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. 2014 Oct 10;14(10):18800–18822. doi: 10.3390/s141018800
while turn_has_occurred = 0
{
 if abs(angular_velocity) > gyr_thresh turn_has_occurred = 1;
 else
  if abs(current_angle) > angle_thresh turn_has_occurred = 1;
  end
 end
}