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maybe resetting reinit_prediction would help?
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@ -406,8 +406,10 @@ inline static void predict_linear(void) {
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static float A_time, B_time;
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static float time = 0.;
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if (reinit_prediction)
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if (reinit_prediction) {
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state = 0;
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reinit_prediction = false;
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}
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switch (state) {
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case 0:
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if (new_telemetry) {
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