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5acS1EDdVomtpm6rfwZWsZy46lMHa4OSx5oXPJAbjomwx1pqTlGifvOVsDSS3YdsWy1FJH78tIxclYz0f66jjqh7FTsdYYHOJHJQvPbkwgu6+oHlYnG6kGjnNWIPWhJn0n5sc/4TTj6zyhmNPTo8WLh0kPjFDJFGIyWkYFdoDefgAImoIARAgUEi7kLhf/WX9vJalS34KcX1Tp7foiPsJ2f6S2cevc59u4P4XuomMtH8z1o8PD8fA9FPgrfg2tMgEERs0cP9JEp4vZ5iE7sqG66ExqDMIySVvTOaaVR3lTBC8byedDK81W9vCAWB2Soez7KH/PNyypkAuZL1tftozOxBw2E7wVl1J3ZrwIaVddIM5BNZnVG22v2npNDYC0tYOwPdQYptiEaS5r1BeDDno1ysaPhZSp1z7f6gP1E28CESPJl4/vhQzTZ89VIMAUHB6JIsH7RShRjWAlWD++ntulNk0iUTiiqjBJLZVSfRtk4sBo0DEFcrmj8lC2t7PwKJCziaplIShdE9LsTV8W9Ga8h+jXFAY8+DrhDOjJC/mTHDM1dCsVz8tFzDuVV7DeIZtzO//nTZWhxjDHBKVLICGuBGZfUKoWeHbWh+7f6N3Nqbi/vXL+O6fPUd+5Lm6OyxVdKAiqFBEbQGqLKrJ63OrIssEpmga/BIVEA/z9MxwPj5qSU3r4+QxBnkqHJecaNPzUVBz2UXyCaa1cOfPnlPKPyuVUBAy0t8y3YlhQsmGRR5jr3XgesHtlEkQ40cpMwQ/cCmXm6yMiSgSqZ4zi0h7hQhsriO3UmpR4Q2dHB2oxi0Zy9Jzd6Sd9bwx/95Ae/Ig4KYVc0bKa+SjqjRceD4nXJKjzGjrEs4S2QKcJ5RdqFmFfaIS2MKu/Si/DoXhAw50RGZ5mRaYTXFI2a4nLHHZeDumi+cb15sN0whcSiC+zlz/0u3ADunu+2Tk59VFzJVtIXn+ou52t345YW6WE/xH6eu94C7MyudLTQGENzRxmw46fI8XYLowBciYbxfgCD5yDPyV4uHO8NrocdVy0Q+/fkbtZ21PaNLemZdSmeajyX1CBmvVOaYVVaUWS6yByWsxpSrFrYRcZbibS7ay+d9+gAsJ5PcIShXYxEhxh4T2Hqu8MxER12OzX57wEVQik+jzrF5w92sPE9d7GLQPRE7Nvf1KNADxQ6Aulh4q3rN6MDgg1PqJGntbOC37SIO0FLGDWdN7dMD2zO3mqeYy70MTuNwqKwFt6K2iFnNZgUMihnFeF3jYK7li/egUnmD39i/skcBZYHeTTa/fnWCWBEFf/y98Rr3fCaSvKaSsN04Mdr6GlHw2tV6Hcj4LhIN0WcIqWclT2GJoHmj8uUc2VyaujEby34TafwG80M58hvxU2PtWguDlqLTVixUokdwB9vYpSflkwV0XOCGZTMzk3JHB3OaqD1djWPvsworARrwrvbbQsIP39lotQmXijkBZPCCzQXiiMvVCcQx617EDxqHfboQL/g3BBRfvwqcgF/yRluKFAiE5NQmCQd1JrhEmoWhiOXkIOZLkJsKtohbkOOSCsO3PAHMZMkU2WI3CAzuKfIjUamOMctd+j4fI2UMsnlHXub0cR7Utkj7Rx/j3uimW8wb/TwTQQeOXcijKnJGs5JBnZ+xLomKVPQaAUqHFmxGlJwXKyITADcHj0yzszaCdgXlYbCxF+s/KVTsj60UCpH/irO4R8hf8VIsiPmriSB8SfLWPGxKY7TKWdZFM6iOa8cOWuQjk6ygIk6DYZ1CAIGAd77SDotyaEOgZlS0BGOj2fHKYjTRDrU9ck6kQ47n1MnuUbmuE/vdv56HzqkfDoHwiDw1+QXScMcxi1jL8jUR9dErrXvrhoRTk/P8Ew6M06i3nkfeLttRwQ1mm2vqTV6AMFk31xOyN11xb+BoftXNfnj5ytWH+JfJ5NVV46zXPnBkx0sj06iW3jDLAWov99+WV0eB2sPK5kVZsk8soEsOhmaR9bPa6gLnyrkj7tCfrWa3/n+DqqRd+pMLMWsGGMF+dHUlSfjsHpTXAoliUZTXCo/xUXvzB6NK1I5zKw4kDJWzFBUuzSEmmxk45q4zVoR4sDPl7U+Zi2iGP1YKbkrQjaOkZCVkdl7ZDZlCdVTbfRXe7eNJthfrNxnSEbD+0aGmR/jQRtipvarYtoH2LtlTAEYAqKa506xGmCGggU7rLvFGnNH4caB1YiEDxmuipUQF6hqH6irOhkrv7oSuMOrcpMIkqhqM10S0z9SfheGD56MLhxeb+ghwfPxMpfq9EHhnVG2Y4gQekPRIWLlh2aF6BBNvewCTqIDLewUR5riSCOMI6EDu63toWOM0KbZS0orWhgxUJfAknqMJEZSwNbiBuVIqmMMfR1NQGxgZFRJlDC5TxueTbNWNG7WiiG1tlZ6xMXsIWdryKzWhDEyYCT05pO6fuXqenzKl3LnRSxZ4T2D+7t3sFBOjOtPIbQq+qf+1wnqGT3IewG7Noq4Jldg//6r+FVZ62bppo0bFck+ud5yD39zUZtnQbkszb4oNQZe+3K+U2dQNO23y7+arR6bdTZGO+gorSN+NpCEjfHSWOFo+YV0jUHAaFkzJIw107VRKSkB4O6NKWa42ZEEdRURo05RKY/M4BeoZklQl3K5Sr+8N1x8tEOT0fjKjcbjjPHEZljgh9Gs68oRN2PU9Eep/4noiGVciIbRq2WgWikAfZVtwA/mwBgIa7qD+R99mhM9Jool5uYsyeBiVJBaHEdWhRlKBK2KbhP/MEKRkyOKZWuG5hWl/bp8mr1whtPlcmMnZTP6+byyUMW9wozesv1OTJ1c6r8OXnOkElf2xl2/xJdvfM/fRVI4d8pBa4oZ2KsSnxvm+pGfDYEkU59bpPrcWkShQOo/XPtLZw0PXEZHAx+cmX5CS6hFiwiOXMB/w5trcJU0sDVV50rpuYhJG91GPtwm3qj0m9voBjfR3z8OZ8Wblp51GKADDiWdwfDLZHIOPJjvD4ZfJh3C8MtDjzD8QoyOIfqPn6HBZdUuom9SUQm/k+ToGNxl17v/AJuR4WEte/Q20jXE4TM/DP0NefwrkPPEwcyRSNRHz44+ZtYuVpe03ckO76FsEbF76aXpxh0kngZ5+rB3cNKLqaR/tMNNXw5naSYsNDr8yey4vTucdp95CE470ceUgLIH82SdnIfR/21hiIiioDkPY2raYY7MifbDmcSZqhh5PSGMfziTQYJ9g22F0gHKhre5j5qI7tbSDhHwoXo8N9JsbRdzaBFTSk3RTNZRrjeObwyjmyxmuxd1hA8cTLNQm36Kclpe5WShoWD083mZl0c1G5SB3E91UzwzeVCgydzOPBIKlER8eJVolZIgcQFyvQppFqfxuueLRg80jkpKSK3bv8Zl1rAIbb8DDSum42dHbBoh7poi8VMkfoSR+MqYS9OCgyR2wl7ggL+qvVigsVawoVjOZgimUoKT0aUS+BdaWqI8MzBFa5kzg5ZNkGbwGJFQOMzG6j6nYMqEpP/6EPghlFjj1ciF21BbIUtifiKxya8Zx6QBuWJLDGl/2/siaHlDM52vkiVOWmcjz6nMZnGo/fhHZx9ooVqODDka26SEyOCItDZLR4rypb17SK/ucWVRU31eAkgGbRQhQmHOCWaT27qTjZIXxKofXQO1JKoqHrbPOsQ6KXZogKUcJTQ5VY30S49x2cu6VFVKl2q/y26RIYGcf9Gs+FelOy6X8gngrtOzQrXAZNgeHRFYsomn8jVVnyFBM9zeD9LzM8CQc0TkDAHLkUF6WKSZOsgWdb8lzKh6qJ1pNFtCouq9P34ZVWEfRPLKGFpeFdcob9mCXEWjAr45wS6K7IniDKpkWjgI2+HMbtI2G3iBoQ0ej0rqA2exB894dG4dFD2JQ3Vre7tzD245aaFTkNyyJSrKhdIgzViDMDQsFWKZFA9VpBACP3B7i8GbDwPX9u4jeVixVRyXTjVnKrBsZc0Afr2hmthCGpS61vwVSNjkRk9xczktfQht0xgkjxG8qJt62GzNLVmx0Ll+NAeGQSIzlhjCv25h7F1Q2FofFAXP1eaxpBkukPTyC1J8yqYXaGIfiE3WICM8irhRro/0RzAepXCdVp/TA3sl6fbjKWEwsdpyXTJLaRY/X0uwvDmTLBk7e00Z2yl3/cpz17W764k+gfiUE4QUAMSaooL/3oF3/rWxF7uXXehskqBX/pTii3fOvQ+3fe/WuOjBWT86MBVY4xob2Mzr4vN3trcTdsDeWpXcYruF2cskjQ/E5sb/Wee1s7+15OKqNota0AZuMq82Kh6A42rfnShXVdUDU63AMcIO0CoC6pQDiDM0E4OD9zVIBSrFDKPCPGKF06ZoZO1DaQYjRiOAGpBRhmUwy470nPD2OgnznLpq4xOxWgJDqQAtwC/QlYqqVcMoO5+PUSmj2FLGqBykR4SRVFM+bl8bIogzycBS5ONv7klZcPICJi/gGL2A4StY5y/208lUxTpCy3QcVayGTIfE6L+IVUaJwjpt+bVHeLcDnQN6bhtrv3qIc8UZP0CVywiVA7J8WkIn1jI4EGVvnu9hf/PMhkAfOzn+L7xtZDfPVGhWLyEpgD2PwqPJmPELdaYbpRRJkjw3GjUVjEBFShlfnzlCWaQNvysQLot9sH45C4DkgB5DlYTJV1wOIBBMLBVjIAs5l5ElF5sbcp6stJ+31eNMosFQdcgeTetcvTyrTyvckWwwl9XQlLRrouN8X0qpmUflBmtVXmFKcv6Kk3KwPdkour4vtD0ZNei/GjSpunPoUsJvnPwfO8co5kxqjP0kWTPFtA5/crfWVVZ6bc2L4EfU48XDu/GNCSkTGNQEBjWBQU1gULes3tt4QYRSa+CNgkHJCtnpVjdTfxDfieymC+5DUjwjteN7w689P9jY68x3T5kYhSomAn0NjCwnEBADE1eCPQwFF5hqXnjQBodvwsD2ditwProyGc4sPvnBMn/X9MKKiGQajkxjkdFVS3e3XdvJT3e9OBgW/ba1b4f444uCMjT9JqE36yRgQ7vRoRG6VcwGrni1R58ues0QTpbh+RZhYyMjdY0W/6MFWLgh4spKca3XxLUT105cK0t4nM4cAdeObippvdhdcSSBDF00mjQ+9riCbs0UTqE4gl7Bs8rdf/wKS5RaheLg9XjQhHcsDkXFJz026bFJj1H1GCaDTHV4PaYONK+yZgRdoYQF2mF+HkH2SEcBjdTuYRPpxI1UrLOLkqkpUH3daQcyazwgvnG13ZMv0z05ppxK7ZYovDEZNz4qrzBFo5a5gtMjfKJC9szXTfcQvfdawVv2ZxO1n4TXP9V3OOZm5JzCRJhNk49VkEUaKzX2z8+Hd+ObfVQHKnfpIn3/2o0PC+vVtrhly3H4SsuSK+iVeDf8igr9gz+RMKy4W0NHXLfSkPCzegzBrxwLL0iyVCbKdZ2XKK/PGpKk6W0vqS4dAwvS+pLDqh0L09JqZYbg4gGrNcfKsrUrtDANIllaVYVW1RVV5KsT1zezK+WqG3F3asgygyOA2z6wbwfVIXJeEsWf2k6bwksAZ5aRKV1EKDY91JGo7WdRjVGusSW7OqnTPS5hqGIz1yVTrBCGxBU1A0CKQjyxmTBUcWE4QIxnoIFXfKm+ITMOS/jV5MGoK1tzUKU5obY0JwgOYjQnOiN7lKaalMT4yF6zKqUiq4DVhxew2kApypA+3FIcltSahOePyxyRKq2L6ksUpTLqoYlG+SUVEtjAJXBzJgPvos80U01t/XykRNV6b6zTEg+n3eSayvIPjK3bjK9pGohgL9/AUYEKsAMo5Rscx9vIGq0/+/VAo0wgMccNErN88ebr7Wq+hNiA88U+eHTmzvPWn0BWhgBZgdDAdSZR1ReSeCUqvVZb6nXggZz+jElGTjJyfDIy3NrzwA6zZhIhE3Mn34Gf/QuH4im/ZOMv4Ra9U2fiX2UXjVHKvg7Zy99AJQA5DIk2BrBv4UsbMvJ6RM4kfI9b+F5sXNibAolcFi829jOLlDyYt3Nw+dxePtregk1+x1fc2/Cpkxh+jSawqav4mEKTbgUX4AxylMWDDCaqO9EEfpvZMePyVL+khk3Tb4YNcFLwnbWZLhKpe1SRxdx9QamBMkor3OX+A4VkMchu4/vhQ4TJgtFaVUQPowraxDaiXJ0gigv1UrrSuNpZeE5EJ3nb6NfGIjEEbt5fwEdB4vnjBDDeEk9/8O5224w4P8DehmmwVnynzNS/uO0eba/IfeW2e0ROuMBKRs1XOeRHIsTf4R6Sg5tfk3U42cnHbScj8TC/8/1deBASLPGH3KXzBTAQVqvJ+mW3fpU61m+lrO1NstKNXoWiGTVumhG9UkaqnrpBHA2rqd+GHi2Ml2IYtLGn/dod+tClGQ16r4payss8j5p7Wj1dB00/qpyuk27eSMZ2p28+mSmTmTJCM8WOhft8BzgrnKeWx9YJFg5rugRCu7jg7MPl0TAR9qjgO8+HFtJ+B6QclM5A3sji8sWzN+4iYrC1MyVhjnr+nYHwLJATSYVykWjamKOtU1wKNBVtFYdq6CVbvHZJU2jFCNiaQpbYtl2T2n1N2FohQz27VBolKIKCyt1PcjRJgv52dvq1HQmSooWQHheWrtcgSoWdKqvIjuNakmR3enHe11Kms33qTM+psa5pfBxjd5UgYRoFyyanVVdlkoI/OPeOtyQWnlwUMft44nl/v//+n/O/X5Tbr9be/vrhfhH80gWabY77Z7TydOpUHlRGni2CTwrOUfF5BRpM6pDFReq6XN2mEZKjTVknq9ZwvtN9qfbUTInR/6qAcEPH2kIRqHo+56Pho5+Yc0mygd2JETGydj2/JqrUB3EFl1FlUuCd+dE4iSjVfxXYm+yA7YW/pKWsdk/uZm1HETXSyFTPo8hccspV/vtV9KcBTbKLOwXL/0miTOpsmVbuI3EbGKbKtHqfQi0jMtiMeJCGIdh5KV1ol0adxa+f5seCnaRhqVJUDcd1Z4CnqLfuDAFPqnw+sy7F0xqR5vaLj3DWhlt82uiFQRa/rkvVYPEldWyrT4PQ71LkUEyQxLClCCN+Cy9rI1t3MmVd4Z8xrH3OVSjfiGTBW/pvTTgAs5xIrdvrkM4UtjCzEX+/wKKP7jYiv8aWcSEaBusG8dsI3IQlN6JfjlDIke2F2DidbUYq8gfeDEkZ226Q/vDll7KYR8uNSF2CoTcCQ40bXDyRUZBbjttwqV+IF5fDb4NRuQ09s0NxG1xrpP/3EMjLs+FL3MTJn8ibrptCaM+AdDMZXnRjw4kPXnQlHLfepygcngXH4JWDvZHr1N63N5H5eeX/7pzg091PZwH5Zh1D3MFLM7Wza9f7FR98CMPtLuKgK/B/9274sL+bLeBwy6s7J7RX63gCZv7Dk/vLBf/5uvcAKwlf3e1OWPmBcJaeI4BHgVVFWWohqcyTM8TwTfn+5Nr3v13z2z8bUf/++fT0ixCHwPPUkyGDaGeTj+oJPqfdB3uxWkfx4wd3uXS8k+zkjbSKJiENk+TR1WolLxY08ljqd7oGDff7wF7CBHzuqmVs1JMx3y2KF3/JDQC5TyoPIsH/ywkXD+jDg72M3r9GZU8TSsRyESpJirRSOEmrTYrgY4Ya6VKBTghkyOgDoNkdIRmyMI44ImMjWMe6y07PZNbaDsmaWZYpWpqswL+lfFOGWiIB6GFtIR/UFrDMXRN8xkKZos7k8ciUq0CZq9cfneXvs+/fLv+3+vfi/y7jzFNvIoUQHZalSybZSNBaPFAk0fnFqXx22avoMAYVHdT9Ji36DE29Qflh1JcfSl5+KO3lB6stSIr9aBo0XOnoYrCo7sqFk8GxfWTIhjHvTP1sV1piNaZ0V8nQ5RpFV18AfceL7233IZfSK9aNSamjRtVFblsodUO0OrgyjdtyS8h0wNXeS4pj2/g8/JbQGtsSkpH9GxtmzEOaVOiq6rM3EjWHXl/KsMz/FJEoWl4oakdDoZQVpAU0OK4gGWmvHcySafXrnn9A4jl0x7KKZLRZ0V0aM8LSDn59guZqGFVGzUQNi7jIeCAsUTISnpNsUA3dhL2MSvlFU8tdUMe9bpw++N//Z7x8Vn/42k9JXv5LsU6XS2KrqirhSFcit+JkSLEJA/Kfe2zM6KHI2nMnlKo71a4Xa2HZUredjG/vd+UzKTg5I2VE2cIV6afFS0W9DfmwEFYs55Be3qDegYaJIKpzQG0+LXUOkufdwh3z7iN0hHoPZIg22+sodxI6Z1ATtOWMgj2l9Ya0EohU8A2IrqPU2WhEa9zlYH6z8PYO9qLZ8vv0KQILFpQUgrc+vO7qxoVBLvnqh/00hEwsp8sjkIoMGbROOEjXa1UvDcRBTSe24ByE32cEHESGx8bFMtrRsAwZG2tth1OZ5lQ3xTNz/EyT9ie15RriRiNgGzLqdgu1zogYxzgaxiHDb50wztjZQ+6KPfAbDc8eKDqW2VIU9B8Nf1jHwh8aLfjXvVqpi/8yFN/gcbSmbIPfZwRcQ4YimGaN9so3iBqPgG/IKEDcJyCuXBiE2MW/tyjPUxjfqd/xVTu+YxCmFCXcotZO/hbHd5gemOJJDB3fKRlxUZgOIUB2IquyBGXnjnqbWqhAe3Tg9uYanPzRj2ISKfnBO6SJlj0l+XJ3OCaiwy5+HmsCyKK96T1giHmw3cw9+G7zBzvY+J67ANsGtkbEvv1NPbrJgXvn80XpYeKt6yebAOuEdOG2dlZhmWirHqsMYddQUomSfGKWjbUZPT/7DH3Mlj5ZFCbHDb4OZWbx/IJxctZFCjQ1Qu6C86BSJpk//In5J3PUfqYcjXb/AOKV//L3xGvd8JpK8ppKS+pz5DVaD/uYee1LCMw2yGqJGRVxHEyNQQC/M3kMHBfppohTpJSzsscQHG/+uEw5Vyaheyd+a8FvOoXfaAlKjvxWXbzIRHOxjyw2YcVKJZZw1gf/6QZWbMNntWKqiJ7X/tMW3G0evmydDJmjw1kNBKcXRl9mFBYdSz9L+PkrE6U28UIhL5gUXqA5cxx5gQYicUy650NMvLXYowP9gnNDRPnxq8gF/CVnuKFAiUxMQmESSSS5JE2g9sQlZGbiAo52pYeQ6tUI1RvM1CCGJKUoiKVBJGQH99RBQIGoH7fgOejmC6j0G4gdsZjNO3Y3o7HDpLbPjyXGXdHMN5g7WjHK+G2bw1ZtfsSqhinN2jSQVI6s2KCofBQ2AG6QHhlnZg0F7ItKS2HiL1b+omFf02KpHPmLTOcdMX9FQZExc1eSwfiTZaz42BTI6ZSzLMYpyxw5qxj7f9uOrb4BMz5qSxPFmaTNlMy+bws3PbPbtBaoBdgoG7wAgngOHGBO7dxH59ZBcx6is9Zre7tzDxRQDjiOYGfiPv8PEXVdKLVQPuq7FBoOtkXpjJMkhixxh7TAMGEgDNw4353jTNpe8Vw7RZypkmnJmqFqooEqCNOVpA24MnNXWArFVasPg+BTQDeuoxHNctVqJ1o1vz/suO7gH34Z+ML1j8sHT/isSMJ/Pp0Gn3781i8DSp9TEgK6Sl1wqrzOKbFg73kRRlc8JPQ+eInqQALnN0Es9bBqL3X4P4o4JuqrRNGy1AuCrxWKUgjhbDBccxQQHAO15neNBnGLQRlq6oyCwiHRwKQksT4BEvv+/Pzxp/dh+ef3/71cba4fze/7x7VgkcEXfFdxQqiiAnAuRgjx4Nix0AG24xF/3gCdH3VKU4q4PmAnpMYEnaDqkUstvBALpyCSfNJzOicfagPi0MP6jBbT+iDdFAyjSOdPUIdR1N3h7EQI6iomartycp+CuHUkk/s0CuZAbxyeBncb16Q3YEEdY0EDAYNkWRDNpuhpYGb7hKtM9VyvJeFaZXXJKoVlDgMr7XoXTyjVsxnqKHTk8puuxg+IYBLAmrnbnZMnISUH23U4KzMYpgSRnR89SSo2dkCnwHqmnTl5mc6PosxBpHoqitnHAjWe1kOVzQXTemRG6ZxyIvdSfVWXZkjSIrqR5JlqyoZm6rKom5aRv2lB+X5XtcKAbIcgmfaSv3r7DVblzD7WqaexukaDJCCTYgDm/Jf9hlUzcMAaaiJoFc2aIQiqdNgFKWtNivmM9xN3uEWDsE3RsOuDwcxqPnOQthIzu8k9sVsRhOq1+4w6WsLAcW59P8w9onzrzezbkjGeCkYhbCb4Blf+epkAnCZHrv3HwwHPecqQ0cWJcXZg7QPVHbg9ykKg79d3fubqjEg4P3yIBiTHDXL0u0TRVPq1aWsd05XGBcEHgQ/zKpHN2cRHq2OyGebMyMcVaZJEEg9KOitNDCsN+3SMqnr6/OnLh0vzvat+fZz/E9xd32nfBAYPrXdNfRAdGPMOZbnF2zmYpkYvStHUr2Hse9Mh7mzX9b0SFKvpgLknxHBWkfEU3N+9i2bDinGyFPv3X+Na3i1+oHH2mJ4HDx+C/S6cwxyhDbSm+E6didmJ9a2yxcTLn4xwsP0xjbuHobU6AI/N9KiC61GNmumk61FuOKCKNBIViYdAgY0EB8KmVjwFjAAFUVDY5MdJNqBSMVs5/ZC5qu5k5c61uCoyO+DI4e04/lJ7OLGCD7M0cvnZ2hec5KYZk5dL2MxetTGQlqJhd2IEo+sqjqSg6eqFcNpt3F0BiD4x7/HOdM1sQubFmaQ6nPdzv9kiqWIHEf9WyhkODKYeHYNhwyw0q4rB8ME5plKHwYiZkIyAt52xBWqZHUecqCrNStdMqfKi80/DQruUznkH3fHMXwrD2r1opBZqSHKTWCEyJxMcmSgGi03KaUEX0kktgyGKnZ2l9ioyN5fOyt6nHsaVvXHX8Ip/nPWjA5N/eeKQ0ewe8vJM/ClLedFhuuGUlPfRaDNXSwL/UKm2c2mcpviz0phKEErn2aZ2VjO9kqh+ukE5I53H1PlDBy4y7tQdxcUqzUhUxVZ32yjGdrFynyGb1CxRaEMedaqFVWjNHP7k04G0ugRa9TC3soTUbG86xIZCLaV00YK6biZiKiUmVbFm5uD0VNxHRYmysEocld6zcSmfgB98WkwETLGclqRBnTwLCaFzuLkGJGOamEmsk5GbnglkpFEb0snj4MKxZk1TZ69/q4Fu1SKw9hFYtQ3qj5pm0hmmvkzGcsPQBX1Qyrhqc9IX78VYfj/ZN1iAdXhthTqK2s14jFsz2Day1mRHPB1kXIiGwXWPiCkojHWwHLeoGjmOYYtuYbr33N9sbG/Zx1bVnSXcfqsUBBRbuVXcxKlEA1rCFhXq0W3rRSmCZGZdLIPW10tDaONI1+0DNZJEc5suvjz46aDZQ57+q7N2klfnT/7AY5JrQf6kpFNN/jn6lmeSKpuakfxNKRvlt4MyGVuJsI/brCNZL5AzUntcZgSWbc6szAIjRwGF3/UZUOJkyCI7PFSaiUZmk0xyi2R9ZprZuyjctkzuQpkcgOr5c9Kpda5envWpSCRVpMWZCtR+kypKxrY25C0M0wBTJ4NMWtHFDlnTtE3d/a902zQlYYYRtdRoWDzLYEzv1c5d67iha2ZvV32+oZbUhnSVcE53aKpIPYKK1OFXgqi/3G1tr9iQXCVhK2hKniD0ACCqFBW+p3vnBFEp/872dsTXxS/Rrj718c4O5zv7fr7wN1sHPDtZ5Yr4f/xDp4LUugWpkaoqK0gt7sal4PPwM1EkVSO6PTRlJimkmaKJM+Th9gLKoylNYuccMh6NC0gbGzyYeWNZfMwUg9FMSdXl0IVxKewY1bioKnNTMVODcXYXeSMrfx/GctTujBeGsbrjiAZR4Ekllebt8HN1yCDnt7PTr+08yXJMtQbICoctrRWlsayZoqmmYhqipRsGDVmJ48qSuBynF+d9LWwueMNhlZNvLXGGZB9y4k2aclStmU6Lv5gcvXg0OTE78RQaOyGxB7wKNYp9cX4GSypTkAqgYIzRRAy3dhoNjY8f2kwh2mm6MD/S2eqj6aKh1lkYrAUiGpoPwDvioll5U0Wz2AIuxI1wm0fT1ZmV+WMyGR91TS0NbwkwS0ytJpbN7caVL8XLLx8+3a6cfz5sL70b1Ms9VBdAPcLuof5DQ5nHIQKJ7YQiZbjmYQaCuzyE+Ml+11Yozk9u9HK+t45sJT/4FamGEM70u725FmKUR7hQHrRplx2ViTTWmH1gcCkGFmKl1B7QRqJ0gQvj/br9oX37ebuRf/z9fOX8+Xfj/keQ0Oiivjm9tG9Hou+PZSkKld270LdNhU/nokZFeiQrago2r/OOpHapR4ssjri1Q2eXDb6iGKt4GU0fqcnclaVdBNn0UKWSoqWnvjYF+ZlT4UVBB5fRgKvLa13bYu3lWNFg5MU30vZ1qpvimUml5x5qujXU1F3ZCCbJfFog65rEsoaFD/OZyurzTav8fLxLPn8+p0yoSAYTv2Tdkj6MoB6kpYp1SCuUOrVeK2Q18WhsoHR7+rWB5HEAdGgic5qEU2yhrqDSsVEraB57keDBz9eMOugBOg5WgLsNvBvH1SZhA5rZ0ZmhIbMSfL2ummM1NEpaZvLybFDe5VOJVZd3VauekUGcL5Wfb+JIIXXPt3KyhJdRQuaWgFGyjV8Njxt92fh++BCN43g99oom5+OvqkzaK0av9orUvmiUdCsGjdcWB3vKkcm6F1Moo1gtplBzQ//BF3owyJIbUEVPdmuJ3qEgUzWwXPPUXUSYRv8FyDTfupzyhlZ72JgIJO4K1Z6Ju3PlvrWJz82te75ZovbIt9Ox5JmESWVWwDpSW3MDZSonj4wivnKc5coPnuxgCb6QZ6T13ZHa5adcTWTsod1FLkQPodOCdW4fDBiZck3l6UyMVGpGpuosQ0/oOZiMg4J8D3ApHgPoXX0zexndi9uWdEca2st+a4j4cbmOgX0qKtl71W+lkNR+8FAnXF7HFG4X0ZuJop6XJEqzsF7vLE2BqRs3aKiEpRuUKlRe/AJV02vYOJKCXy73HfdrUnfXI7SOyMojtcBHJ2gdfgwu31vz/X9/Plz//v399+bbd+/6tyaMI/koQXySLLvJvfRJUrAUcvZ/77E4fuaCJCpj8wrkJsGVERVElivtujZHZVaFEiHqXm7IrCWZacZ5YMlh4pW8RnlohTi/IgNhYdWFdc+vNwzAwKqedBHYmBiqBfM4AFHVZrp0QMeQMINGI27NO94ij67lsSY0egNLaEAe5ZX1I8nW0vNMgnfNdgS/gAcMtV6sBLTeTOk6Ar7v8vb20y0dwo9nPi/bZcbPqjB0azYyJNk0tTj0MNti84CTWNCZxULnKLKNuDnt6Ex7iMpVa8X5vLi/GkewqpVDoUJWCKzNGeMYwWuIWKOWRsYbe0XCS7VbtkX3buev9yGl/eYcrHDgr3kJ3QEwvA0979CptJpPSs+0qnHbkGEmzw/u0FHS7V1NdxvQekxhyXtTE8VOlWbMFDPTFYqZHNLMIv2cup2opizhtoxpNehF7UrzIM9xrCXUrKj5SXSUYB/j8lS/bELj3NHkZClPBzo+MKwrNDksx2Dp5bEL8GJm2QVVOQ2Z/rj+CJo2BOR4FEYng9GK2WAU6iFFOq1WD2bf6oGNqqV60zexgJtkaTM2riAbnKpvxTm+phoywWAHzFkKo32AqbQ8c7BPpwkc4OEkyEmQFpONAjfXzk60C3bqPMiF1gBN4kzO7UFiIbdUCIKaD52iciZ0B3+12jmcdnSQiGmnErJY4pVLy6YyMZvVbWNmVMtKJAErZaWBIAiHN6UVBZNSpthU4Km4wBMxA5m7uBtjjyE1989I8k17DKmVgw3bsAa2xusXBuEEnWiT4sIg7AKU9S68IA0B0i+osDBMVc85kdgcWkPMYdhjy8Oc6wPvOFMsAgkfhYYY8zGdcaZJWvq7xrUTGINQAGTJ4DvBgRfqpXSlcQ3IyRo25GDoCgvVHCgg10EEoRN4t4NvNRogGpnVZlCNvsDzMTVuaBg9doW5JtaLduDnm7paQ+waGNyE2bcItMjekkp49UVMujBnFNzfvQNvDMdPof/8FRGkSGCwP2RKHNH3yb3h154fbOx15runRPbEE1RjMhfXDqyzFMCrLaCMJq4EMjAUXCAYvORKNL8u/iYMbG+3AuejKxNgb4hRtszfNb3wADUuYD9chrXt8Ddn/5H8/KW7267t5Ke7XgxRHv22tW+H+OPh18JD5gdH40i07ErlkeU7g6in3ahyAEwBMD0mw+GKn1SjzaJFjyQZu1+P+2D8FCZuiVkUQGWNojDxUuwOwbYGATvtJLDIS2HWq5DqR2FSK+YVPlUN1fpS0Wa6rNbMEpGOOdZVqePR+a6SDgVZAFY1XJpz6E57Fg/YZNSeNlSfBw1K/uuvE1ks0Kgb3/N3kWDNnXKQ8FFBh1ipxmBLVvI4QCCHf2vw4aSW0SJCBYL84dpfOmt44DI6GvhwMh/6hJZQixYRHLmA/4Y3j0qqNbA1VedK6bmIVxvdRj7cJt6o9Jvb6AY30d8/DmfFm5aedYhBg0OJioJfJkoKHsyrKfhloqjgl4cQNPxCjI4h+o+focFl1S6ib1KJCb+T5OhYoiQ/OKt4CbTs0dtI5RCHz4AO9zfk8a9A3BMHM0ciiR89O/qYWbtYY9J2Jxv/pmwRsXvppenGHQSfBnn6sHe6PNNMJf2jHW76cjhLM2GTW25OHzrL3h1Ou888BKed6GNKQNmDebJOzsPo/5bVKOohn9GwWyO1KrrIb6iKka9+EJI7NdVqnSYx6K1sKKo1gla2hiCYb7MtjQ7/1XNG2kBJzeosy8hQwg2jvTdxZA3Rea6q7IXuue3ZMJhLpDkBx1DahfCiM0VScvkCq5k7Qd5Y1tWcKmcrk+vKok/XPttreSWc+f6OGxIrv8gFXgytSCoRuaCF+rlNkzOQVTBE10Oz3H5Rnn40sfo0a89QC9V57KElNZCg8Sj22JDlWJNwtJQbmZ7jx5n4FDxaEq5gJHX7zSiYKNAEOP4tjYOotBPasHb5lIdqS0AcR52Dgs9DqKhaULA+57rnY8iprcN85duQHW5x/h566lt/nZvhe+jkuT2PYBg6qCQYx6QLGesYp026sDgJrHvdOH3wv//PePms/vC1n5K8/BfNqaoTemWa0Xyxcb0oBnoF/r7Y2M+soR1+04ks6/ycSgj8tlsSMU42KftN1VBdGI9PwYfnP/+qV/vgxz8ftJefoWeLAtlHZy8WzjqZ4/3B3bhJUWGuK/HJ3aztRPPbARHByJp6RBCO3/LqMp5Goeh/lGfMrq5RsrrJ025hpM67h6HYokFyOm0mrEx5HL6ZNhzc5dmhcwYV/47Y0w7mz7VHOD6KdqKWkG6yaWatk0pIiF6mNFCzoGXCm3sSVMKrc5AqHzhdKYmmVXZBVT+ImOdnw+y56Q95ktmmZjfY+Euyg2P8URKT8MVmJtk1zgvonZ6MID3j1mKxwyAtWyiFEuSnItOUI9E2TYYwZiI6F4LsmYBUXHIXgyJeHaFhYrCj4knLytcWo1KpwvAvfn5la2mNKo/Kq42eh+RQMDo+3EAvg+RtXr6EKFqWWqPprYvZ4KIxI61NXpi/1IXXmrSnjSqzO0Ta9usDcIQ7SN2WhOv6Tt3S2ZISPy/lX97iGp9BqMvGTDU1Q1Ll6G82pL2upFajuPDEPHyZp0l2opIRkLNfzQid94m2Eu8KGQoE6x5GU849P1w8kCGFI9aveIi9X/16/ePywRM+K5Lwn0+nwacfv/XLQBim+7sV3nc9CZLZd4uqyCh8q+uZkfIYp3TLthSoJOqJxrBcSoYMYuv3VXEnPhNpBNav2qTmgi9Ef5OY5xtS+gXFjnyUPqXYjH7iYEPvSt+b5kzjuVhkDfSdsOMnZgxUrI1CGT2O1aG72E1Q4CYv4RgFBmXOVimHjkVgkPnjvJfwmuSDqVXLB1p6mZt8kJQpBtdAQBydcKAM9Cmgh85TwO2kAzljJ/VOisyJq+WLZ78mqYHXi9OkBhWrmZfUSOluEhqvPPaoU5KmpcG+kcgN9N6FVsWryu3hZesjiG7oNACbcciMifc7DmAiZuOdgFMUdWblxxboijIz2IomKPk8pttxrj6gwFr/sJ/AgcjOeT0ySsPqDzR9YAlFgTu+PYlQJyhiqmdsgAIRlSJTtdyk2sgBmqzCtlJREhVLVeW8E6tr2kwUVcMyJd1S0m/rJNZz90sjFPzBBQxSS/2Y9p9iYFgl+w84ud3+S1j9V1+7L5PVnLHr2HPgqY/stDg6C9EkywP++Q4+X7RXfJZxAUcC91mtbI1ufa1BOjZ6gpo71U3xLG21oJQOGNVo8x23XjDb0OWT4ngb0bqJSW/G8TQktBvWKgHL4fiUL+u4e5sI7qI3I85PAK276kals1sT/7YPdst1SxU0VKX9S8PCNWoqa7ip+1K3AlLCO3oYcRUp812wG4kY23XEKwpO+1YfgIsy6cTisLcxSR76eqUGALcYf+UjQfVMhFPrXL0842oS4E0RtOZOKpYEGYPoLt8nNgndvyU4id6BYlKMCAY0iZ5A3VVM6qmMfUnkjeSKG3XU56ni+BNyecMScb7WrZQs4L0JymVkvKdKrJhuqtWTxSGbOGnqM1GygENpqoqkGHh4hRkhmuDp8vtyDntLEmkyXEM0TAH8/zUd+nAcA+c6DKtJVh4fV8m7ZqYUBdY09D9uRgHa+3bm2+li0Yfl5khLzTFoUsvSDcXWu9hJVptOpYwxp9t0vBLdktxkjFl5XrVt50cTTXAE9RsnHeRv07hVe9CgythTihxTXfWFBMBIqjfSN8/iWMTQOVf/+IH7ByJ71YwQl6J3UY2gtECPnzjBp0GowPcjvUQaFig+ZqnDilAyLr+ERXW1UR/t3RbIFvBh5T5DudImQcJ9J/CY4eCV+xIqfRy+YKYJPMjbxDyvS5/cHXkMHZBAxmF25KtuxNtdUMlc7W1crXE15oz9gRr79y40E7oPkqWKsmVqIhbyMBSzLjUJ+YSPLOdv0E2i/pu2UX4LwYvwsJPf3/3XkD5/FNoh4TcuLcblAi52ysImdUoASyd1jQOLg7UbUR9Xc5FOdiPe3lyDA8AUiWYE1TQiR1zhIeFYkr1WIJRDbmWBxG9O+a760HN8LS2vKVNow6xBz6lZgx65HCbszCtynI1bk9B51GB3G3FIPVNBczW4D/jAy4rwYo2OssYSnjY2jHLAb+ICtSzPTLlcs6iX9zdQpH11VP/Aja2gVQau7aiBv4gCqNy9I3yCrCg1biaQRFWb6RIxIAcPFHec+LSsvNZH2qYY2RGrwlcr+FzEHD/sAj71JEj6HA13KnlOk2uxWhO2HpA9eSm/vknf1KpIXyu9oELF0YSLmZ+F2VDO5AdxYe8ossmZzhooOAAid+Kr1x2AjTkZq9VKXizoPv6FFSGIcQZApti2DcKwbeREqUfNgKLckxaX8daGpsVKkmrlZudh7K/hQxc4m6iaONoBkJ2U8B+GRrZH/+tj/mONOj2JT51e31Vxim5ihF2m8PAR9Ol61eVDA+sUVSysI6xDnUaLNh/vpJNu+TKnqFK12n/lXmn32AAR6cKQRl4NKTJjOwx5K4yTUL9LXwxARm0rR3gtYvqB47uC+zv7Hdgd8H/g8SL1X3+dyDFViNHsr1WS5IWXb3zP30Wx4Nwph/Fg0XSw5Ku7NOEm5N/gnQwThsnjZAi1if6twYfjpWto2n1+enx0ND9mPp1EHy1hOsFepI2uLzhXSs9F/NDoNvLhNvFGpd/cRje4if7+cTgr3rT0rEOOFBxKUqPwyyQ5Cg/m06PwyyRBCr88pEjhF2J0DCmk+BkaXFbtIvomlVTwO0mOjsFddr37D84qXgIte/Q2iowTh8/8MPQ35PGvQMwSBzNHIkkbPTv6mFm7OLBP251supWyRcTupZemG3eQLhpk7sPe6UA2mEr6Rzvc9OVwlmbmq0MzO27vDqfdZx6C0070MSWg7ME8WSfnYfR/yzpib4B8O6lQynR5+2S6OFMVIx+zRjdvqzjk/G0xWd9JVt3cnt94vnwTKO8Xjzf3i4/fw21LePCGWXWGuiAajHdniDqtilSHjqFrMgXkk7q3PU0w0rH8lGJi0B2sJo9OjDElmom7M3roKzZus58NA4p0iZuZ600cibrU3hiLkrntvnNy17AJMIbONt+v8kYqY2ypbgQAf05V53zRD+wq2/N5cerZ/9ytrft/L+/vvl47Z/P9UP52M84glVNxoJYn9zTrpS8b4DtwsIpAULHKg1UV51cEq/CrWdvxO0OLaB/bfR1BpuZ8SAanSE5sw1XMYady9uMed1K7izuZlbfqai6vRo9wFb4Zfn7HqBZ0HiWbkKY42BQHm+JgUxxs1HGwMnvjjQXC/LufsAVRFtfxrsD73NiBHWG+7eL7Ix3g/br9oX37ebuRf/z9fOX8+Xfj/keQTDnzwonWyOw4ufx4jVDyCnS9Q3+mNUhkjoycEVabKcL/Ua1EhrgeXpJTI6bXrNKmScFMtpUw+4vJjS6jl4YjOeiFNMY4HDQDWbSIPXW11GYzMOwf7PwKB03DBvaZTXFPdPxGqjLTiuvwOBf1pJtJMSqX7iMUx5AVcjbl1r53sqaaGLohZnbeRKeIFFCOqpvvgHByYTt93QvX9ou/Bwzs2PWvBTbqftPgmce0EhTnADPgpciCb792lCetXc8RUHcRfBYsXdWKH7ZFB5Yv3ny9Xc2XQHZv5ot98OjMneetn7GAtvjFEBwAvuz4j2JKFTXLbwN/4cBlrkKiObhZn/YhXGNq0CQ6EmtZYLgauiUrh7+jKH1BQ1uxvu1KK9WA68dqUFDxcw7pBjWBZ/vYcPju7roJkSDv1ywqD4hJJZvDlOrsPrHZpDmodglzEaG2MZMK+hJMVjvJVLjYSWSZJLLPE9aQcCyW7mLH5T90siEmG2KENkSYwPjO73x/F5ZZDgWXALsjBN7+ZHNwsjkq3fv+zQ28ndikWBsyxdpQzJmsFQvwdo3zKB3SdxymjVLmZKhUN1ixGzINDJUeDQ4VzUdgMDj4lJbXDcyYUt5URwCUfCHf0Y+fjJDJCBmjERLY3s4FQmGe2hZrd+OymSO2G2z8pTOPRNfhBlsnWESZrskueVOxEF2qNk4MinHCDdJHQ6bQJHwn4TtC4YsOZJPlwWK+2/h+CIzC+zm0epOPHpQ2Rfl1fMQ7k/TOPWnpBO5jZHzNw5et0+oG//yZRP8bE/0m1hKdzqrMyn4aPrPagVdK/RGDBMGb+qSj6fbpxNfkURtQEPRmRdnQkO83eHEAhg1rlYPr6FhBJ3Y+H59V0yafdTKbxms2uUvgZG5cbx5sN0yGSnSBvfy534Ub6Orutg6QtsxXbmuc6i5r+M/xD7Gf5663ADuzKzW7xmghTXZTS7tJUrC2BJM2/VChGE4G0fjZmdssGwMNYKO2uFSYTt2gLjEbYIPaOzJzkl/WOy+GbElSNAC816NIX5dJQVHWJZ0z0ERNu2Vy/6Z2zgy3vAVxlyIjKNtlBL6yN1BNpbbLnRPYcN12trfDvy1+BTQmrpnZtfFDP5iD9dnuQ8LMyA+SKw0UTebFmzEvsMFZOutwZX7DDvSpsvt4NMHbcy7DrT0Hkp0tAg5PvgM/+9c2DtswXgKTppMsfmOy2CBwuCkhcokiirsYYVgwq7mdnzfWBjoa5kH5OKmiuL3RrHWuPHDeFelVB73FcSDQa1iMQzbqQJAQV6tars0Ze1vmOd9YsUKKbdEbbLU12UGTHXSwg8rcxm5NIXEmlz5tS70NeT5jqQLNFmK6Pzq/0E2nByVczw1de139ylihA6unPJbXdz0YBsgVWxzHT3AhvMN2vng4rjdHt7yj7sbOCSM9SDZl3FF+19H/3JXjLFd+8GQHy25/8Ri9nMn3adu2gnXJygrF96GVB5m8yoMk02zg+/Tu7fTaPcLU35JC/Bq1MH7zXiOPjFnBmczDSBDCBfe2WMzxSFu6OsaOU7B2F+TwFAJFyqXnty41Ktgfmhf02mMSdSZdHxjZ4D/NcpR82XkQg1Vx3OvG6YP//X/Gy2f1h6/9lOTlv8Ig5NmoPpRDL2K9EcQFqoKtoqOvQgvqJrOil6rGYMRZ/j5TUGkKKo0wu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font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>RPM Notch filters:</u></b> <i><font style="font-size: 9px">gyro_rpm_notch_harmonics, gyro_rpm_notch_q, gyro_rpm_notch_min</font></i><br /></font></div></div></div></foreignObject><text x="698" y="1025" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">RPM Notch filters: gyro_rpm_notch_harmonics, gyro_rpm_notch_q, gy...</text></switch></g><rect x="696" y="1031" width="450" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1041px; margin-left: 698px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Dynamic Notch filters:</u></b> <i><font style="font-size: 9px">dyn_notch_min_hz, dyn_notch_max_hz, dyn_notch_width_percent, dyn_notch_q</font></i><br /></font></div></div></div></foreignObject><text x="698" y="1045" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Dynamic Notch filters: dyn_notch_min_hz, dyn_notch_max_hz, dyn_notch_width_...</text></switch></g><rect x="696" y="1051" width="430" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1061px; margin-left: 698px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Static Gyro Notches 1+2:</u></b> <i><font style="font-size: 9px">gyro_notch1_hz, gyro_notch1_cutoff, gyro_notch2_hz, gyro_notch2_cutoff</font></i><br /></font></div></div></div></foreignObject><text x="698" y="1065" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Static Gyro Notches 1+2: gyro_notch1_hz, gyro_notch1_cutoff, gyro_notch...</text></switch></g><rect x="696" y="1071" width="460" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1081px; margin-left: 698px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="font-size: 9px ; line-height: 100%"><b><u>Dynamic Gyro LowPass :</u></b> <i>gyro_lowpass_type, gyro_lowpass_hz, dyn_lpf_gyro_min_hz, </i>dyn_lpf_gyro_max_hz<br /></font></div></div></div></foreignObject><text x="698" y="1085" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Dynamic Gyro LowPass : gyro_lowpass_type, gyro_lowpass_hz, dyn_lpf_gyro_min_...</text></switch></g><rect x="696" y="1091" width="280" height="20" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1101px; margin-left: 698px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Static Gyro Lowpass:</u></b><font style="font-size: 9px"> dyn_lowpass2_type, gyro_lowpass2_hz</font><br /></font></div></div></div></foreignObject><text x="698" y="1105" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Static Gyro Lowpass: dyn_lowpass2_type, gyro_l...</text></switch></g><path d="M 1164 1008 L 1164 985 L 1610 985 L 1610 1008" fill="#ff99cc" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1164 1008 L 1164 1115 L 1610 1115 L 1610 1008" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><path d="M 1164 1008 L 1610 1008" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" font-weight="bold" text-anchor="middle" font-size="12px"><text x="1386.5" y="1001">Dterm filters parameters</text></g><rect x="1174" y="1020" width="410" height="30" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1035px; margin-left: 1176px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Dynamic D lowpass:</u></b> <br /><i><font style="font-size: 9px">dterm_lowpass_type, dyn_lpf_dterm_min_hz, dyn_lpf_dterm_max_hz, dyn_lpf_dterm_curve_expo</font></i><br /></font></div></div></div></foreignObject><text x="1176" y="1039" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Dynamic D lowpass:...</text></switch></g><rect x="1174" y="1050" width="190" height="30" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1065px; margin-left: 1176px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Static  D lowpass:</u></b> <br /><i><font style="font-size: 9px">dterm_lowpass2_type, dterm_lowpass2_hz</font></i><br /></font></div></div></div></foreignObject><text x="1176" y="1069" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Static  D lowpass:...</text></switch></g><rect x="1174" y="1080" width="160" height="30" fill="none" stroke="none"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 1px; height: 1px; padding-top: 1095px; margin-left: 1176px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: nowrap;"><font style="line-height: 100%"><b style="font-size: 10px"><u>Static  D notch:</u></b> <br /><i><font style="font-size: 9px">dterm_notch_hz, dterm_notch_cutoff</font></i><br /></font></div></div></div></foreignObject><text x="1176" y="1099" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Static  D notch:...</text></switch></g><rect x="1495" y="945" width="115" height="30" fill="none" stroke="rgb(0, 0, 0)"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 83px; height: 1px; padding-top: 960px; margin-left: 1526px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><p style="line-height: 100%">Version 0.15.3</p></div></div></div></foreignObject><text x="1568" y="964" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Version 0.15.3</text></switch></g><path d="M 1510.42 952.5 L 1518.84 960 L 1510.42 967.5 Z" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10"/><rect x="125" y="519.75" width="145" height="105" fill="#e6e6e6" stroke="#00994d" stroke-width="3"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 143px; height: 1px; padding-top: 527px; margin-left: 127px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;">Gyro Filters <br /> running at gryo freq</div></div></div></foreignObject><text x="127" y="539" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Gyro Filters...</text></switch></g><rect x="275" y="520" width="295" height="105" fill="#e6e6e6" stroke="#00994d" stroke-width="3"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe flex-start; justify-content: unsafe flex-start; width: 293px; height: 1px; padding-top: 527px; margin-left: 277px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"> Gyro Filters<br />  running at PID freq</div></div></div></foreignObject><text x="277" y="539" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Gyro Filters...</text></switch></g><path d="M 1065 820 L 1065 771.24" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><path d="M 1065 765.24 L 1069 773.24 L 1065 771.24 L 1061 773.24 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><rect x="675" y="703" width="204" height="60" fill="#e6e6e6" stroke="#ff99cc" stroke-width="3"/><ellipse cx="1510" cy="705" rx="50" ry="50" fill="rgb(255, 255, 255)" stroke="#ffd966" stroke-width="4"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; 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12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><font style="font-size: 20px">PIDSum</font></div></div></div></foreignObject><text x="1382" y="439" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">PIDSum</text></switch></g><path d="M 1509.39 474.75 L 1509.39 536.76" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><path d="M 1509.39 542.76 L 1505.39 534.76 L 1509.39 536.76 L 1513.39 534.76 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><rect x="1458.78" y="395" width="101.22" height="79.75" fill="rgb(255, 255, 255)" stroke="rgb(0, 0, 0)"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" 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class="column"><p><span>rc_smoothing_auto_smoothness</span><br /></p><p>rc_smoothing_derivative_type</p><p>rc_smoothing_derivative_Hz</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="945" y="201" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">rc_smoothing_auto_smoothn...</text></switch></g><path d="M 729 270.76 L 729 262.88 Q 729 255 719 255 L 645 255 Q 635 255 635 256 L 635 257" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 729 276.76 L 726.33 268.76 L 729 270.76 L 731.67 268.76 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="1325" y="800" width="130" height="77.5" fill="#ffffff" stroke="#808080"/><path d="M 1335 800 L 1335 877.5 M 1445 800 L 1445 877.5" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 839px; margin-left: 1336px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>idle_min_rpm</p><p>idle_adjustment_speed</p><p>idle_p</p><p>idle_pid_limit</p><p>idle_max_increase</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1390" y="842" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">idle_min_rpm...</text></switch></g><path d="M 1440 620 L 1474.6 620 L 1474.64 661.41" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1474.64 667.41 L 1470.64 659.41 L 1474.64 661.41 L 1478.64 659.41 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="1340" y="600" width="100" height="40" fill="#ffffff" stroke="#808080"/><path d="M 1348 600 L 1348 640 M 1432 600 L 1432 640" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 83px; height: 1px; padding-top: 620px; margin-left: 1349px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div style="background-color: rgb(255 , 255 , 255)" class="section"><div class="layoutArea"><div class="column"><p><span style="font-family: &quot;liberationsans&quot;"><font style="font-size: 10px">motor_output_limit</font></span></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1391" y="624" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">motor_output_l...</text></switch></g><rect x="775" y="845" width="110" height="50" fill="#ffffff" stroke="#808080"/><path d="M 783 845 L 783 895 M 877 845 L 877 895" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 91px; height: 1px; padding-top: 870px; margin-left: 784px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>tpa_rate</p><p>tpa_breakpoint</p><p>tpa_mode</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="830" y="874" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">tpa_rate...</text></switch></g><path d="M 525 210 L 525 230 Q 525 240 525 249.38 L 525 258.75" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><rect x="345" y="195" width="180" height="85" fill="#ffffff" stroke="#808080"/><path d="M 359 195 L 359 280 M 511 195 L 511 280" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 150px; height: 1px; padding-top: 238px; margin-left: 360px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px;" class="layoutArea"><div style="line-height: 0.2;" class="column"><p style="">rc_smoothing_auto_smoothness</p><p style=""><span style="background-color: initial;">rc_smoothing_type</span></p><p style=""><span style="background-color: initial;">rc_smoothing_input_Hz</span></p><p style=""><span style="background-color: initial;">rc_interp_ch</span></p><p style=""><span style="background-color: initial;"><b>rc_smoothing_setpoint_cutoff</b></span></p><p style=""><span style="background-color: initial;"><b>rc_smoothing_feedforward_cutoff</b></span></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="435" y="241" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">rc_smoothing_auto_smoothn...</text></switch></g><path d="M 295 311.76 L 295 285 Q 295 275 285 275 L 215 275 Q 205 275 205 265 L 205 255" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 295 317.76 L 292.33 309.76 L 295 311.76 L 297.67 309.76 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><path d="M 317.5 311.76 L 317.5 305.88 Q 317.5 300 327.5 300 L 425 300 Q 435 300 435 290 L 435 280" 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style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 83px; height: 1px; padding-top: 890px; margin-left: 1099px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>d_min_advance<br /></p><p>d_min_gain</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1141" y="894" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">d_min_advance...</text></switch></g><path d="M 1390 753.24 L 1390 800" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1390 747.24 L 1392.67 755.24 L 1390 753.24 L 1387.33 755.24 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="994.39" y="615" width="111.22" height="30" fill="#ffffff" stroke="#808080"/><path d="M 1003.39 615 L 1003.39 645 M 1096.61 615 L 1096.61 645" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 92px; height: 1px; padding-top: 630px; margin-left: 1004px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p><span style="background-color: rgb(255, 255, 255);">iterm_limit</span></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1051" y="634" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">iterm_limit</text></switch></g><rect x="895" y="245" width="100" height="30" fill="none" stroke="#808080"/><path d="M 903 245 L 903 275 M 987 245 L 987 275" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 83px; height: 1px; padding-top: 260px; margin-left: 904px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>ff_smooth_factor</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="946" y="264" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">ff_smooth_fact...</text></switch></g><rect x="690" y="195" width="130" height="45" fill="#ffffff" stroke="#808080"/><path d="M 700 195 L 700 240 M 810 195 L 810 240" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 108px; height: 1px; padding-top: 218px; margin-left: 701px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>ff_spike_limit</p><p>ff_interpolate_sp</p><p>ff_max_rate_limit<br /></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="755" y="221" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">ff_spike_limit...</text></switch></g><rect x="115" y="195" width="140" height="60" fill="none" stroke="#808080"/><rect x="115" y="195" width="120" height="60" fill="#ffffff" stroke="#808080"/><path d="M 124 195 L 124 255 M 226 195 L 226 255" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 100px; height: 1px; padding-top: 225px; margin-left: 125px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>rc_interpolation</p><p>rc_interp</p><p>rc_interp_ch</p><p>rc_interp_int</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="175" y="229" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">rc_interpolation...</text></switch></g><rect x="560" y="242" width="75" height="30" fill="none" stroke="#808080"/><path d="M 566 242 L 566 272 M 629 242 L 629 272" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 61px; height: 1px; padding-top: 257px; margin-left: 567px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>ff_boost</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="598" y="261" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">ff_boost</text></switch></g><path d="M 273 175.24 L 273 180.12 Q 273 185 283 185 L 323 185 Q 333 185 333 180 L 333 177.5 Q 333 175 343 175 L 380 175 Q 390 175 390 185 L 390 195" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 273 167.24 L 275.67 175.24 L 270.33 175.24 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="600" y="385" width="160" height="40" fill="#ffffff" stroke="#808080"/><path d="M 612 385 L 612 425 M 748 385 L 748 425" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 133px; height: 1px; padding-top: 405px; margin-left: 614px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: left;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div class="layoutArea" style="font-size: 8px;"><div style="line-height: 50%; font-size: 10px;" class="column"><pre style=""><font face="Courier New" style="line-height: 1; font-size: 10px;"><font style="font-size: 10px;">abs_control_gain<br /></font>abs_control_limit<br /><font style="font-size: 10px;">abs_control_error_limit<br /></font><font style="font-size: 10px;">abs_<span style="white-space: pre;">control_cutoff</span></font></font></pre></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="614" y="409" fill="#808080" font-family="Helvetica" font-size="12px">abs_control_gain...</text></switch></g><path d="M 748 380 L 756 380 L 756 388.63" fill="none" stroke="#808080" stroke-miterlimit="10"/><path d="M 756 393.88 L 752.5 386.88 L 756 388.63 L 759.5 386.88 Z" fill="#808080" stroke="#808080" stroke-miterlimit="10"/><path d="M 1037 296.76 L 1037 270 Q 1037 260 1027 260 L 995 260" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1037 302.76 L 1034.33 294.76 L 1037 296.76 L 1039.67 294.76 Z" fill="#808080" stroke="#808080" 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width="115" height="72.5" fill="#ffffff" stroke="#808080"/><path d="M 1154 583.75 L 1154 656.25 M 1251 583.75 L 1251 656.25" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 95px; height: 1px; padding-top: 620px; margin-left: 1155px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>iterm_relax (3.4)</p><p>iterm_relax_type</p><p>iterm_relax_cutoff</p><p><br /></p><p><b>anti-gravity</b></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1203" y="624" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">iterm_relax (3.4...</text></switch></g><rect x="1140" y="465" width="115" height="40" fill="#ffffff" stroke="#808080"/><path d="M 1149 465 L 1149 505 M 1246 465 L 1246 505" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 95px; height: 1px; padding-top: 485px; margin-left: 1150px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div style="line-height: 50%" class="column"><p><span style="background-color: rgb(255, 255, 255);"><font style="font-size: 10px">iterm_windup (yaw) </font></span></p><p><span style="background-color: rgb(255, 255, 255);"><font style="font-size: 10px">(4.2 upd)</font></span><br /></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1198" y="489" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">iterm_windup (ya...</text></switch></g><rect x="215" y="690" width="180" height="90" fill="#ffffff" stroke="#808080"/><path d="M 229 690 L 229 780 M 381 690 L 381 780" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 150px; height: 1px; padding-top: 735px; margin-left: 230px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%;" class="column"><div style="font-family: Menlo, Monaco, &quot;Courier New&quot;, monospace; line-height: 18px;">rpm_filter_harmonics<br /><div style="line-height: 18px;">rpm_filter_q<br /><div style="line-height: 18px;">rpm_filter_min_hz<br /><div style="line-height: 18px;"><b>rpm_filter_fade_range_hz</b><br /><div style="line-height: 18px;">rpm_filter_lpf_hz</div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="305" y="739" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">rpm_filter_harmonics...</text></switch></g><rect x="1315" y="270" width="115" height="40" fill="#ffffff" stroke="#808080"/><path d="M 1324 270 L 1324 310 M 1421 270 L 1421 310" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 95px; height: 1px; padding-top: 290px; margin-left: 1325px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div style="line-height: 50%" class="column"><p><span style="font-size: 10px; background-color: rgb(255, 255, 255);">pidsum_limit</span></p><p><span style="font-size: 10px; background-color: rgb(255, 255, 255);">pidsum_limit_yaw</span><br /></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="1373" y="294" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">pidsum_limit...</text></switch></g><path d="M 1484.09 386.76 L 1484.1 300 Q 1484.1 290 1474.1 290 L 1430 290" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1484.09 392.76 L 1480.09 384.76 L 1484.09 386.76 L 1488.09 384.76 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="797" y="610" width="90" height="30" fill="#ffffff" stroke="#808080"/><path d="M 804 610 L 804 640 M 880 610 L 880 640" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 74px; height: 1px; padding-top: 625px; margin-left: 805px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p>iterm_rotation</p><p>ON/OFF</p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="842" y="629" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">iterm_rotati...</text></switch></g><path d="M 895 593.24 L 895 615 Q 895 625 891 625 L 887 625" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 895 587.24 L 899 595.24 L 895 593.24 L 891 595.24 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><path d="M 740 660 L 769.5 660 Q 779.5 660 779.5 650 L 779.5 593.24" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 779.5 587.24 L 783.5 595.24 L 779.5 593.24 L 775.5 595.24 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><rect x="610" y="670" width="110" height="20" fill="#ffffff" stroke="#808080"/><path d="M 618 670 L 618 690 M 712 670 L 712 690" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 91px; height: 1px; padding-top: 680px; margin-left: 619px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p><span style="background-color: rgb(255, 255, 255);">acc_limit</span><br /></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="665" y="684" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">acc_limit&#xa;</text></switch></g><rect x="610" y="650" width="110" height="20" fill="#ffffff" stroke="#808080"/><path d="M 618 650 L 618 670 M 712 650 L 712 670" fill="none" stroke="#808080" stroke-miterlimit="10"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 91px; height: 1px; padding-top: 660px; margin-left: 619px;"><div data-drawio-colors="color: #808080; " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(128, 128, 128); line-height: 1.2; pointer-events: none; white-space: normal; overflow-wrap: normal;"><div title="Page 1" class="page"><div class="section"><div class="layoutArea"><div class="column"><div title="Page 1" class="page"><div class="section"><div style="font-size: 10px" class="layoutArea"><div style="line-height: 50%" class="column"><p><span style="background-color: rgb(255, 255, 255);">acc_limit_yaw</span><br /></p></div></div></div></div></div></div></div></div></div></div></div></foreignObject><text x="665" y="664" fill="#808080" font-family="Helvetica" font-size="12px" text-anchor="middle">acc_limit_yaw&#xa;</text></switch></g><path d="M 1065 516.76 L 1065 495 Q 1065 485 1075 485 L 1140 485" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1065 522.76 L 1062.33 514.76 L 1065 516.76 L 1067.67 514.76 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><path d="M 1065 593.24 L 1065 599.12 Q 1065 605 1075 605 L 1115 605 Q 1125 605 1125 612.5 L 1125 616.25 Q 1125 620 1135 620 L 1145 620" fill="none" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 1065 587.24 L 1067.67 595.24 L 1065 593.24 L 1062.33 595.24 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-width="2" stroke-miterlimit="10"/><path d="M 847 296.76 L 847 227.5 Q 847 217.5 837 217.5 L 820 217.5" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="2 2"/><path d="M 847 302.76 L 844.33 294.76 L 847 296.76 L 849.67 294.76 Z" fill="#808080" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4#throttle-boost"><rect x="490" y="100" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="504.5" y="110">(3.4)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/BetaFlight-3.0.x"><rect x="510" y="230" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="524.5" y="240">(3.0.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Feed-Forward-2.0"><rect x="875" y="309" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="889.5" y="319">(4.1)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#smoothness-ff_smooth_factor"><rect x="980" y="265" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="994.5" y="275">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#boost-ff_boost"><rect x="625" y="232" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="639.5" y="242">(4.1)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#spike-limiting-ff_spike_limit"><rect x="807" y="190" width="30" height="15" rx="1.95" ry="1.95" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="821.5" y="200">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#rc-smoothing-improvements"><rect x="1020" y="170" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1034.5" y="180">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Feed-Forward-2.0#ff_interpolate_sp"><rect x="1020" y="190" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1034.5" y="200">(4.1)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#settings-to-minimise-bounceback"><rect x="1240" y="455" width="35" height="15" rx="0.6" ry="0.6" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1257" y="465">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4"><rect x="1090" y="605" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1104.5" y="615">(3.4)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4"><rect x="860" y="595" width="30" height="15" rx="1.95" ry="1.95" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="874.5" y="605">(3.4)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/PID-Tuning-Guide#tpa-throttle-pid-attenuation"><rect x="990" y="880" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1004.5" y="890">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.0-Tuning-Notes#d-only-tpa"><rect x="865" y="880" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="879.5" y="890">(4.0)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#dynamic-d-filtering-expo"><rect x="690" y="835" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="704.5" y="845">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4#absolute-control"><rect x="740" y="400" width="32" height="15" rx="1.95" ry="1.95" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="755.5" y="410">(3.4)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/PID-Tuning-Guide#absolute-control"><rect x="740" y="380" width="32" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="755.5" y="390">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/BetaFlight-3.0.x#pid-control-at-zero-throttle"><rect x="815" y="95" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="829.5" y="105">(3.0.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.0-Tuning-Notes#transient-throttle-limit"><rect x="745" y="35" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="759.5" y="45">(4.0)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4#do-i-need-to-change-airmode-settings"><rect x="745" y="55" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="759.5" y="65">(3.4)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Dynamic-Idle"><rect x="1405" y="660" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1419.5" y="670">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Dynamic-Idle#setup---enabling-dynamic-idle"><rect x="1340" y="660" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1354.5" y="670">(4.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/D_MIN"><rect x="1085" y="800" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1099.5" y="810">(4.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/d_min#what-about-the-d_min_advance-parameter"><rect x="1180" y="855" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1194.5" y="865">(4.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/d_min#what-about-the-d_min_advance-parameter"><rect x="1435" y="800" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1449.5" y="810">(4.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#improved-dynamic-notch-filter"><rect x="305" y="565" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="319.5" y="575">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#iterm-relax-works-properly-in-setpoint-mode"><rect x="1240" y="510" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-ffffff-1-cda2be-1-s-0)" stroke="#996185" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1254.5" y="520">(4.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/BetaFlight-V3.1.x#anti_gravity"><rect x="1240" y="530" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1254.5" y="540">(3.1)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.2-Tuning-Notes#dynamic-battery-sag-compensation"><rect x="1565" y="25" width="30" height="15" 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font-size="8px"><text x="1004.5" y="860">(4.x)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#RPM-crossfading" target="_blank"><rect x="510" y="190" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="524.5" y="200">(4.3)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#yaw-jump-tuning"><rect x="705" y="665" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="719.5" y="675">(3.2)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/BetaFlight-V3.1.x"><rect x="1415" y="265" width="30" height="15" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#d6b656" stroke-width="2"/><g fill="rgb(0, 0, 0)" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="1429.5" y="275">(3.1)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#RPM-crossfading" target="_blank"><rect x="375" y="685" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#808080" stroke-width="2"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" text-anchor="middle" font-size="8px"><text x="389.5" y="695">(4.3)</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/Tuning-Tips-for-Betaflight-3.4#filter-based-rc-smoothing"><rect x="220" y="215" width="30" height="15" rx="2.25" ry="2.25" fill="url(#mx-gradient-fff2cc-1-ffd966-1-s-0)" stroke="#808080" stroke-width="2"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" 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381" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10" stroke-dasharray="6 6"/><path d="M 1461 390 Q 1461 381 1470 381 Q 1479 381 1479 390" fill="none" stroke="#808080" stroke-width="2" stroke-miterlimit="10"/><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#improved-dynamic-idle"><rect x="1474" y="825" width="115" height="15" rx="2.25" ry="2.25" fill="none" stroke="none"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" font-size="8px"><text x="1483.5" y="835">Improve dynamic idle</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes"><rect x="1574" y="805" width="59.64" height="25" rx="2.25" ry="2.25" fill="#e6e6e6" stroke="#808080" stroke-dasharray="1 1"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" clip-path="url(#mx-clip-1572-803-64-29-0)" text-anchor="middle" font-size="8px"><text x="1603.32" y="815">4.3</text><text x="1603.32" y="825">Release 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clip-path="url(#mx-clip-348-423-64-29-0)" text-anchor="middle" font-size="10px"><text x="379.32" y="435">4.3</text><text x="379.32" y="447">Release notes</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#rpm-crossfading"><rect x="230" y="441" width="115" height="15" rx="2.25" ry="2.25" fill="none" stroke="none"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" font-size="10px"><text x="239.5" y="452">RPM crossfading</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#multi-dynamic-notch"><rect x="230" y="429.5" width="115" height="15" rx="2.25" ry="2.25" fill="none" stroke="none"/><g fill="#808080" font-family="Helvetica" text-decoration="underline" font-size="10px"><text x="239.5" y="440.5">Multi dynamic notch</text></g></a><a xlink:href="https://github.com/betaflight/betaflight/wiki/4.3-Tuning-Notes#dynamic-gyro-filter-expo-curve"><rect x="230" y="451.5" width="115" 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