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In page Instrument flight rules:
"En route flight is described by IFR charts showing navigation aids, fixes, and standard routes called airways. Aircraft with appropriate navigational equipment such as GPS, are also often cleared for a direct-to routing, where only the destination, or a few navigational waypoints are used to describe the route that the flight will follow. ATC will assign altitudes in its initial clearance or amendments thereto, and navigational charts indicate minimum safe altitudes for airways.[citation needed]
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