amended GYR sensor fusion. replaced MGM sensor fusion
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86450f9d66
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@ -42,9 +42,8 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm3ValueCalib[3] = {0, 0, 0}, mgm4ValueCalib[3] = {0, 0, 0};
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float mgm0ValueBody[3] = {0, 0, 0}, mgm1ValueBody[3] = {0, 0, 0}, mgm2ValueBody[3] = {0, 0, 0},
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mgm3ValueBody[3] = {0, 0, 0}, mgm4ValueBody[3] = {0, 0, 0};
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float sensorFusionNumerator[3] = {0, 0, 0}, sensorFusionDenominator[3] = {0, 0, 0};
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bool validUnit[5] = {false, false, false, false, false};
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uint8_t validCount = 0;
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if (mgm0valid) {
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VectorOperations<float>::subtract(mgm0Value, mgmParameters->mgm0hardIronOffset, mgm0ValueNoBias,
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3);
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@ -52,8 +51,10 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm0ValueCalib, 3, 3, 1);
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MatrixOperations<float>::multiply(mgmParameters->mgm0orientationMatrix[0], mgm0ValueCalib,
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mgm0ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[0] = true;
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for (uint8_t i = 0; i < 3; i++) {
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sensorFusionNumerator[i] += mgm0ValueBody[i] / mgmParameters->mgm02variance[i];
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sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
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}
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}
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if (mgm1valid) {
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VectorOperations<float>::subtract(mgm1Value, mgmParameters->mgm1hardIronOffset, mgm1ValueNoBias,
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@ -62,8 +63,10 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm1ValueCalib, 3, 3, 1);
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MatrixOperations<float>::multiply(mgmParameters->mgm1orientationMatrix[0], mgm1ValueCalib,
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mgm1ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[1] = true;
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for (uint8_t i = 0; i < 3; i++) {
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sensorFusionNumerator[i] += mgm1ValueBody[i] / mgmParameters->mgm13variance[i];
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sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
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}
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}
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if (mgm2valid) {
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VectorOperations<float>::subtract(mgm2Value, mgmParameters->mgm2hardIronOffset, mgm2ValueNoBias,
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@ -72,8 +75,10 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm2ValueCalib, 3, 3, 1);
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MatrixOperations<float>::multiply(mgmParameters->mgm2orientationMatrix[0], mgm2ValueCalib,
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mgm2ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[2] = true;
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for (uint8_t i = 0; i < 3; i++) {
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sensorFusionNumerator[i] += mgm2ValueBody[i] / mgmParameters->mgm02variance[i];
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sensorFusionDenominator[i] += 1 / mgmParameters->mgm02variance[i];
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}
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}
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if (mgm3valid) {
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VectorOperations<float>::subtract(mgm3Value, mgmParameters->mgm3hardIronOffset, mgm3ValueNoBias,
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@ -82,8 +87,10 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm3ValueCalib, 3, 3, 1);
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MatrixOperations<float>::multiply(mgmParameters->mgm3orientationMatrix[0], mgm3ValueCalib,
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mgm3ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[3] = true;
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for (uint8_t i = 0; i < 3; i++) {
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sensorFusionNumerator[i] += mgm3ValueBody[i] / mgmParameters->mgm13variance[i];
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sensorFusionDenominator[i] += 1 / mgmParameters->mgm13variance[i];
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}
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}
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if (mgm4valid) {
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VectorOperations<float>::subtract(mgm4Value, mgmParameters->mgm4hardIronOffset, mgm4ValueNoBias,
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@ -92,33 +99,17 @@ bool SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
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mgm4ValueCalib, 3, 3, 1);
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MatrixOperations<float>::multiply(mgmParameters->mgm4orientationMatrix[0], mgm4ValueCalib,
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mgm4ValueBody, 3, 3, 1);
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validCount += 1;
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validUnit[4] = true;
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}
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/* -------- MagFieldEst: Middle Value ------- */
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float mgmValues[3][5] = {
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{mgm0ValueBody[0], mgm1ValueBody[0], mgm2ValueBody[0], mgm3ValueBody[0], mgm4ValueBody[0]},
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{mgm0ValueBody[1], mgm1ValueBody[1], mgm2ValueBody[1], mgm3ValueBody[1], mgm4ValueBody[1]},
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{mgm0ValueBody[2], mgm1ValueBody[2], mgm2ValueBody[2], mgm3ValueBody[2], mgm4ValueBody[2]}};
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double mgmValidValues[3][validCount];
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uint8_t j = 0;
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for (uint8_t i = 0; i < validCount; i++) {
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if (validUnit[i]) {
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mgmValidValues[0][j] = mgmValues[0][i];
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mgmValidValues[1][j] = mgmValues[1][i];
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mgmValidValues[2][j] = mgmValues[2][i];
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j += 1;
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for (uint8_t i = 0; i < 3; i++) {
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sensorFusionNumerator[i] += mgm4ValueBody[i] / mgmParameters->mgm4variance[i];
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sensorFusionDenominator[i] += 1 / mgmParameters->mgm4variance[i];
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}
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}
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// Selection Sort
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double mgmValidValuesSort[3][validCount];
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MathOperations<double>::selectionSort(*mgmValidValues, *mgmValidValuesSort, 3, validCount);
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uint8_t n = ceil(validCount / 2);
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magFieldEst[0] = mgmValidValuesSort[0][n];
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magFieldEst[1] = mgmValidValuesSort[1][n];
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magFieldEst[2] = mgmValidValuesSort[2][n];
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for (uint8_t i = 0; i < 3; i++) {
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magFieldEst[i] = sensorFusionNumerator[i] / sensorFusionDenominator[i];
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}
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sif::debug << "magFeildEst: " << magFieldEst[0] << " , " << magFieldEst[1] << " , "
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<< magFieldEst[2] << std::endl;
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;
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validMagField = true;
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//-----------------------Mag Rate Computation ---------------------------------------------------
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@ -434,26 +425,31 @@ void SensorProcessing::processGyr(
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VectorOperations<double>::add(gyr1ValueBody, gyr3ValueBody, gyr13ValuesSum, 3);
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VectorOperations<double>::mulScalar(gyr13ValuesSum, .5, gyr13ValuesMean, 3);
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if (validUnit[0]) {
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satRatEst[0] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[0] +
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gyrParameters->gyrFusionWeight * gyr0ValueBody[0];
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satRatEst[1] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[1] +
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gyrParameters->gyrFusionWeight * gyr0ValueBody[1];
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satRatEst[2] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[2] +
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gyrParameters->gyrFusionWeight * gyr0ValueBody[2];
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satRatEst[0] =
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((gyr0ValueBody[0] / gyrParameters->gyr02variance[0]) +
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(gyr13ValuesMean[0] / gyrParameters->gyr13variance[0])) /
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((1 / gyrParameters->gyr02variance[0]) + (1 / gyrParameters->gyr13variance[0]));
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satRatEst[1] =
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((gyr0ValueBody[1] / gyrParameters->gyr02variance[1]) +
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(gyr13ValuesMean[1] / gyrParameters->gyr13variance[1])) /
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((1 / gyrParameters->gyr02variance[1]) + (1 / gyrParameters->gyr13variance[1]));
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satRatEst[2] =
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((gyr0ValueBody[2] / gyrParameters->gyr02variance[2]) +
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(gyr13ValuesMean[2] / gyrParameters->gyr13variance[2])) /
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((1 / gyrParameters->gyr02variance[2]) + (1 / gyrParameters->gyr13variance[2]));
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} else if (validUnit[2]) {
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satRatEst[0] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[0] +
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gyrParameters->gyrFusionWeight * gyr2ValueBody[0];
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satRatEst[1] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[1] +
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gyrParameters->gyrFusionWeight * gyr2ValueBody[1];
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satRatEst[2] = (1 - gyrParameters->gyrFusionWeight) * gyrParameters->gyrFusionWeight *
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gyr13ValuesMean[2] +
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gyrParameters->gyrFusionWeight * gyr2ValueBody[2];
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satRatEst[0] =
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((gyr2ValueBody[0] / gyrParameters->gyr02variance[0]) +
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(gyr13ValuesMean[0] / gyrParameters->gyr13variance[0])) /
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((1 / gyrParameters->gyr02variance[0]) + (1 / gyrParameters->gyr13variance[0]));
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satRatEst[1] =
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((gyr2ValueBody[1] / gyrParameters->gyr02variance[1]) +
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(gyr13ValuesMean[1] / gyrParameters->gyr13variance[1])) /
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((1 / gyrParameters->gyr02variance[1]) + (1 / gyrParameters->gyr13variance[1]));
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satRatEst[2] =
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((gyr2ValueBody[2] / gyrParameters->gyr02variance[2]) +
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(gyr13ValuesMean[2] / gyrParameters->gyr13variance[2])) /
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((1 / gyrParameters->gyr02variance[2]) + (1 / gyrParameters->gyr13variance[2]));
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} else
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satRatEst = gyr13ValuesMean;
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} else if (validUnit[1]) {
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