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  1. if |measure_heading - model_heading| > 3030degrees
    1. keep model_heading
  2. else if |measure_heading - model_heading| > 20 20degrees and |measure_Dpos - model_Dpos| > 0.35 * model_Dpos // this is the uncertain case
    1. keep model_heading
  3. else
    1. keep measured_heading

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