\u534f\u8bae\u4f18\u5316\uff0c\u6210\u4e3a\u73b0\u4ee3\u65e0\u4eba\u673a\u63a7\u5236\u7cfb\u7edf\u548c\u5730\u9762\u63a7\u5236\u7ad9\u4e4b\u95f4\u901a\u4fe1\u7684\u6807\u51c6\u4e4b\u4e00\u3002<\/p>\n\n\n\n<h2 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