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state.Qua = AccVariance < MagVariance ? Geometry.Quaternion.FormQuaternion(quaFirst, AccIdentity, Acc, (float)quaSecondRate) : Geometry.Quaternion.FormQuaternion(quaFirst, MagIdentity, Mag, (float)quaSecondRate);/**/
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state.Qua = AccVariance < MagVariance ? Geometry.Quaternion.FormQuaternion(quaFirst, AccIdentity, Acc, (float)quaSecondRate) : Geometry.Quaternion.FormQuaternion(quaFirst, MagIdentity, Mag, (float)quaSecondRate);/**/
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