diff --git a/.gitignore b/.gitignore
index f6e1085a7abc7796ad1bb7a5eb3e4162b6e1260f..de5ccdf9c5397fda4af578af787b4b31fa9605ea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -22,5 +22,6 @@ data/Gemini_Roccaraso_september_2023/HIL_CPP_files_ADA/**
 **/*.mat
 **/*.fig
 **/*.avi
+**/*.csv
 data/msa-toolkit/*
 CdIdentification/estimatedCoefficients*
\ No newline at end of file
diff --git a/CdIdentification/mainCdIdentfication.m b/CdIdentification/mainCdIdentfication.m
index 878126b59f01300ec21b5162cf0892e7e609faed..39fbc7a20c988e29d97a12e0a164bfa4823ab24b 100644
--- a/CdIdentification/mainCdIdentfication.m
+++ b/CdIdentification/mainCdIdentfication.m
@@ -59,7 +59,7 @@ else
     flagOverwrite  =false;
 end
 
-saveFileName  = "flightData\"+settings.mission+"estimatedCorrectionFactor";
+saveFileName  = "flightData\"+mission.name+"estimatedCorrectionFactor";
 
 %% generate guess
 x0(1)     =  1;   % multiplicative factor for drag coefficient in the 
@@ -79,12 +79,12 @@ R = eye(6);
 R_m = inv(R);
 %% extract data from simulation
 
-% fileNAS = "flightData\"+settings.mission+"\Boardcore_NASState";
-% fileOutputABK = "flightData\"+settings.mission+"\Boardcore_ServoData";
-fileNAS = "flightData\"+settings.mission+"\NASData_corrected";
-fileOutputABK = "flightData\"+settings.mission+"\ABKData_corrected";
+% fileNAS = "flightData\"+mission.name+"\Boardcore_NASState";
+% fileOutputABK = "flightData\"+mission.name+"\Boardcore_ServoData";
+fileNAS = "flightData\"+mission.name+"\NASData_corrected";
+fileOutputABK = "flightData\"+mission.name+"\ABKData_corrected";
 
-switch settings.mission
+switch mission.name
     case 'Pyxis_Portugal_October_2022'
         t_start =3338; 
         t_end = 3350;
@@ -92,9 +92,9 @@ switch settings.mission
           error('We do not have the logs of the air brakes unfortunately for this flight.\n')
     
     case 'Gemini_Roccaraso_September_2023'
-        % t_start = 8536 + settings.tb; 
+        % t_start = 8536 + rocket.motor.time(end); 
         % t_end = 8553; 
-        t_start = 1 + settings.tb; 
+        t_start = 1 + rocket.motor.time(end); 
         t_end = 18; 
 end
 
@@ -155,7 +155,7 @@ for i = 1: length(t_m)
     end
 end
 ABK_value = ABK_value*settings.servo.maxAngle;
-time_offset = t_m(1)-settings.motor.expTime(end);
+time_offset = t_m(1)-rocket.motor.time(end);
 ABK_time = ABK_time-time_offset;
 t_m = t_m-time_offset;
 ABK_perc = [ABK_time,ABK_value];
diff --git a/common b/common
index f5b141b277caeb6d39e62dc8122b398e2eeff3f9..4ddde9cc3a41cb5eabcae6dc75dea3b3ac21bcc7 160000
--- a/common
+++ b/common
@@ -1 +1 @@
-Subproject commit f5b141b277caeb6d39e62dc8122b398e2eeff3f9
+Subproject commit 4ddde9cc3a41cb5eabcae6dc75dea3b3ac21bcc7
diff --git a/commonFunctions/control/control_PID.m b/commonFunctions/control/control_PID.m
index fd77bec312fb95114e625ada422c0bcf4c0c9716..718b9f8dda94e4ee044a3a37e24748f90e2d7cf3 100644
--- a/commonFunctions/control/control_PID.m
+++ b/commonFunctions/control/control_PID.m
@@ -31,7 +31,7 @@ time = nas_state.time;
 z = nas_state.z;
 Vz = nas_state.vz;
 
-[z_setpoint, Vz_setpoint, csett] = set_Trajectory(time,z-settings.z0, Vz, csett);
+[z_setpoint, Vz_setpoint, csett] = set_Trajectory(time,z-environment.z0, Vz, csett);
 % [z_setpoint, Vz_setpoint, csett] = set_Trajectory(time,z, Vz, csett);
 
 %% PI ALGORITHM 
@@ -56,7 +56,7 @@ extMin = 0;
 %%%%%%%
 
 Cd_min = getDrag(V_mod,z,extMin, csett.coeff_Cd);
-Cd_max = getDrag(V_mod,z,extMax, csett.coeff_Cd); % coefficients for getDrag are set in configSimulator -> settings.mission
+Cd_max = getDrag(V_mod,z,extMax, csett.coeff_Cd); % coefficients for getDrag are set in configSimulator -> mission.name
 
 Umin = 0.5*ro*Cd_min*csett.S0*Vz*V_mod;     % min force
 Umax = 0.5*ro*Cd_max*csett.S0*Vz*V_mod;     % max force
@@ -93,7 +93,7 @@ N_points = size(csett.reference.Vz,2);
 
 
 
-switch settings.mission
+switch mission.name
     case 'Lynx_Roccaraso_September_2021'
         alpha_available = linspace(0,0.89,N_points);
         ext_available = zeros(1,N_points);
@@ -143,7 +143,7 @@ delta_S = delta_S_available(index_minimum);
 
 %% TRANSFORMATION FROM delta_S to SERVOMOTOR ANGLE DEGREES 
 
-switch settings.mission
+switch mission.name
     case 'Lynx_Roccaraso_September_2021'
         alpha_rad      = (-csett.b + sqrt(csett.b^2 + 4*csett.a*delta_S)) / (2*csett.a);
     case 'Lynx_Portugal_October_2021'
diff --git a/commonFunctions/control/control_Servo.m b/commonFunctions/control/control_Servo.m
index ad6f3f52408cd070ae0448b71f9b22b1e3b6e448..9a10cdf64f0686cb7b1205faa166a8ffdb3b35a9 100644
--- a/commonFunctions/control/control_Servo.m
+++ b/commonFunctions/control/control_Servo.m
@@ -33,7 +33,7 @@ CONTROL_ALGORITHM_SERVO_DEGREE  Finds trejectory (z-Vz) to follow and uses a PI
 % Control variable limits
 
   
-switch settings.mission
+switch mission.name
     case 'Pyxis_Portugal_October_2022'
         alphaMax= 68; % degrees
     case 'Pyxis_Roccaraso_September_2022'
diff --git a/commonFunctions/kalman/run_ADA.m b/commonFunctions/kalman/run_ADA.m
index deed7647ba5b644337f684d30f3a2fff62f30e37..86c6a974708f88d4394581e52d93b59a474c477c 100644
--- a/commonFunctions/kalman/run_ADA.m
+++ b/commonFunctions/kalman/run_ADA.m
@@ -122,7 +122,7 @@ if length(t_ada)>1
         
         if strcmp(settings.scenario, 'descent') || ada.flag_apo
             if ada.flagOpenPara == false
-                if xv(ii,1) < settings.para(1).z_cut
+                if xv(ii,1) < settings.ada.para.z_cut
                     ada.paraCounter = ada.paraCounter+1;
                 else
                     ada.paraCounter = 0;
diff --git a/commonFunctions/kalman/run_MEA.m b/commonFunctions/kalman/run_MEA.m
index 0d63e89bf10ca79f5238c5193b748df2dccc4aae..27a95d46cd310178f9b6d9b3a50aa405241c3f44 100644
--- a/commonFunctions/kalman/run_MEA.m
+++ b/commonFunctions/kalman/run_MEA.m
@@ -1,4 +1,4 @@
-function [sensorData,sensorTot] = run_MEA(sensorData,sensorTot,settings,contSettings,u,T1)
+function [sensorData,sensorTot] = run_MEA(sensorData,sensorTot,settings,contSettings,u,T1,engineT0,environment,rocket, mission)
 
 
 % mass estimation
@@ -50,7 +50,7 @@ for ii = 2:length(t_mea)
         end
     end
     %accelerometer correction (not for 2023)
-    if ~contains(settings.mission, '2023')
+    if ~contains(mission.name, '2023')
         K_t = settings.mea.K_t;
         alpha = settings.mea.alpha;
         c = settings.mea.c;
@@ -66,10 +66,10 @@ for ii = 2:length(t_mea)
             cd = 1*getDrag(vnorm_nas(ii), -z_nas(ii), 0, contSettings.coeff_Cd); %add correction shut_down??
             [~,~,P_e, rho] = atmosisa(-z_nas(ii));
             q = 0.5*rho*vnorm_nas(ii)^2; %dynamic pressure
-            F_a = q*settings.S*cd;       %aerodynamic force
+            F_a = q*rocket.crossSection*cd;       %aerodynamic force
 
             if  -z_nas(ii,1)> 800
-                F_s = (P_0-P_e)*settings.motor.Ae ;
+                F_s = (P_0-P_e)*rocket.motor.ae;
             else
                 F_s = 0;
             end
@@ -110,14 +110,14 @@ for ii = 2:length(t_mea)
     if propagation_steps >=1
         [z_pred, vz_pred] = PropagateState(-z_nas(ii),-vz_nas(ii), ...
             K_t .* sensorTot.comb_chamber.measures(index_chambPress), ...
-            settings.S, CD, rho,x(ii, 3), 0.02, propagation_steps);
+            rocket.crossSection, CD, rho,x(ii, 3), 0.02, propagation_steps);
     else
         z_pred = -z_nas(ii);
         vz_pred = -vz_nas(ii);
     end
 
-    predicted_apogee(ii) = z_pred-settings.z0 + 1./(2.*( 0.5.*rho .* CD * settings.S ./ mass))...
-        .* log(1 + (vz_pred.^2 .* (0.5 .* rho .* CD .* settings.S) ./ mass) ./ 9.81 );
+    predicted_apogee(ii) = z_pred-environment.z0 + 1./(2.*( 0.5.*rho .* CD * rocket.crossSection ./ mass))...
+        .* log(1 + (vz_pred.^2 .* (0.5 .* rho .* CD .* rocket.crossSection) ./ mass) ./ 9.81 );
 
     % retrieve NAS data
     index_NAS = sum(t_mea(ii) >= t_nas);
diff --git a/commonFunctions/kalman/run_NAS.m b/commonFunctions/kalman/run_NAS.m
index e8ce47ab03ef5e16a13adf3e9c9f9b11ede60d3f..7c978cebde5486486010022f747a9e635723991b 100644
--- a/commonFunctions/kalman/run_NAS.m
+++ b/commonFunctions/kalman/run_NAS.m
@@ -1,4 +1,4 @@
-function [sensorData,sensorTot,nas] = run_NAS(Tf, mag_NED,sensorData,sensorTot,settings)
+function [sensorData,sensorTot,nas] = run_NAS(Tf, mag_NED,sensorData,sensorTot,settings, environment)
 
 % Author: Alejandro Montero
 % Co-Author: Alessandro Del Duca
@@ -161,7 +161,7 @@ if length(t_nas) > 1
                 [x_lin(ii,:),P_lin(:,:,ii),~]     = correctionGPS(x_lin(ii,:),...
                     P_lin(:,:,ii),sensorTot.gps.position_measures(index_GPS,1:2),...
                     sensorTot.gps.velocity_measures(index_GPS,1:2),nas.sigma_GPS,...
-                    fix, settings.lat0, settings.lon0,nas.GPS.a,nas.GPS.b);
+                    fix, environment.lat0, environment.lon0,nas.GPS.a,nas.GPS.b);
             end
             sensorTot.gps.lastindex = index_GPS;
         end
@@ -170,7 +170,7 @@ if length(t_nas) > 1
         % barometer
 
         index_bar   =  sum(t_nas(ii) >= t_barotemp);
-        [x_lin(ii,:),P_lin(:,:,ii),~]     = correctionBarometer(x_lin(ii,:),P_lin(:,:,ii),sensorTot.barometer.pressure_measures(index_bar),nas.sigma_baro,nas.baro,settings.z0);
+        [x_lin(ii,:),P_lin(:,:,ii),~]     = correctionBarometer(x_lin(ii,:),P_lin(:,:,ii),sensorTot.barometer.pressure_measures(index_bar),nas.sigma_baro,nas.baro,environment.z0);
 
         % magnetometer
         [xq(ii,:),P_q(:,:,ii),~,~]        = correctorQuat(xq(ii,:),P_q(:,:,ii),sensorTot.imu.magnetometer_measures(index_imu,:),nas.sigma_mag,mag_NED);
@@ -185,7 +185,7 @@ if length(t_nas) > 1
                     timestampPitotCorrection = t_nas;
                     % [x_lin(ii,:),P_lin(4:6,4:6,ii),~] = correctionPitot_pressures(x_lin(ii,:),P_lin(4:6,4:6,ii),sensorTot.pitot.total_pressure(index_pit,:),sensorTot.pitot.static_pressure(index_pit,:),nas.sigma_pitot,xq(ii,1:4),nas.Mach_max);
                     % [x_lin(ii,:),P_lin(4:6,4:6,ii),~] = correctionPitot_airspeed(x_lin(ii,:),P_lin(4:6,4:6,ii),sensorTot.pitot.airspeed(index_pit,:),nas.sigma_pitot2,settings.OMEGA);
-                    [x_lin(ii,:),P_lin(:,:,ii),~] = correctionPitot_pressureRatio(x_lin(ii,:), P_lin(1:6,1:6),sensorTot.pitot.dynamic_pressure(index_pit,:),sensorTot.pitot.static_pressure(index_pit,:),nas.sigma_pitot2,settings.OMEGA);
+                    [x_lin(ii,:),P_lin(:,:,ii),~] = correctionPitot_pressureRatio(x_lin(ii,:), P_lin(1:6,1:6),sensorTot.pitot.dynamic_pressure(index_pit,:),sensorTot.pitot.static_pressure(index_pit,:),nas.sigma_pitot2,environment.omega);
                 end
             end
             sensorTot.pitot.lastindex = index_pit;
@@ -197,7 +197,7 @@ if length(t_nas) > 1
         P_c(7:12,7:12,ii) = P_q(:,:,ii);
 
         if nas.flag_apo  == false
-            if -x(ii,6) < nas.v_thr && -x(ii,3) > 100 + settings.z0
+            if -x(ii,6) < nas.v_thr && -x(ii,3) > 100 + environment.z0
                 nas.counter = nas.counter + 1;
             else
                 nas.counter = 0;
@@ -214,7 +214,7 @@ if length(t_nas) > 1
     sensorData.nas.P = P_c;
     sensorData.nas.time = t_nas;
     sensorData.nas.timestampPitotCorrection = timestampPitotCorrection;
-    if abs(sensorData.nas.states(1,3)) >nas.stopPitotAltitude+ settings.z0
+    if abs(sensorData.nas.states(1,3)) >nas.stopPitotAltitude+ environment.z0
         nas.flagStopPitotCorrection = true;
     end
     sensorTot.nas.states(sensorTot.nas.n_old:sensorTot.nas.n_old + size(sensorData.nas.states(:,1),1)-2,:)  = sensorData.nas.states(2:end,:); % NAS output
diff --git a/commonFunctions/kalman/run_WES.m b/commonFunctions/kalman/run_WES.m
index ff87c0fc291869996ac1679a69a4a88dabdd7a3c..aca118c0677c2e0e0519a60651e39ca90df391c3 100644
--- a/commonFunctions/kalman/run_WES.m
+++ b/commonFunctions/kalman/run_WES.m
@@ -2,30 +2,30 @@ function [WES] = run_WES(vel_est,WES)
 
 %% WES acquisition
 
-if WES.N < WES.N_cal
-
-    % here there was a if t> N*period, which I think is useless because now
-    % it goes at a discrete frequency set outside of the function
-    WES.N = WES.N + 1;
-
-    WES.A(WES.N,:) = vel_est;
-    WES.b(WES.N,1) = norm(vel_est)^2;
-
-    % update mean
-    WES.V_mean = (WES.V_mean.*(WES.N-1)+vel_est)./WES.N;
-    WES.V2_mean = (WES.V2_mean.*(WES.N-1)+norm(vel_est)^2)./WES.N;
-    
-
-    %% calibration 
-    if WES.N == WES.N_cal
-        WES.A = WES.A - mean(WES.A,1);
-        WES.b = 0.5*(WES.b - mean(WES.b));
-        WES.wind_est = (WES.A'*WES.A)\(WES.A'*WES.b);
-%         WES.V_h_i = norm(vel_est-WES.wind_est);
-    end
-
-else
-    if WES.state == 1                                               % Guidance NOT running, only calibrations
+% if WES.N < WES.N_cal
+% 
+%     % here there was a if t> N*period, which I think is useless because now
+%     % it goes at a discrete frequency set outside of the function
+%     WES.N = WES.N + 1;
+% 
+%     WES.A(WES.N,:) = vel_est;
+%     WES.b(WES.N,1) = norm(vel_est)^2;
+% 
+%     % update mean
+%     WES.V_mean = (WES.V_mean.*(WES.N-1)+vel_est)./WES.N;
+%     WES.V2_mean = (WES.V2_mean.*(WES.N-1)+norm(vel_est)^2)./WES.N;
+% 
+% 
+%     %% calibration 
+%     if WES.N == WES.N_cal
+%         WES.A = WES.A - mean(WES.A,1);
+%         WES.b = 0.5*(WES.b - mean(WES.b));
+%         WES.wind_est = (WES.A'*WES.A)\(WES.A'*WES.b);
+% %         WES.V_h_i = norm(vel_est-WES.wind_est);
+%     end
+% 
+% else
+%     if WES.state == 1                                               % Guidance NOT running, only calibrations
         % ------ Recursive Least Squares ------ 
         % New number of samples
         WES.N = WES.N + 1;
@@ -37,17 +37,17 @@ else
         % RLS
         phi = vel_est-WES.V_mean;
         y = 0.5*(norm(vel_est)^2 - WES.V2_mean);
-        Ep = y - phi*WES.wind_est;
+        Ep = y - phi*WES.wind_est';
         beta = WES.fFactor + phi*WES.Funv*phi';
         WES.Funv = (1/WES.fFactor)*(WES.Funv - (1/beta)*WES.Funv*(phi'*phi)*WES.Funv); % check consistency of the    ./     in     1./ beta
         K = WES.Funv*phi';
         WES.Funv = 0.5*(WES.Funv + WES.Funv');
-        WES.wind_est = WES.wind_est + K*Ep;
+        WES.wind_est = WES.wind_est + K'*Ep;
 %         WES.V_h_i = norm(WES.V_mean-wind_est);
                       % update and save for next iteration
 %     else
 %         WES = WES;
-     end
+     % end
         
 
 end
diff --git a/commonFunctions/miscellaneous/extension_From_Angle.m b/commonFunctions/miscellaneous/extension_From_Angle.m
index a359c0f13b3022335208d94686e73e2e8c4f6ae3..1532b36c3739962f11ee661d891d91e0805ade4b 100644
--- a/commonFunctions/miscellaneous/extension_From_Angle.m
+++ b/commonFunctions/miscellaneous/extension_From_Angle.m
@@ -1,4 +1,4 @@
-function [x,varargout] = extension_From_Angle(alpha, settings)
+function [x,varargout] = extension_From_Angle(alpha, settings, mission)
 % HELP
 % alpha must be already in radiants
 %
@@ -6,14 +6,14 @@ function [x,varargout] = extension_From_Angle(alpha, settings)
 % alpha: servo angle reference
 % settings: a struct containing everything basically
 
-switch settings.mission
+switch mission.name
     
-    case 'Lyra_Roccaraso_September_2024'
+    case '2024_Lyra_Roccaraso_September'
         x = settings.arb.extPol(1)*alpha.^4 + settings.arb.extPol(2)*alpha.^3+settings.arb.extPol(3)*alpha.^2 + settings.arb.extPol(4).*alpha;
         deltaS = alpha * settings.arb.surfPol;
         varargout{1} = deltaS;
 
-    case 'Lyra_Portugal_October_2024' % to be modified when updated data are available
+    case '2024_Lyra_Portugal_October' % to be modified when updated data are available
         
         x = settings.arb.extPol(1)*alpha.^4 + settings.arb.extPol(2)*alpha.^3+settings.arb.extPol(3)*alpha.^2 + settings.arb.extPol(4).*alpha;
         deltaS = alpha * settings.arb.surfPol;
diff --git a/commonFunctions/miscellaneous/generateSensorMeasurements.m b/commonFunctions/miscellaneous/generateSensorMeasurements.m
index 0f71d191920d564353ff0204ca6071fb071f67b5..5caaebe00bee0f76dfcd04ea5ef864d1cc14a9ca 100644
--- a/commonFunctions/miscellaneous/generateSensorMeasurements.m
+++ b/commonFunctions/miscellaneous/generateSensorMeasurements.m
@@ -1,4 +1,6 @@
-function [sensorData] = generateSensorMeasurements(magneticFieldApprox, Y, Tf, wind, sensorData,sensorTot, settings, engineT0, currentState, availableStates)
+function [sensorData] = generateSensorMeasurements(magneticFieldApprox, Y, Tf,...
+    wind, sensorData,sensorTot, settings, engineT0, currentState, availableStates,...
+    environment, mission, rocket)
 
 %{
  
@@ -52,7 +54,7 @@ sensorData.magnetometer.time = (sensorTot.imu.time(end):1/freq.magnetometerFrequ
 sensorData.magnetometer.measures = zeros(size(sensorData.magnetometer.time,1),3)*100;
 sensorData.magnetometer.measures(1,:) = sensorTot.imu.magnetometer_measures(end,:)*100;
 if length(sensorData.magnetometer.time)>1
-    z = -interp1(Tf,Y(:,3),sensorData.magnetometer.time(2:end)) + settings.z0;
+    z = -interp1(Tf,Y(:,3),sensorData.magnetometer.time(2:end)) + environment.z0;
     Q = interp1(Tf,Y(:,10:13),sensorData.magnetometer.time(2:end));
     magnFieldInertial = magneticFieldApprox(z);
     sensorData.magnetometer.measures(2:end,:) = quatrotate(Q, magnFieldInertial);
@@ -72,7 +74,7 @@ sensorData.gps.velocityMeasures(1,:) = sensorTot.gps.velocity_measures(end,:);
 if length(sensorData.gps.time)>1
     TfGPS =  round(Tf*1e4)/1e4;                                             % as the GPS is usually very slow, this helps to stabilize truncation error
     sensorData.gps.positionMeasures(2:end, :) = ...
-        interp1(TfGPS,[Y(:,1:2),-Y(:,3)+settings.z0],sensorData.gps.time(2:end));
+        interp1(TfGPS,[Y(:,1:2),-Y(:,3)+environment.z0],sensorData.gps.time(2:end));
     vel = interp1(TfGPS,Y(:,4:6),sensorData.gps.time(2:end));
     quat = interp1(TfGPS,Y(:,10:13),sensorData.gps.time(2:end));
     sensorData.gps.velocityMeasures(2:end, :) = quatrotate(quatconj(quat),vel);
@@ -90,9 +92,9 @@ for i_baro = 1:length(sensorData.barometer_sens)
     sensorData.barometer_sens{i_baro}.measures = zeros(size(sensorData.barometer_sens{i_baro}.time,1),1);
     sensorData.barometer_sens{i_baro}.z = zeros(size(sensorData.barometer_sens{i_baro}.time,1),1); % this initialization is needed in acquisition_system, do not delete it unless you know what you are doing. Needed in order to have arrays of the same size. Otherwise, if the new array is shorter (e.g. 2 instead of 3 elements) the last element is brought in the next sensorTot saving step and breaks the simulation
     sensorData.barometer_sens{i_baro}.measures(1) = sensorTot.barometer_sens{i_baro}.pressure_measures(end);
-    [sensorData.barometer_sens{i_baro}.temperature,~,~,~] = atmosisa(-interp1(Tf,Y(:,3),sensorData.barometer_sens{i_baro}.time) + settings.z0);
+    [sensorData.barometer_sens{i_baro}.temperature,~,~,~] = atmosisa(-interp1(Tf,Y(:,3),sensorData.barometer_sens{i_baro}.time) + environment.z0);
     if length(sensorData.barometer_sens{i_baro}.time)>1
-        z = -interp1(Tf,Y(:,3),sensorData.barometer_sens{i_baro}.time(2:end)) + settings.z0;
+        z = -interp1(Tf,Y(:,3),sensorData.barometer_sens{i_baro}.time(2:end)) + environment.z0;
         [~, ~, P, ~] = atmosisa(z);
         sensorData.barometer_sens{i_baro}.measures(2:end) = P;
     end
@@ -119,7 +121,7 @@ if isfield(freq, 'pitotFrequency')
     sensorData.pitot.temperature(1) = sensorTot.pitot.temperature(end);
     if length(sensorData.pitot.time)>1
         TfPitot =  round(Tf*1e4)/1e4;  
-        z = -interp1(TfPitot,Y(:,3),sensorData.pitot.time(2:end)) + settings.z0;
+        z = -interp1(TfPitot,Y(:,3),sensorData.pitot.time(2:end)) + environment.z0;
         v = interp1(TfPitot,Y(:,4),sensorData.pitot.time(2:end));
         Q = interp1(TfPitot,Y(:,10:13),sensorData.pitot.time(2:end));
         wind_body = quatrotate(Q,wind);
@@ -137,12 +139,12 @@ if isfield(freq, 'pitotFrequency')
 end
 
 %% chamber pressure sensor
-if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) && currentState ~= availableStates.on_ground
+if (contains(mission.name,'2023') || contains(mission.name,'2024')) && currentState ~= availableStates.on_ground
     sensorData.chamberPressure.time = (sensorTot.comb_chamber.time(end):1/freq.chamberPressureFrequency:Tf(end))';
     sensorData.chamberPressure.measures = zeros(size(sensorData.chamberPressure.time,1),1);
     sensorData.chamberPressure.measures(1) = sensorTot.comb_chamber.measures(end);
     if length(sensorData.chamberPressure.time) >1
-        sensorData.chamberPressure.measures(2:end)= interp1(settings.motor.expTime, settings.motor.expThrust,sensorData.chamberPressure.time(2:end)-engineT0)/settings.motor.K;
+        sensorData.chamberPressure.measures(2:end)= interp1(rocket.motor.time, rocket.motor.thrust,sensorData.chamberPressure.time(2:end)-engineT0)/settings.motor.K;
     end
 else 
     sensorData.chamberPressure.time = (sensorTot.comb_chamber.time(end):1/freq.chamberPressureFrequency:Tf(end))';
diff --git a/commonFunctions/miscellaneous/manageSignalFrequencies.m b/commonFunctions/miscellaneous/manageSignalFrequencies.m
index 408425ce1977df0f61499ab20d0a98794f4e5a95..884fd316f32e3a9e2bce5a49f3d8b0da8e7715ae 100644
--- a/commonFunctions/miscellaneous/manageSignalFrequencies.m
+++ b/commonFunctions/miscellaneous/manageSignalFrequencies.m
@@ -213,13 +213,13 @@ if freq.magnetometerFrequency > freq.controlFrequency
             Q(i, :) = Y(iTimeMagnetometer == T, 10:13);
         end
     end
-    magnFieldInertial = magneticFieldApprox(z + settings.z0)';
+    magnFieldInertial = magneticFieldApprox(z + environment.z0)';
     sensorData.magnetometer.measures = quatrotate(Q, magnFieldInertial);
 
 elseif freq.magnetometerFrequency == freq.controlFrequency
     z = -Y(end, 3);
     Q = Y(end, 10:13);
-    magnFieldInertial = magneticFieldApprox(z + settings.z0)';
+    magnFieldInertial = magneticFieldApprox(z + environment.z0)';
     sensorData.magnetometer.measures = quatrotate(Q, magnFieldInertial);
     sensorData.magnetometer.time = T(end);
 
@@ -236,14 +236,14 @@ else
             Yinterp = m  *(iTimeMagnetometer-T0)+Y0;
             z = - Yinterp(1);
             Q = Yinterp(2:end);
-            magnFieldInertial = magneticFieldApprox(z + settings.z0)';
+            magnFieldInertial = magneticFieldApprox(z + environment.z0)';
             sensorData.magnetometer.measures = quatrotate(Q, magnFieldInertial);
             sensorData.magnetometer.t0 = iTimeMagnetometer;
         elseif  abs(T(i) - sensorData.magnetometer.t0 - 1/freq.magnetometerFrequency) <1e-6 % for stability purposes this is not an ==
             iTimeMagnetometer = sensorData.magnetometer.t0 + 1/freq.magnetometerFrequency;
             z = - Y(i, 3);
             Q = Y(i, 10:13);
-            magnFieldInertial = magneticFieldApprox(z + settings.z0)';
+            magnFieldInertial = magneticFieldApprox(z + environment.z0)';
             sensorData.magnetometer.measures = quatrotate(Q, magnFieldInertial);
             sensorData.magnetometer.t0 = iTimeMagnetometer;
         end
@@ -408,7 +408,7 @@ for i_baro = 1:length(sensorData.barometer_sens)
                 z(i) = -Y(abs(iTimeBarometer - T)<1e-6, 3);
             end
             sensorData.barometer_sens{i_baro}.z(i) = z(i);
-            [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z(i)+settings.z0);
+            [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z(i)+environment.z0);
             sensorData.barometer_sens{i_baro}.measures(i) = P;
             sensorData.barometer_sens{i_baro}.temperature(i) = Temp;
 
@@ -419,7 +419,7 @@ for i_baro = 1:length(sensorData.barometer_sens)
         z = -Y(end, 3);
         sensorData.barometer_sens{i_baro}.z = z;
         sensorData.barometer_sens{i_baro}.t0 = T(end);
-        [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+settings.z0);
+        [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+environment.z0);
         sensorData.barometer_sens{i_baro}.measures = P;
         sensorData.barometer_sens{i_baro}.temperature = Temp;
 
@@ -437,7 +437,7 @@ for i_baro = 1:length(sensorData.barometer_sens)
                 sensorData.barometer_sens{i_baro}.z = z;
                 sensorData.barometer_sens{i_baro}.t0 = iTimeBarometer;
                 sensorData.barometer_sens{i_baro}.time = iTimeBarometer;
-                [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+settings.z0);
+                [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+environment.z0);
                 sensorData.barometer_sens{i_baro}.measures = P;
                 sensorData.barometer_sens{i_baro}.temperature = Temp;
 
@@ -447,7 +447,7 @@ for i_baro = 1:length(sensorData.barometer_sens)
                 sensorData.barometer_sens{i_baro}.t0 = iTimeBarometer;
                 sensorData.barometer_sens{i_baro}.time = iTimeBarometer;
                 sensorData.barometer_sens{i_baro}.z = z;
-                [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+settings.z0);
+                [Temp, ~, P, ~] = atmosisa(sensorData.barometer_sens{i_baro}.z+environment.z0);
                 sensorData.barometer_sens{i_baro}.measures = P;
                 sensorData.barometer_sens{i_baro}.temperature = Temp;
             end
@@ -495,7 +495,7 @@ if isfield(freq, 'pitotFrequency')
                 Y0 = Y(index0, 10:13);
                 m = (Y1 - Y0)./(T1 - T0);
                 Q(i,:) = m * (iTimePitot-T0)+Y0;
-                [Temp, a, P, ~] = atmosisa(z_pit(i) + settings.z0);
+                [Temp, a, P, ~] = atmosisa(z_pit(i) + environment.z0);
                 wind_ned = [uw, vw, ww];
                 wind_body = quatrotate(Q(i,:),wind_ned);
                 v = (vx(i) + wind_body(1))';
@@ -506,7 +506,7 @@ if isfield(freq, 'pitotFrequency')
                 vx(i) = Y(abs(iTimePitot - T)<1e-6, 4);
                 z_pit(i) = -Y(abs(iTimePitot - T)<1e-6, 3);
                 Q(i,:) = [Y(abs(iTimePitot - T)<1e-6, 10:13)];
-                [Temp, a, P, ~] = atmosisa(z_pit(i) + settings.z0);
+                [Temp, a, P, ~] = atmosisa(z_pit(i) + environment.z0);
                 wind_ned = [uw, vw, ww];
                 wind_body = quatrotate(Q(i,:),wind_ned);
                 v = (vx(i) + wind_body(1))';
@@ -522,7 +522,7 @@ if isfield(freq, 'pitotFrequency')
         vx = Y(end, 4);
         z_pit  = -Y(end, 3);
         Q = Y(end, 10:13);
-        [Temp, a, P, ~] = atmosisa(z_pit + settings.z0);
+        [Temp, a, P, ~] = atmosisa(z_pit + environment.z0);
         wind_ned = [uw, vw, ww];
         wind_body = quatrotate(Q,wind_ned);
         v = (vx + wind_body(1))';
@@ -552,7 +552,7 @@ if isfield(freq, 'pitotFrequency')
                 m = (Y1 - Y0)./(T1 - T0);
                 Q = m * (iTimePitot-T0)+Y0;
                 sensorData.pitot.t0 = iTimePitot;                
-                [Temp, a, P, ~] = atmosisa(z_pit + settings.z0);
+                [Temp, a, P, ~] = atmosisa(z_pit + environment.z0);
                 wind_ned = [uw, vw, ww];
                 wind_body = quatrotate(Q,wind_ned);
                 v = (vx + wind_body(1))';
@@ -566,7 +566,7 @@ if isfield(freq, 'pitotFrequency')
                 sensorData.pitot.t0 = iTimePitot;
                 vx = Y(i, 4);
                 Q = Y(i,10:13);
-                [Temp, a, P, ~] = atmosisa(z_pit + settings.z0);
+                [Temp, a, P, ~] = atmosisa(z_pit + environment.z0);
                 wind_ned = [uw, vw, ww];
                 wind_body = quatrotate(Q,wind_ned);
                 v = (vx + wind_body(1))';
@@ -583,7 +583,7 @@ if isfield(freq, 'pitotFrequency')
 end
 
 %% chamber pressure sensor
-if contains(settings.mission,'_2023')
+if contains(mission.name,'_2023')
     if freq.chamberPressureFrequency > freq.controlFrequency
         dt = 1/freq.chamberPressureFrequency;
         sensorData.chamberPressure.time = sensorData.chamberPressure.t0+dt:dt:T(end);
@@ -592,27 +592,27 @@ if contains(settings.mission,'_2023')
 
         for i = 1:N
             iTimechamberPressure = sensorData.chamberPressure.time(i);
-            Thrust(i) = interp1(settings.motor.expTime, settings.motor.expThrust,iTimechamberPressure );
+            Thrust(i) = interp1(rocket.motor.time, rocket.motor.thrust,iTimechamberPressure );
         end
 
         sensorData.chamberPressure.measures = Thrust/settings.motor.K;
 
     elseif freq.chamberPressureFrequency == freq.controlFrequency
         sensorData.chamberPressure.time = T(end);
-        Thrust = interp1(settings.motor.expTime, settings.motor.expThrust,T(end));
+        Thrust = interp1(rocket.motor.time, rocket.motor.thrust,T(end));
         sensorData.chamberPressure.measures = Thrust/settings.motor.K;
 
     else
         for i = 1:length(T)
             if T(i) - sensorData.chamberPressure.t0 > 1/freq.chamberPressureFrequency
                 iTimechamberPressure = sensorData.chamberPressure.t0 + 1/freq.chamberPressureFrequency;
-                Thrust(i) = interp1(settings.motor.expTime, settings.motor.expThrust,iTimechamberPressure );
+                Thrust(i) = interp1(rocket.motor.time, rocket.motor.thrust,iTimechamberPressure );
                 sensorData.chamberPressure.measures(i) = Thrust(i)/settings.motor.K;
                 sensorData.chamberPressure.t0 = iTimechamberPressure ;
                 sensorData.chamberPressure.time = iTimechamberPressure;
             elseif  T(i) - sensorData.chamberPressure.t0 == 1/freq.chamberPressureFrequency
                 iTimechamberPressure = sensorData.chamberPressure.t0 + 1/freq.chamberPressureFrequency;
-                Thrust(i) = interp1(settings.motor.expTime, settings.motor.expThrust,iTimechamberPressure );
+                Thrust(i) = interp1(rocket.motor.time, rocket.motor.thrust,iTimechamberPressure );
                 sensorData.chamberPressure.measures(i) = Thrust(i)/settings.motor.K;
                 sensorData.chamberPressure.t0 = iTimechamberPressure;
                 sensorData.chamberPressure.time = iTimechamberPressure;
diff --git a/commonFunctions/miscellaneous/settingsEngineCut.m b/commonFunctions/miscellaneous/settingsEngineCut.m
index d7dcd90f87da42e0a469edd7096745799b6f51a4..79571b87758cbfba5210e61ff0e6de9467f10c23 100644
--- a/commonFunctions/miscellaneous/settingsEngineCut.m
+++ b/commonFunctions/miscellaneous/settingsEngineCut.m
@@ -1,4 +1,4 @@
-function settings = settingsEngineCut(settings, engineT0)
+function [settings, rocket] = settingsEngineCut(settings, engineT0, rocket)
 %{
     settingsEngineCut - This function computes specifc parameters at engine
                         cut event
@@ -23,39 +23,34 @@ function settings = settingsEngineCut(settings, engineT0)
     SPDX-License-Identifier: GPL-3.0-or-later
 %}
     
-    settings.timeEngineCut = settings.timeEngineCut - engineT0;
-
-    if (settings.timeEngineCut) > 0 && ( settings.timeEngineCut  <= (settings.tb - settings.tCO) )
+    rocket.motor.cutoffTime = rocket.motor.cutoffTime - engineT0;
+    rocket.updateCutoff;
+    if (rocket.motor.cutoffTime) > 0 && ( rocket.motor.cutoffTime  <= (rocket.motor.time(end) - rocket.motor.cutoffTransient) )
         
-        tEC = settings.timeEngineCut;           % controlled shutoff moment, 0.3 is the delay
-        tCO = settings.tCO;                     % cutoff transient duration
+        tEC = rocket.motor.cutoffTime;           % controlled shutoff moment, 0.3 is the delay
+        tCO = rocket.motor.cutoffTransient;                     % cutoff transient duration
 
-        for i = 1: length(settings.motor.expTime)
-            if settings.motor.expTime(i) >= settings.timeEngineCut
+        for i = 1: length(rocket.motor.time)
+            if rocket.motor.time(i) >= rocket.motor.cutoffTime
                 
-                settings.motor.expThrust(i) = settings.motor.expThrust(i) * (1 - (settings.motor.expTime(i) - tEC)/tCO ); 
+                rocket.motor.thrust(i) = rocket.motor.thrust(i) * (1 - (rocket.motor.time(i) - tEC)/tCO ); 
 
-                if settings.motor.expTime(i) > tEC + tCO || settings.motor.expThrust(i) < 0
-                    settings.motor.expThrust(i) = 0; 
+                if rocket.motor.time(i) > tEC + tCO || rocket.motor.thrust(i) < 0
+                    rocket.motor.thrust(i) = 0; 
                 end
 
             end
         end
         
-        settings.timeEngineCut = settings.timeEngineCut + settings.tCO;
-
-        settings.expMengineCut = interpLinear(settings.motor.expTime, settings.motor.expM, settings.timeEngineCut);
-        settings.IengineCut(1) = interpLinear(settings.motor.expTime,  settings.I(1,:), settings.timeEngineCut);
-        settings.IengineCut(2) = interpLinear(settings.motor.expTime,  settings.I(2,:), settings.timeEngineCut);
-        settings.IengineCut(3) = interpLinear(settings.motor.expTime,  settings.I(3,:), settings.timeEngineCut);
-
-    elseif settings.timeEngineCut >= (settings.tb - settings.tCO)
+        rocket.motor.cutoffTime = rocket.motor.cutoffTime + rocket.motor.cutoffTransient;
+        rocket.updateCutoff;
+        
+    elseif rocket.motor.cutoffTime >= (rocket.motor.time(end) - rocket.motor.cutoffTransient)
     
-        settings.timeEngineCut = inf;
+        rocket.motor.cutoffTime = rocket.motor.time(end);
     
-    elseif settings.timeEngineCut <= 0
-        error('settings.timeEngineCut must be grater than zero');
+    elseif rocket.motor.cutoffTime <= 0
+        error('rocket.motor.cutoffTime must be grater than zero');
     end
 
-    settings.timeEngineCut = settings.timeEngineCut + engineT0;
 end
\ No newline at end of file
diff --git a/commonFunctions/odeFunctions/accelerationOnlyAscent.m b/commonFunctions/odeFunctions/accelerationOnlyAscent.m
index 49e6b85711743bf0604dd39ad7aff93a50d9173d..2d2514dd640b43018790656a204536b9f7fdea97 100644
--- a/commonFunctions/odeFunctions/accelerationOnlyAscent.m
+++ b/commonFunctions/odeFunctions/accelerationOnlyAscent.m
@@ -52,7 +52,7 @@ if -z < 0     % z is directed as the gravity vector
     z = 0;
 end
 
-h = -z + settings.z0;
+h = -z + environment.z0;
 
 atmC = [9.80665, 1.4, 287.0531, 0.0065, 11000, 20000, ...
             1.225, 101325, 288.15]; % atmosisa constants:
@@ -82,7 +82,7 @@ S = settings.S;              % [m^2] cross surface
 CoeffsE = settings.CoeffsE;  % Empty Rocket Coefficients
 CoeffsF = settings.CoeffsF;  % Full Rocket Coefficients
 g = 9.80655;                 % [N/kg] module of gravitational field at zero
-tb = settings.tb;            % [s]     Burning Time
+tb = rocket.motor.time(end);            % [s]     Burning Time
 OMEGA = settings.OMEGA;      % [rad] Elevation Angle in the launch pad
 
 %% TIME-DEPENDENTS VARIABLES
diff --git a/commonFunctions/odeFunctions/accelerometerAscent.m b/commonFunctions/odeFunctions/accelerometerAscent.m
index 6eeb6e842fb77030e94dfd5f13314b4bb572c078..5329e109a1a2f6d821ed33868bef6d873dcaa195 100644
--- a/commonFunctions/odeFunctions/accelerometerAscent.m
+++ b/commonFunctions/odeFunctions/accelerometerAscent.m
@@ -33,7 +33,7 @@ ap =  Y(17);
 S = settings.S;                         % [m^2]   cross surface
 C = settings.C;                         % [m]     caliber
 g = settings.g0/(1 + (-z*1e-3/6371))^2; % [N/kg]  module of gravitational field
-tb = settings.tb;                       % [s]     Burning Time
+tb = rocket.motor.time(end);                       % [s]     Burning Time
 local = settings.Local;                 % vector containing inputs for atmosphereData
 
 
@@ -48,14 +48,14 @@ local = settings.Local;                 % vector containing inputs for atmospher
 %% INERTIAS
 if settings.HREmot
     if t < tb 
-        if t < settings.timeEngineCut
-            Ixx = interpLinear(settings.motor.expTime, settings.I(1,:), t);
-            Iyy = interpLinear(settings.motor.expTime, settings.I(2,:), t);
-            Izz = interpLinear(settings.motor.expTime, settings.I(3,:), t);
-
-            Ixxdot = interpLinear(settings.motor.expTime, settings.Idot(1,:), t);
-            Iyydot = interpLinear(settings.motor.expTime, settings.Idot(2,:), t);
-            Izzdot = interpLinear(settings.motor.expTime, settings.Idot(3,:), t);
+        if t < rocket.motor.cutoffTime
+            Ixx = interpLinear(rocket.motor.time, settings.I(1,:), t);
+            Iyy = interpLinear(rocket.motor.time, settings.I(2,:), t);
+            Izz = interpLinear(rocket.motor.time, settings.I(3,:), t);
+
+            Ixxdot = interpLinear(rocket.motor.time, settings.Idot(1,:), t);
+            Iyydot = interpLinear(rocket.motor.time, settings.Idot(2,:), t);
+            Izzdot = interpLinear(rocket.motor.time, settings.Idot(3,:), t);
         else
             I = settings.IengineCut;
             Idot = zeros(3, 1);
@@ -63,7 +63,7 @@ if settings.HREmot
             Ixxdot = Idot(1); Iyydot = Idot(2); Izzdot = Idot(3);
         end
     else
-        if settings.timeEngineCut < tb
+        if rocket.motor.cutoffTime < tb
             I = settings.IengineCut;
             Ixx = I(1); Iyy = I(2); Izz = I(3);
         else
@@ -104,7 +104,7 @@ if -z < 0     % z is directed as the gravity vector
     z = 0;
 end
 
-h = -z + settings.z0;
+h = -z + environment.z0;
 
 atmC = [9.80665, 1.4, 287.0531, 0.0065, 11000, 20000, ...
             1.225, 101325, 288.15]; % atmosisa constants:
@@ -134,10 +134,10 @@ M = V_norm/a;
 %% TIME-DEPENDENTS VARIABLES
 if t < tb
     if settings.HREmot
-        if t < settings.timeEngineCut
-            m = interpLinear(settings.motor.expTime, settings.mTotalTime, t);
-            T = interpLinear(settings.motor.expTime, settings.motor.expThrust, t);
-            Pe = interpLinear(settings.motor.expTime, settings.motor.Pe, t);
+        if t < rocket.motor.cutoffTime
+            m = interpLinear(rocket.motor.time, settings.mTotalTime, t);
+            T = interpLinear(rocket.motor.time, rocket.motor.thrust, t);
+            Pe = interpLinear(rocket.motor.time, settings.motor.Pe, t);
             T = T + settings.motor.Ae*(Pe - P);
         else
             m = settings.expMengineCut + settings.ms;
@@ -145,16 +145,16 @@ if t < tb
         end
     else
         dI = 1/tb*([Ixxf Iyyf Izzf]' - [Ixxe Iyye Izze]');
-        m = settings.ms + interpLinear(settings.motor.expTime, settings.motor.expM, t);
+        m = settings.ms + interpLinear(rocket.motor.time, settings.motor.expM, t);
         Ixxdot = -dI(1);
         Iyydot = -dI(2);
         Izzdot = -dI(3);
-        T = interpLinear(settings.motor.expTime, settings.motor.expThrust, t);
+        T = interpLinear(rocket.motor.time, rocket.motor.thrust, t);
     end
 
 else     % for t >= tb the fligth condition is the empty one(no interpolation needed)
     if settings.HREmot
-        if settings.timeEngineCut < tb
+        if rocket.motor.cutoffTime < tb
             m = settings.ms + settings.expMengineCut;
         else
             m = settings.ms + settings.motor.expM(end);
diff --git a/commonFunctions/odeFunctions/accelerometerDescent.m b/commonFunctions/odeFunctions/accelerometerDescent.m
index 5753fd299937ef185367da095ac4a680c62e7c06..343eb3f001e91d10b83dd6d9c298016e5dbb9556 100644
--- a/commonFunctions/odeFunctions/accelerometerDescent.m
+++ b/commonFunctions/odeFunctions/accelerometerDescent.m
@@ -37,7 +37,7 @@ if -z < 0
     z = 0;
 end
 
-[~, ~, ~, rho] = atmosisa(-z+settings.z0);
+[~, ~, ~, rho] = atmosisa(-z+environment.z0);
 %% WIND
 [~,ind_wind] = min(settings.wind.output_time-t);
 wind = settings.wind.output_body(:,ind_wind);
diff --git a/commonFunctions/odeFunctions/ascentControl.m b/commonFunctions/odeFunctions/ascentControl.m
index 708c92cbf205a4b3cf276bdda91a686fe195f04a..5aee11197c4011d7d535762255c64dafc65e5ac4 100644
--- a/commonFunctions/odeFunctions/ascentControl.m
+++ b/commonFunctions/odeFunctions/ascentControl.m
@@ -70,7 +70,7 @@ end
 S = settings.S;                         % [m^2]   cross surface
 C = settings.C;                         % [m]     caliber
 g = settings.g0/(1 + (-z*1e-3/6371))^2; % [N/kg]  module of gravitational field
-tb = settings.tb;                       % [s]     Burning Time
+tb = rocket.motor.time(end);                       % [s]     Burning Time
 local = settings.Local;                 % vector containing inputs for atmosphereData
 
 OMEGA = settings.OMEGA;
@@ -84,15 +84,15 @@ end
 %% INERTIAS
 
 if t-engineT0 < tb
-    if t-engineT0 < settings.timeEngineCut
-        I = interpLinear(settings.motor.expTime, settings.I, t-engineT0);
-        Idot = interpLinear(settings.motor.expTime, settings.Idot, t-engineT0);
+    if t-engineT0 < rocket.motor.cutoffTime
+        I = interpLinear(rocket.motor.time, settings.I, t-engineT0);
+        Idot = interpLinear(rocket.motor.time, settings.Idot, t-engineT0);
     else
         I = settings.IengineCut;
         Idot = zeros(3, 1);
     end
 else
-    if settings.timeEngineCut < tb
+    if rocket.motor.cutoffTime < tb
         I = settings.IengineCut;
     else
         I = settings.I(:, end);
@@ -155,7 +155,7 @@ if -z < 0     % z is directed as the gravity vector
     z = 0;
 end
 
-absoluteAltitude = -z + settings.z0;
+absoluteAltitude = -z + environment.z0;
 [~, a, P, rho] = atmosphereData(absoluteAltitude, g, local);
 
 M = V_norm/a;
@@ -164,10 +164,10 @@ M_value = M;
 %% TIME-DEPENDENTS VARIABLES
 if t-engineT0 < tb
 
-    if t < settings.timeEngineCut
-        m = interpLinear(settings.motor.expTime, settings.mTotalTime, t-engineT0);
-        T = interpLinear(settings.motor.expTime, settings.motor.expThrust, t-engineT0);
-        Pe = interpLinear(settings.motor.expTime, settings.motor.Pe, t-engineT0);
+    if t < rocket.motor.cutoffTime
+        m = interpLinear(rocket.motor.time, settings.mTotalTime, t-engineT0);
+        T = interpLinear(rocket.motor.time, rocket.motor.thrust, t-engineT0);
+        Pe = interpLinear(rocket.motor.time, settings.motor.Pe, t-engineT0);
         T = T + settings.motor.Ae*(Pe - P);
     else
         m = settings.expMengineCut + settings.ms;
@@ -176,7 +176,7 @@ if t-engineT0 < tb
 
 else     % for t >= tb the fligth condition is the empty one(no interpolation needed)
 
-    if settings.timeEngineCut < tb
+    if rocket.motor.cutoffTime < tb
         m = settings.ms + settings.expMengineCut;
     else
         m = settings.ms + settings.motor.expM(end);
@@ -201,7 +201,7 @@ beta_value = beta;
 %% CHOSING THE EMPTY CONDITION VALUE
 % interpolation of the coefficients with the value in the nearest condition of the Coeffs matrix
 
-if t-engineT0 >= settings.tControl && M <= settings.MachControl
+if t-engineT0 >= settings.tControl && M <= rocket.airbrakes.maxMach
     c = settings.control;
 else
     c = 1;
@@ -354,7 +354,7 @@ else
 
     if ~settings.identification
 
-        if (M_value < settings.MachControl) %|| ~settings.machControlActive
+        if (M_value < rocket.airbrakes.maxMach) %|| ~settings.machControlActive
             % set velocity of servo (air brakes)
             if length(ap_ref_vec)==2 % for the recallOdeFunction
                 if t < t_change_ref
diff --git a/commonFunctions/odeFunctions/descentParachute.m b/commonFunctions/odeFunctions/descentParachute.m
deleted file mode 100644
index eaf3fe4c7d4fb400e2fb3a275be16d4301df650d..0000000000000000000000000000000000000000
--- a/commonFunctions/odeFunctions/descentParachute.m
+++ /dev/null
@@ -1,218 +0,0 @@
-function [dY,parout] = descentParachute(t, Y, settings, uw, vw, ww, para, Q ,uncert)
-%{ 
-
-descentParachute - ode function of the 3DOF Rigid Rocket-Paraachute Model
-
-INPUTS:      
-            - t, integration time;
-            - Y, state vector, [ x y z | u v w ]:
-
-                                * (x y z), NED{north, east, down} horizontal frame; 
-                                * (u v w), horizontal frame velocities.
-
-            - settings, rocket data structure;
-            - uw, wind component along x;
-            - vw, wind component along y;
-            - ww, wind component along z;
-            - uncert, wind uncertanties;
-            - Hour, hour of the day of the needed simulation;
-            - Day, day of the month of the needed simulation;
-
-OUTPUTS:    
-            - dY, state derivatives;
-
-Author: Ruben Di Battista
-Skyward Experimental Rocketry | CRD Dept | crd@skywarder.eu
-email: ruben.dibattista@skywarder.eu
-April 2014; Last revision: 31.XII.2014
-
-Author: Francesco Colombi
-Skyward Experimental Rocketry | CRD Dept | crd@skywarder.eu
-email: francesco.colombi@skywarder.eu
-Release date: 16/04/2016
-
-Author: Adriano Filippo Inno
-Skyward Experimental Rocketry | AFD Dept | crd@skywarder.eu
-email: adriano.filippo.inno@skywarder.eu
-Release date: 13/01/2018
-
-%}
-
-% recalling the state
-% x = Y(1);
-% y = Y(2);
-z = Y(3);
-u = Y(4);
-v = Y(5);
-w = Y(6);
-
-
-local = settings.Local;
-%% CONSTANTS
-S = settings.para(para).S;                                               % [m^2]   Surface
-CD = settings.para(para).CD;                                             % [/] Parachute Drag Coefficient
-CL = settings.para(para).CL;                                             % [/] Parachute Lift Coefficient
-if para == 1
-    pmass = 0 ;                                                          % [kg] detached mass
-else
-    pmass = sum(settings.para(1:para-1).mass) + settings.mnc;
-end
-
-                                                           % [N/kg] magnitude of the gravitational field at zero
-
-m = settings.ms - pmass;                                                 % [kg] descend mass
-g = settings.g0/(1 + (-z*1e-3/6371))^2;                                         % [N/kg]  module of gravitational field
-
-%% ADDING WIND (supposed to be added in NED axes);
-
-% if settings.wind.model
-%     
-%     if settings.stoch.N > 1
-%         [uw, vw, ww] = windMatlabGenerator(settings, z, t, Hour, Day);
-%     else
-%         [uw, vw, ww] = windMatlabGenerator(settings, z, t);
-%     end
-%     
-% elseif settings.wind.input
-%     [uw, vw, ww] = windInputGenerator(settings, z, uncert);
-% 
-% elseif settings.wind.variable
-%     [uw, vw, ww] = windVariableGenerator(z, settings.stoch);
-% end
-
-switch settings.windModel
-
-    case "atmospherical"
-    [uw, vw, ww] = windMatlabGenerator(settings, z, t);
-    
-    case "multiplicative"
-    uncert = settings.wind.inputUncertainty;
-    [uw, vw, ww] = windInputGenerator(settings, z, uncert);
-
-    case "constant"
-    uw = settings.constWind(1); vw = settings.constWind(2); ww = settings.constWind(3);
-end
-
-
-wind =[uw; vw; ww]; % body
-Vels = [u; v; w];
-
-% Relative velocities (plus wind);
-ur = u - wind(1);
-vr = v - wind(2);
-wr = w - wind(3);
-
-V_norm = norm([ur vr wr]);
-
-
-%% ATMOSPHERE DATA
-if -z < 0        % z is directed as the gravity vector
-    z = 0;
-end
-
-absoluteAltitude = -z + settings.z0;
-[~, ~, P, rho] = atmosphereData(absoluteAltitude, g, local);
-
-%% REFERENCE FRAME
-% The parachutes are approximated as rectangular surfaces with the normal
-% vector perpendicular to the relative velocity
-
-t_vect = [ur vr wr];                     % Tangenzial vector
-h_vect = [vr -ur 0];                     % horizontal vector    
-
-if all(abs(h_vect) < 1e-8)
-    h_vect = [vw -uw 0];
-end
-
-n_vect = cross(t_vect, h_vect);          % Normal vector
-
-if norm(t_vect) < 1e-8
-    t_vers = [0 0 0];
-else
-    t_vers = t_vect/norm(t_vect);            % Tangenzial versor
-end
-
-if norm(n_vect) < 1e-8
-    n_vers = [0 0 0]; 
-else
-    n_vers = n_vect/norm(n_vect);           % normal versor
-end
-
-if (n_vers(3) > 0)                          % If the normal vector is downward directed
-    n_vers = -n_vers;
-end
-
-
-
-%% FORCES
-D = -0.5*rho*V_norm^2*S*CD*t_vers';       % [N] Drag vector
-L = 0.5*rho*V_norm^2*S*CL*n_vers';       % [N] Lift vector
-Fg = m*g*[0 0 1]';                       % [N] Gravitational Force vector
-F = L + Fg + D;                          % [N] total forces vector
-% F = Fg;
-F_acc = F-Fg;                               % [N] accelerometer felt forces
-
-%% STATE DERIVATIVES
-% velocity
-acc = F/m;
-
-
-%% FINAL DERIVATIVE STATE ASSEMBLING
-dY(1:3) = Vels; % ned
-dY(4:6) = acc;
-
-
-dY = dY';
-
-%% SAVING THE QUANTITIES FOR THE PLOTS
-
-if nargout == 2
-%     parout.integration.t = t;
-%     
-%     parout.interp.M = M_value;
-%     parout.interp.alpha = alpha_value;
-%     parout.interp.beta = beta_value;
-%     parout.interp.alt = -z;
-    parout.interp.mass = m;
-%     
-    parout.wind.NED_wind = [uw, vw, ww];
-    parout.wind.body_wind = wind;
-
-%     
-%     parout.rotations.dcm = dcm;
-%     
-%     parout.velocities = Vels;
-%     
-%     parout.forces.AeroDyn_Forces = [X, Y, Z];
-%     parout.forces.T = T;
-%     
-    parout.air.rho = rho;
-    parout.air.P = P;
-%     
-    parout.accelerations.body_acc = acc;
-%     parout.accelerations.ang_acc = [dp, dq, dr];
-    parout.accelerometer.body_acc = quatrotate(Q,(F_acc/m)');
-%     parout.coeff.CA = CA;
-%     parout.coeff.CYB = CYB;
-%     parout.coeff.CNA = CNA;
-%     parout.coeff.Cl = Cl;
-%     parout.coeff.Clp = Clp;
-%     %--------------------------------------------
-%     %parout.coeff.Clb = Clb;
-%     %--------------------------------------------
-%     parout.coeff.Cma = Cma;
-%     parout.coeff.Cmad = Cmad;
-%     parout.coeff.Cmq = Cmq;
-%     parout.coeff.Cnb = Cnb;
-%     parout.coeff.Cnr = Cnr;
-%     parout.coeff.Cnp = Cnp;
-%     parout.coeff.XCPlon = XCPlon;
-%     parout.coeff.XCPlat = XCPlat;
-%         
-%     sgn = sign(dot(cross(Myz, Fyz), [1 0 0])); 
-%     XCPtot = (sgn * norm(Myz)/norm(Fyz));
-%     err = 100*abs((acosd(dot(Fyz/norm(Fyz), Myz/norm(Myz))) - 90)/90);
-%     XCPtot = XCPtot - polyval(settings.regPoli, err); 
-%     parout.coeff.XCPtot = XCPtot; 
-
-end
\ No newline at end of file
diff --git a/commonFunctions/odeFunctions/descentParafoil.m b/commonFunctions/odeFunctions/descentParafoil_OLD.m
similarity index 99%
rename from commonFunctions/odeFunctions/descentParafoil.m
rename to commonFunctions/odeFunctions/descentParafoil_OLD.m
index e0dd70d3879c3c3a9aa02b14d1c005724b1123e5..2e984a7ab9b6d977f08850ad488d41002b4983f0 100644
--- a/commonFunctions/odeFunctions/descentParafoil.m
+++ b/commonFunctions/odeFunctions/descentParafoil_OLD.m
@@ -114,7 +114,7 @@ if -z < 0     % z is directed as the gravity vector
     z = 0;
 end
 
-absoluteAltitude = -z + settings.z0;
+absoluteAltitude = -z + environment.z0;
 [~, ~, ~, rho] = atmosphereData(absoluteAltitude, g, local);
 
 %% AERODYNAMICS ANGLES
diff --git a/commonFunctions/sensors/acquisition_Sys.m b/commonFunctions/sensors/acquisition_Sys.m
index c93982d766631227602cbece6945185497ad5d5c..4cec1c6a57107945d980be6a8b590a02c1b0dcfd 100644
--- a/commonFunctions/sensors/acquisition_Sys.m
+++ b/commonFunctions/sensors/acquisition_Sys.m
@@ -1,4 +1,4 @@
-function [sensorData, sensorTot] = acquisition_Sys(sensorData, sensorSettings, sensorTot, settings, t)
+function [sensorData, sensorTot] = acquisition_Sys(sensorData, sensorSettings, sensorTot, t, mission)
 %{
 Routine to simulate the data acquisition from the sensors, that use the
 class sensors in: "skyward-matlab-control-simulator\sensors"
@@ -27,7 +27,7 @@ OUTPUT:
 
 %% Baro Acquisition loop
 
-if ~contains(settings.mission, '_2023')
+if ~contains(mission.name, '2023')
     sensorSettings.barometer2 = sensorSettings.barometer1;
     sensorSettings.barometer3 = sensorSettings.barometer1;
 end
@@ -178,7 +178,7 @@ if isfield(sensorData.pitot,'time')
 end
 
 %% Chamber Pressure acquisition loop
-if contains(settings.mission,'_2023') || contains(settings.mission,'_2024')
+if contains(mission.name,'2023') || contains(mission.name,'2024')
     for ii=1:length(sensorData.chamberPressure.time)
         sensorData.chamberPressure.measures(ii) = sensorSettings.comb_chamber.sens(sensorData.chamberPressure.measures(ii)*1000,50); % 50 temperature in °C (random)
         sensorData.chamberPressure.measures(ii) = sensorData.chamberPressure.measures(ii)/1000;
diff --git a/commonFunctions/wind/wind_matlab_generator.m b/commonFunctions/wind/wind_matlab_generator.m
index 715312b3c2dd010c3afe47083d25c4e231dd5af6..f369db4de08e1ea66c83eb5513fc8428f4bbe6af 100644
--- a/commonFunctions/wind/wind_matlab_generator.m
+++ b/commonFunctions/wind/wind_matlab_generator.m
@@ -20,7 +20,7 @@ January 2016; Last revision: 17.I.2016
 
 %}
 
-h = -z + settings.z0;
+h = -z + environment.z0;
 if h < 0
     h = 0;
 end
@@ -36,7 +36,7 @@ Seconds = Hour*3600;
 
 %% HORIZONTAL WIND
 
-[uw,vw] = atmoshwm(settings.lat0,settings.lon0,h,'day',Day,...
+[uw,vw] = atmoshwm(environment.lat0,environment.lon0,h,'day',Day,...
     'seconds',Seconds+t,'model','quiet','version','14');    % NED reference
 ww = settings.wind.ww;
 
diff --git a/data/Lynx_Portugal_October_2021/configLynx_Portugal_October_2021.m b/data/2021_Lynx_Portugal_October/configLynx_Portugal_October_2021.m
similarity index 98%
rename from data/Lynx_Portugal_October_2021/configLynx_Portugal_October_2021.m
rename to data/2021_Lynx_Portugal_October/configLynx_Portugal_October_2021.m
index 2263514446ade050a3545e048f2dec8770bf7b7f..7b353af96038783f560da2fefca56b63efca81fa 100644
--- a/data/Lynx_Portugal_October_2021/configLynx_Portugal_October_2021.m
+++ b/data/2021_Lynx_Portugal_October/configLynx_Portugal_October_2021.m
@@ -93,9 +93,9 @@ settings.nas.counter       =   0;
 settings.nas.t_kalman      =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
diff --git a/data/Lynx_Roccaraso_September_2021/configLynx_Roccaraso_September_2021.m b/data/2021_Lynx_Roccaraso_September/configLynx_Roccaraso_September_2021.m
similarity index 97%
rename from data/Lynx_Roccaraso_September_2021/configLynx_Roccaraso_September_2021.m
rename to data/2021_Lynx_Roccaraso_September/configLynx_Roccaraso_September_2021.m
index 01d714685af332a9286b4fa1a9bffd9218fdaed2..d2224e7d201e5fdded82a573e0f4941ae6db8bfa 100644
--- a/data/Lynx_Roccaraso_September_2021/configLynx_Roccaraso_September_2021.m
+++ b/data/2021_Lynx_Roccaraso_September/configLynx_Roccaraso_September_2021.m
@@ -51,9 +51,9 @@ settings.nas.counter       =   0;
 settings.nas.t_kalman      =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
diff --git a/data/Pyxis_Portugal_October_2022/configPyxis_Portugal_October_2022.m b/data/2022_Pyxis_Portugal_October/configPyxis_Portugal_October_2022.m
similarity index 96%
rename from data/Pyxis_Portugal_October_2022/configPyxis_Portugal_October_2022.m
rename to data/2022_Pyxis_Portugal_October/configPyxis_Portugal_October_2022.m
index 54062bb9bb56251d197a0302ff1e22877f72bee1..217b249d2f45bd726d5fc549d1d11540383a6aba 100644
--- a/data/Pyxis_Portugal_October_2022/configPyxis_Portugal_October_2022.m
+++ b/data/2022_Pyxis_Portugal_October/configPyxis_Portugal_October_2022.m
@@ -106,9 +106,9 @@ settings.nas.stopPitotAltitude = 500;
 settings.nas.t_nas      =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
@@ -133,7 +133,7 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                            % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                                  % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                                  % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   -10;                                         % Vertical velocity initial condition
 settings.ada.a0          =   -100;                                         % Acceleration velocity initial condition
diff --git a/data/Pyxis_Portugal_October_2022/initSensorsPyxis_Portugal_October_2022.m b/data/2022_Pyxis_Portugal_October/initSensorsPyxis_Portugal_October_2022.m
similarity index 96%
rename from data/Pyxis_Portugal_October_2022/initSensorsPyxis_Portugal_October_2022.m
rename to data/2022_Pyxis_Portugal_October/initSensorsPyxis_Portugal_October_2022.m
index 8dc13cd55f1ce016a572b982d3a9215a123c01cc..0f30c71c8f39459cbabbd8b868b6178d72945f9a 100644
--- a/data/Pyxis_Portugal_October_2022/initSensorsPyxis_Portugal_October_2022.m
+++ b/data/2022_Pyxis_Portugal_October/initSensorsPyxis_Portugal_October_2022.m
@@ -6,9 +6,9 @@
 % Release date: 01/03/2021
 
 %% extract info
-lat0 = settings.lat0;
-lon0 = settings.lon0;
-z0   = settings.z0;
+lat0 = environment.lat0;
+lon0 = environment.lon0;
+z0   = environment.z0;
 
 %% initial barometer sensor MS580301BA01
 ep_p_0     =  csvread('ep_p_0.csv');
@@ -136,15 +136,15 @@ sensorSettings.magnetometer2.transMatrix          =   diag([1 1 1]);          %
 
 
 % total measurements
-[~,~,P0,~] = atmosisa(settings.z0);
+[~,~,P0,~] = atmosisa(environment.z0);
 sensorTot.barometer_sens{1}.pressure_measures   =   P0;
 sensorTot.barometer_sens{2}.pressure_measures   =   P0;
 sensorTot.barometer_sens{3}.pressure_measures   =   P0;
-sensorTot.barometer_sens{1}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{2}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{3}.altitude            =   -settings.z0;
+sensorTot.barometer_sens{1}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{2}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{3}.altitude            =   -environment.z0;
 sensorTot.barometer.pressure_measures           =   P0;
-sensorTot.barometer.altitude                    =   -settings.z0;
+sensorTot.barometer.altitude                    =   -environment.z0;
 sensorTot.comb_chamber.measures                 =   0;
 sensorTot.imu.accelerometer_measures            =   [0, 0, 0];
 sensorTot.imu.gyro_measures                     =   [0, 0, 0];
diff --git a/data/Pyxis_Roccaraso_September_2022/configPyxis_Roccaraso_September_2022.m b/data/2022_Pyxis_Roccaraso_September/configPyxis_Roccaraso_September_2022.m
similarity index 96%
rename from data/Pyxis_Roccaraso_September_2022/configPyxis_Roccaraso_September_2022.m
rename to data/2022_Pyxis_Roccaraso_September/configPyxis_Roccaraso_September_2022.m
index 4bb825e8d8d7e8de7429e229373684c1dba15f92..00a4ed9991c81d5fcfe3e590ecddd068e8cb5205 100644
--- a/data/Pyxis_Roccaraso_September_2022/configPyxis_Roccaraso_September_2022.m
+++ b/data/2022_Pyxis_Roccaraso_September/configPyxis_Roccaraso_September_2022.m
@@ -107,9 +107,9 @@ settings.nas.stopPitotAltitude = 500;
 settings.nas.t_nas      =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
@@ -134,7 +134,7 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                            % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                                  % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                                  % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   -10;                                         % Vertical velocity initial condition
 settings.ada.a0          =   -100;                                         % Acceleration velocity initial condition
diff --git a/data/Pyxis_Roccaraso_September_2022/initSensorsPyxis_Roccaraso_September_2022.m b/data/2022_Pyxis_Roccaraso_September/initSensorsPyxis_Roccaraso_September_2022.m
similarity index 96%
rename from data/Pyxis_Roccaraso_September_2022/initSensorsPyxis_Roccaraso_September_2022.m
rename to data/2022_Pyxis_Roccaraso_September/initSensorsPyxis_Roccaraso_September_2022.m
index fc527a3804fb49cef6a70a47643509edf1da70ee..74c96094c462f3f5c7ecfd676097a73793891967 100644
--- a/data/Pyxis_Roccaraso_September_2022/initSensorsPyxis_Roccaraso_September_2022.m
+++ b/data/2022_Pyxis_Roccaraso_September/initSensorsPyxis_Roccaraso_September_2022.m
@@ -6,9 +6,9 @@
 % Release date: 01/03/2021
 
 %% extract info
-lat0 = settings.lat0;
-lon0 = settings.lon0;
-z0   = settings.z0;
+lat0 = environment.lat0;
+lon0 = environment.lon0;
+z0   = environment.z0;
 
 %% initial barometer sensor MS580301BA01
 ep_p_0     =  csvread('ep_p_0.csv');
@@ -136,15 +136,15 @@ sensorSettings.magnetometer2.transMatrix          =   diag([1 1 1]);          %
 
 
 % total measurements
-[~,~,P0,~] = atmosisa(settings.z0);
+[~,~,P0,~] = atmosisa(environment.z0);
 sensorTot.barometer_sens{1}.pressure_measures   =   P0;
 sensorTot.barometer_sens{2}.pressure_measures   =   P0;
 sensorTot.barometer_sens{3}.pressure_measures   =   P0;
-sensorTot.barometer_sens{1}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{2}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{3}.altitude            =   -settings.z0;
+sensorTot.barometer_sens{1}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{2}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{3}.altitude            =   -environment.z0;
 sensorTot.barometer.pressure_measures           =   P0;
-sensorTot.barometer.altitude                    =   -settings.z0;
+sensorTot.barometer.altitude                    =   -environment.z0;
 sensorTot.comb_chamber.measures                 =   0;
 sensorTot.imu.accelerometer_measures            =   [0, 0, 0];
 sensorTot.imu.gyro_measures                     =   [0, 0, 0];
diff --git a/data/Gemini_Portugal_October_2023/configGemini_Portugal_October_2023.m b/data/2023_Gemini_Portugal_October/configGemini_Portugal_October_2023.m
similarity index 97%
rename from data/Gemini_Portugal_October_2023/configGemini_Portugal_October_2023.m
rename to data/2023_Gemini_Portugal_October/configGemini_Portugal_October_2023.m
index 5bdb0058a4db512e756e762cb99ecba7265c21cf..2c8765878a7811aa3767bc39e4bce287e42aa348 100644
--- a/data/Gemini_Portugal_October_2023/configGemini_Portugal_October_2023.m
+++ b/data/2023_Gemini_Portugal_October/configGemini_Portugal_October_2023.m
@@ -110,9 +110,9 @@ settings.nas.stopPitotAltitude = 800;
 settings.nas.t_nas         =   -1;                                          % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                       % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 
@@ -138,7 +138,7 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                           % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                         % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                         % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   -10;                                           % Vertical velocity initial condition
 settings.ada.a0          =   -100;                                          % Acceleration velocity initial condition
diff --git a/data/Gemini_Portugal_October_2023/initSensorsGemini_Portugal_October_2023.m b/data/2023_Gemini_Portugal_October/initSensorsGemini_Portugal_October_2023.m
similarity index 98%
rename from data/Gemini_Portugal_October_2023/initSensorsGemini_Portugal_October_2023.m
rename to data/2023_Gemini_Portugal_October/initSensorsGemini_Portugal_October_2023.m
index b29a98782268b5737b55338bd94732cd91832e7e..869e472a35c9bf57ac8a03acf13984cc62c9cf68 100644
--- a/data/Gemini_Portugal_October_2023/initSensorsGemini_Portugal_October_2023.m
+++ b/data/2023_Gemini_Portugal_October/initSensorsGemini_Portugal_October_2023.m
@@ -136,9 +136,9 @@ sensorSettings.magnetometer.transMatrix          =   diag([1 1 1]);          % a
 sensorSettings.GPS = GPS();                                      % lon, in degree lat in deree, alt in m
 sensorSettings.GPS.noiseVariance          =   [2e-9*ones(2,1);5;0.0011*ones(3,1)]; % [deg; deg; m; m/s; m/s; m/s]^2
 sensorSettings.GPS.transMatrix            =   diag([1 1 1]);          % axis transformation
-sensorSettings.lat0                       =   settings.lat0;
-sensorSettings.lon0                       =   settings.lon0;
-sensorSettings.z0                         =   settings.z0;
+sensorSettings.lat0                       =   environment.lat0;
+sensorSettings.lon0                       =   environment.lon0;
+sensorSettings.z0                         =   environment.z0;
 sensorSettings.spheroid                   =   wgs84Ellipsoid;
 
 %% initial chamber pressure sensor NAT825281
diff --git a/data/Gemini_Roccaraso_September_2023/configGemini_Roccaraso_September_2023.m b/data/2023_Gemini_Roccaraso_September/configGemini_Roccaraso_September_2023.m
similarity index 97%
rename from data/Gemini_Roccaraso_September_2023/configGemini_Roccaraso_September_2023.m
rename to data/2023_Gemini_Roccaraso_September/configGemini_Roccaraso_September_2023.m
index e39dbf0197f3d18764a9a3638ce978181293e433..4e9ef648c533f46deb245eaff97955667a408347 100644
--- a/data/Gemini_Roccaraso_September_2023/configGemini_Roccaraso_September_2023.m
+++ b/data/2023_Gemini_Roccaraso_September/configGemini_Roccaraso_September_2023.m
@@ -108,9 +108,9 @@ settings.nas.stopPitotAltitude = 500;
 settings.nas.t_nas         =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
@@ -135,7 +135,7 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                            % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                                  % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                                  % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   0;                                         % Vertical velocity initial condition
 settings.ada.a0          =   0;                                         % Acceleration velocity initial condition
diff --git a/data/Gemini_Roccaraso_September_2023/initSensorsGemini_Roccaraso_September_2023.m b/data/2023_Gemini_Roccaraso_September/initSensorsGemini_Roccaraso_September_2023.m
similarity index 98%
rename from data/Gemini_Roccaraso_September_2023/initSensorsGemini_Roccaraso_September_2023.m
rename to data/2023_Gemini_Roccaraso_September/initSensorsGemini_Roccaraso_September_2023.m
index 7767f8076da978b50403b18e95321c7c5e7bdb51..839930076de47c06e1c4ca5543244f9b226141fb 100644
--- a/data/Gemini_Roccaraso_September_2023/initSensorsGemini_Roccaraso_September_2023.m
+++ b/data/2023_Gemini_Roccaraso_September/initSensorsGemini_Roccaraso_September_2023.m
@@ -134,9 +134,9 @@ sensorSettings.magnetometer.transMatrix          =   diag([1 1 1]);          % a
 sensorSettings.GPS = GPS();                                      % lon, in degree lat in deree, alt in m
 sensorSettings.GPS.noiseVariance          =   [2e-9*ones(2,1);5;0.0011*ones(3,1)]; % [deg; deg; m; m/s; m/s; m/s]^2
 sensorSettings.GPS.transMatrix            =   diag([1 1 1]);          % axis transformation
-sensorSettings.lat0                       =   settings.lat0;
-sensorSettings.lon0                       =   settings.lon0;
-sensorSettings.z0                         =   settings.z0;
+sensorSettings.lat0                       =   environment.lat0;
+sensorSettings.lon0                       =   environment.lon0;
+sensorSettings.z0                         =   environment.z0;
 sensorSettings.spheroid                   =   wgs84Ellipsoid;
 
 %% initial chamber pressure sensor NAT825281
diff --git a/data/Lyra_Portugal_October_2024/configLyra_Portugal_October_2024.m b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
similarity index 90%
rename from data/Lyra_Portugal_October_2024/configLyra_Portugal_October_2024.m
rename to data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
index a611f87183ecc7119a1c242a48ead0ff85a114a8..245714472adf1d40a7304f49d3c2a6128c5cc27a 100644
--- a/data/Lyra_Portugal_October_2024/configLyra_Portugal_October_2024.m
+++ b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
@@ -59,7 +59,7 @@ settings.arb.extPol(1) = -0.009083;                                         % co
 settings.arb.extPol(2) = 0.02473;                                           % coefficient for extension - alpha^3
 settings.arb.extPol(3) = -0.01677;                                          % coefficient for extension - alpha^2
 settings.arb.extPol(4) = 0.03129;                                           % coefficient for extension - alpha
-settings.arb.maxExt    = settings.hprot(end);                               % maximum extension of air brake aerodynamic surface
+settings.arb.maxExt    = rocket.airbrakes.height(end);                               % maximum extension of air brake aerodynamic surface
 
 % servo angle to exposed surface of the airbrakes (GEMINI)
 settings.arb.surfPol = 0.00932857142857;                                    % coefficient for surface - alpha
@@ -78,7 +78,7 @@ settings.arb.R  = 66e-3;                                                    % tr
 x = @(alpha) settings.arb.extPol(1)*alpha.^4 + ...
     settings.arb.extPol(2)*alpha.^3+settings.arb.extPol(3)*alpha.^2 + ...
     settings.arb.extPol(4).*alpha;
-fun = @(alpha) x(alpha) - settings.hprot(end);
+fun = @(alpha) x(alpha) - settings.arb.maxExt ;
 settings.servo.maxAngle = fzero(fun, deg2rad(50));
 settings.servo.maxAngle = fix(settings.servo.maxAngle*1e9)/1e9; % to avoid computational error propagation (truncates the angle to the ninth decimal)
 
@@ -109,9 +109,9 @@ settings.nas.stopPitotAltitude = 800;
 settings.nas.t_nas         =   -1;                                          % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                       % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 
@@ -137,14 +137,13 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                           % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                         % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                         % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   -10;                                           % Vertical velocity initial condition
 settings.ada.a0          =   -100;                                          % Acceleration velocity initial condition
 settings.ada.x0          =  [settings.ada.p_ref, settings.ada.v0, settings.ada.a0];         
                                                                             % Ada initial condition
-
-settings.ada.v_thr       =   2.5;                                           % Velocity threshold for the detected apogee
+settings.ada.v_thr       =   0;                                           % Velocity threshold for the detected apogee
 settings.ada.count_thr   =   5;                                             % If the apogee is detected count_thr time, the algorithm will return the apogee event
 settings.ada.counter     =   0;
 settings.ada.altitude_confidence_thr = 5;                                   % If the ada recognizes altitude_confidence_thr samples under parachute cutting altitude, it sends the command
@@ -152,12 +151,21 @@ settings.ada.altitude_confidence_thr = 5;                                   % If
 settings.ada.t_ada       =   -1;                                            % Apogee detection timestamp
 settings.ada.flag_apo    =   false;                                         % True when the apogee is detected
 settings.ada.shadowmode = 18;
+
+if ~settings.parafoil
+    settings.ada.para.z_cut  = rocket.parachutes(1,1).finalAltitude;
+else
+    settings.ada.para.z_cut  = rocket.parachutes(1,2).finalAltitude;
+end
+
 %% MEA TUNING PARAMETERS / MOTOR SHUT DOWN TUNING PARAMETERS
 %motor model for kalman filter prediction/correction scheme
-settings.mea.engine_model_A1     = [1.850256474259625, -0.850256474275721, 0; 1.000000000000000, 0, 0; -7.901993537244965e-04 ,  7.901993537244965e-04, 1];
+
+
+settings.mea.engine_model_A1     = [1.62583090191848 -0.680722129751093	0; 1 0 0; -0.00102053146869855 0.000494919888520664 1];
 settings.mea.engine_model_B1     = [2;0;0];
-settings.mea.engine_model_C1     = [0.944030389140057, -0.945656895768324 ,0];
-settings.mea.K_t = 104.2;
+settings.mea.engine_model_C1     = [1.00196621875211 -0.485916431287183 0];
+settings.mea.K_t = 105.2;
 
 % covariance matrices
 settings.mea.Q                   = eye(3);                      % model noise covariance matrix    
@@ -177,4 +185,4 @@ Rs = 1.0e+03*[0.4771    1.4391];
 % variable variance coefficients for accelerometer
 settings.mea.alpha = (Rs(2) - Rs(1))/(100^2-30^2);
 settings.mea.c = -settings.mea.alpha*30^2+Rs(1); 
-settings.mea.mass_interval = [settings.ms; settings.m0];
+settings.mea.mass_interval = [rocket.massNoMotor + rocket.motor.structureMass; rocket.mass(1)];
diff --git a/data/Lyra_Portugal_October_2024/initSensorsLyra_Portugal_October_2024.m b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
similarity index 98%
rename from data/Lyra_Portugal_October_2024/initSensorsLyra_Portugal_October_2024.m
rename to data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
index c4b1f7703ae69782c2bd05df832b67578e81ab4e..e71cad63fe40dc3ea8e1425ac9b74e5dec45d91e 100644
--- a/data/Lyra_Portugal_October_2024/initSensorsLyra_Portugal_October_2024.m
+++ b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
@@ -136,9 +136,9 @@ sensorSettings.magnetometer.transMatrix          =   diag([1 1 1]);          % a
 sensorSettings.GPS = GPS();                                                        % lon, in degree lat in deree, alt in m
 sensorSettings.GPS.noiseVariance          =   [2e-9*ones(2,1);5;0.0011*ones(3,1)]; % [deg; deg; m; m/s; m/s; m/s]^2
 sensorSettings.GPS.transMatrix            =   diag([1 1 1]);                       % axis transformation
-sensorSettings.lat0                   =   settings.lat0;
-sensorSettings.lon0                   =   settings.lon0;
-sensorSettings.z0                         =   settings.z0;
+sensorSettings.lat0                   =   environment.lat0;
+sensorSettings.lon0                   =   environment.lon0;
+sensorSettings.z0                         =   environment.z0;
 sensorSettings.spheroid                   =   wgs84Ellipsoid;
 
 %% initial chamber pressure sensor NAT825281
diff --git a/data/Lyra_Roccaraso_September_2024/configLyra_Roccaraso_September_2024.m b/data/2024_Lyra_Roccaraso_September/configLyra_Roccaraso_September_2024.m
similarity index 95%
rename from data/Lyra_Roccaraso_September_2024/configLyra_Roccaraso_September_2024.m
rename to data/2024_Lyra_Roccaraso_September/configLyra_Roccaraso_September_2024.m
index 6497549045d9feef75843750aa011ea0ee089878..d01883844589602655f669fbff1d5b62d0479b6d 100644
--- a/data/Lyra_Roccaraso_September_2024/configLyra_Roccaraso_September_2024.m
+++ b/data/2024_Lyra_Roccaraso_September/configLyra_Roccaraso_September_2024.m
@@ -108,9 +108,9 @@ settings.nas.stopPitotAltitude = 300;
 settings.nas.t_nas         =   -1;                                      % Apogee detection timestamp
 settings.nas.flag_apo      =   false;                                   % True when the apogee is detected
 
-settings.nas.lat0          = settings.lat0;
-settings.nas.lon0          = settings.lon0;
-settings.nas.z0            = -settings.z0;
+settings.nas.lat0          = environment.lat0;
+settings.nas.lon0          = environment.lon0;
+settings.nas.z0            = -environment.z0;
 settings.nas.spheroid      = wgs84Ellipsoid;
 
 % Process noise covariance matrix for the linear dynamics
@@ -135,7 +135,7 @@ settings.ada.P0          =   [  0.1    0      0;                            % In
                                 0      0.1     0;                            % state covariance matrix 
                                 0      0      0.1;];
 [settings.ada.temp_ref, ~,...
- settings.ada.p_ref, ~]  =   atmosisa(settings.z0);                                  % Reference temperature in kelvin and pressure in Pa 
+ settings.ada.p_ref, ~]  =   atmosisa(environment.z0);                                  % Reference temperature in kelvin and pressure in Pa 
 
 settings.ada.v0          =   -10;                                         % Vertical velocity initial condition
 settings.ada.a0          =   -100;                                         % Acceleration velocity initial condition
@@ -153,10 +153,10 @@ settings.ada.flag_apo    =   false;                                        % Tru
 settings.ada.shadowmode = 10;
 
 %% MEA TUNING PARAMETERS / MOTOR SHUT DOWN TUNING PARAMETERS
-settings.mea.engine_model_A1     = [1.850256474259625, -0.850256474275721, 0; 1.000000000000000, 0, 0; -7.901993537244965e-04 ,  7.901993537244965e-04, 1];
+settings.mea.engine_model_A1     = [1.62583090191848 -0.680722129751093	0; 1 0 0; -0.00102053146869855 0.000494919888520664 1];
 settings.mea.engine_model_B1     = [2;0;0];
-settings.mea.engine_model_C1     = [0.944030389140057, -0.945656895768324 ,0];
-settings.mea.K_t = 104.2;
+settings.mea.engine_model_C1     = [1.00196621875211 -0.485916431287183 0];
+settings.mea.K_t = 105.2;
 
 % covariance matrices
 settings.mea.Q                   = eye(3);                      % model noise covariance matrix    
diff --git a/data/Lyra_Roccaraso_September_2024/initSensorsLyra_Roccaraso_September_2024.m b/data/2024_Lyra_Roccaraso_September/initSensorsLyra_Roccaraso_September_2024.m
similarity index 98%
rename from data/Lyra_Roccaraso_September_2024/initSensorsLyra_Roccaraso_September_2024.m
rename to data/2024_Lyra_Roccaraso_September/initSensorsLyra_Roccaraso_September_2024.m
index 2d4fd749c57f28028e4391741870362c5cc2f282..da8926581abb876e3c55a1846b7d35d75862b87a 100644
--- a/data/Lyra_Roccaraso_September_2024/initSensorsLyra_Roccaraso_September_2024.m
+++ b/data/2024_Lyra_Roccaraso_September/initSensorsLyra_Roccaraso_September_2024.m
@@ -134,9 +134,9 @@ sensorSettings.magnetometer.transMatrix          =   diag([1 1 1]);          % a
 sensorSettings.GPS = GPS();                                      % lon, in degree lat in deree, alt in m
 sensorSettings.GPS.noiseVariance          =  [2e-9*ones(2,1);5;0.0011*ones(3,1)]; % [deg; deg; m; m/s; m/s; m/s]^2
 sensorSettings.GPS.transMatrix            =   diag([1 1 1]);          % axis transformation
-sensorSettings.lat0                       =   settings.lat0;
-sensorSettings.lon0                       =   settings.lon0;
-sensorSettings.z0                         =   settings.z0;
+sensorSettings.lat0                       =   environment.lat0;
+sensorSettings.lon0                       =   environment.lon0;
+sensorSettings.z0                         =   environment.z0;
 sensorSettings.spheroid                   =   wgs84Ellipsoid;
 
 %% initial chamber pressure sensor NAT825281
diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index 9d2aa051f2ef293f20fb8972fbe278afb6fc8986..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-ABK_FREQUENCY,REFERENCE_DZ,STARTING_FILTER_VALUE,CHANGE_FILTER_MINIMUM_ALTITUDE,CHANGE_FILTER_MAXIMUM_ALTITUDE,ABK_CRITICAL_ALTITUDE,ABK_REFERENCE_LOWEST_MASS,DELTA_MASS,ESTIMATED_MASS,N_FORWARD,ABK_DELAY_FROM_SHUTDOWN
-10,10,0.9,1000,3000,2990,26,0.4,28.504918688224,0,0.5
diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index fb172bb10f13ab1183f86cd1278cf46a65f752c4..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Portugal_October_2023.csv
+++ /dev/null
@@ -1,10468 +0,0 @@
-ABK
-0.662643888531034
-0.694038399280397
-0.708846704237871
-0.739884518712291
-0.75522344098566
-0.787605513453206
-0.804510471674133
-0.839435882396657
-0.854152958311713
-0.889845260110717
-0.926986718700358
-0.9438055256115
-0.979441347050942
-0.993562427588679
-0.99930634701924
-0.99992360540037
-0.999991409286141
-0.999999012227781
-0.99999988393272
-0.999999986077884
-0.999999998294218
-0.999999999786746
-0.999999999972827
-0.999999999996476
-0.999999999999535
-0.999999999999937
-0.999999999999991
-0.999999999999999
-1
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diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index 884dc978a7239a3442b3c1fab1e22e0bbb93ae28..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv
+++ /dev/null
@@ -1,302 +0,0 @@
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-1750,168.063764499078,167.879554206843,167.701148737858,167.528146786912,167.36042392504,167.197747528185,167.039893642019,166.886651344555,166.737821813749,166.593217473833,166.452661212771,190.011428097218,189.407417303433,188.825212093178,188.263183532489,187.720323218041,187.195807540446,186.688852170404,186.198336877204,185.723489081294,185.263587252192,184.818175277385
-1760,167.293498806744,167.111614131452,166.935458415675,166.764765718723,166.599271398437,166.438640191411,166.282768832897,166.131449225666,165.984485205846,165.84169170131,165.702893960156,188.891953176176,188.298062371199,187.725581568693,187.172940410045,186.639107449743,186.123164179032,185.62455823951,185.142089145986,184.674999812504,184.22257834641,183.784294171116
-1770,166.521487795767,166.34191476266,166.167995325343,165.999467153305,165.836083865085,165.677613836988,165.52383193051,165.374423701256,165.229314247626,165.088320983845,164.951271501907,187.774870383385,187.191030802736,186.628058181715,186.08467282563,185.559741718621,185.052358205946,184.561884693882,184.0873536432,183.627919313434,183.182884088986,182.751634024235
-1780,165.747705604384,165.570430283399,165.398733692557,165.232357085834,165.071057442012,164.914606290587,164.762788641066,164.615402005244,164.472255503174,164.333079993209,164.197768540106,186.660081537517,186.086149070392,185.532550292897,184.998291587248,184.482139163723,183.983204984588,183.500749823105,183.034050602341,182.582169671262,182.144423437366,181.720168609434
-1790,164.972080733082,164.797134567163,164.627647433495,164.463409473346,164.30418100186,164.149736679401,163.999864456367,163.854364609601,163.713048861259,163.575739572046,163.442269001612,185.547489540483,184.983322842924,184.438967190454,183.913708387371,183.406213765911,182.915613568121,182.441092124742,181.982100942149,181.537673623624,181.107120862674,180.689812288416
-1800,164.194399148115,164.021816777897,163.854662367914,163.692597958339,163.535428226177,163.382978722402,163.235040317509,163.091416033914,162.951920177622,162.816377543151,162.684622684623,184.436998356994,183.882458800182,183.347316657309,182.830835784199,182.331880328657,181.849500894911,181.382898598308,180.931426249375,180.494354541248,180.070901435236,179.66044924951
-1810,163.414856083536,163.244527411786,163.079553375224,162.919685838993,162.764691737369,162.614305818787,162.468289659485,162.326529747521,162.18884295457,162.055056491904,161.925007192098,183.328512992838,182.783464610757,182.257440514159,181.749587181951,181.259054458001,180.784784663588,180.325995390523,179.881952264116,179.452136409997,179.035690806653,178.632006730962
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-1850,160.276961344482,160.115645042362,159.959392392691,159.807969061943,159.661154930748,159.518650129482,159.380323420431,159.246023101928,159.115576157201,158.988819327081,158.865598432802,178.912876309929,178.404373035445,177.913575753458,177.439490660505,176.981291691348,176.538263557143,176.109703487055,175.69480994722,175.29294821838,174.903521457037,174.526004794586
-1860,159.487352451706,159.328218769358,159.174077919573,159.024698948165,158.879864904239,158.73937179666,158.603027642284,158.470651596697,158.341981733516,158.216927007504,158.095359284961,177.813165516071,177.313376070553,176.831085878528,176.365184304181,175.91486278596,175.479363769597,175.058070874361,174.650229072231,174.255173153992,173.872318583998,173.501115239535
-1870,158.695700675387,158.53873604667,158.386693913255,158.239346675455,158.096480527657,157.957894430793,157.823399175132,157.692816524291,157.565978432388,157.442726327146,157.322910452589,176.714900564586,176.223810878003,175.749815939547,175.291987966354,174.849439065793,174.421427705209,174.007260613263,173.606379656859,173.218042569694,172.841676899671,172.476743847208
-1880,157.901720616709,157.747046321975,157.597210803919,157.451882714642,157.310972310723,157.174281483588,157.041623776734,156.912823542905,156.787715173247,156.666142391393,156.547957606193,175.617992382794,175.135518140618,174.669686983332,174.219819761737,173.784940586438,173.364318661386,172.957273278608,172.563187437423,172.181483739586,171.8115251387,171.452783953506
-1890,157.105519268063,156.952984241906,156.805229841621,156.662035140382,156.523192595656,156.388503129619,156.257671657196,156.130642896707,156.007253658688,155.887349946125,155.770786317144,174.522352762002,174.048376618935,173.590716357941,173.148598491027,172.721288044253,172.307959128872,171.907945437882,171.520621497372,171.145424407669,170.781792472125,170.429166085466
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-1920,154.703483224839,154.557416650126,154.415922921581,154.278790922891,154.145744978267,154.016632695386,153.891324261923,153.769654241633,153.651466641418,153.536614247997,153.424958019643,171.242235376914,170.793011683607,170.35921469624,169.940019947379,169.534711685655,169.142619283827,168.763155936466,168.39567047863,168.03960330826,167.694435952139,167.359680378797
-1930,153.89808575136,153.754102012342,153.614623793633,153.479443181285,153.348364840947,153.22120508215,153.097791004735,152.977959719172,152.861458193193,152.74823186829,152.638155124884,170.15090643089,169.709650613285,169.283578645068,168.871839298533,168.473712703709,168.088542697927,167.715713881046,167.354671149829,167.004829928339,166.665678587122,166.336739340616
-1940,153.090401455257,152.948487268968,152.811011747412,152.67777015486,152.548570137481,152.423230802707,152.301581879404,152.183462950703,152.068722752288,151.957218529703,151.848815449002,169.060400475654,168.627087534098,168.208576248062,167.804192750189,167.413155296663,167.034819310001,166.668582634656,166.313879971939,165.970184577777,165.636975283328,165.31378142889
-1950,152.280087885851,152.140359660956,152.005000931991,151.873739038617,151.746405439504,151.622875024949,151.502980133226,151.386562801754,151.273474076715,151.163573380709,151.056727932878,167.9706333759,167.545158183061,167.134187663271,166.737002223853,166.352963047292,165.981374273152,165.621646744611,165.273227305364,164.935596157115,164.608257008322,164.290738799321
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-1970,150.652044175097,150.516383010107,150.384960134497,150.257580255098,150.134059878806,150.01422643591,149.897917480305,149.784979958864,149.675269543101,149.568650017007,149.464992715667,165.79298977618,165.382875141106,164.98669303105,164.603746993282,164.233391851482,163.875023027652,163.528069491258,163.191983715932,162.866266920333,162.550450918036,162.244094930694
-1980,149.834109418323,149.700589632649,149.57124041917,149.445770622936,149.324078400722,149.206016883473,149.091426173304,148.980155614003,148.872063133736,148.767014642972,148.664883482326,164.705000214645,164.30236536343,163.91342916273,163.537466894326,163.173842348616,162.82196422019,162.48127784464,162.151250534376,161.831381939927,161.52121932179,161.220331329289
-1990,149.013471914356,148.881949787186,148.754533875081,148.631035081752,148.511275730857,148.39508871791,148.282316736548,148.172777074918,148.066292236779,147.962804812621,147.862190133666,163.617399304431,163.222195645432,162.840387580692,162.471315868705,162.114337106978,161.768868610692,161.434367871891,161.110325488039,160.796257301571,160.491679949716,160.196194585778
-2000,148.190311224522,148.060773715051,147.935278523036,147.813639581047,147.695682053642,147.581241503595,147.4701631312,147.362301079301,147.25751779753,147.15568345995,147.056675430956,162.530105500651,162.142236964217,161.767489743081,161.405215889623,161.054801398575,160.715662863601,160.387271536359,160.069129163946,159.760767437266,159.461745815048,159.171617585945
-2010,147.364252189324,147.23681120013,147.113346278167,146.993647022485,146.877479624742,146.764774235666,146.655378543097,146.549149029904,146.445950348983,146.345654750718,146.248141557878,161.4430377559,161.062409998055,160.69463366266,160.339075352706,159.995142022085,159.66227393177,159.339917073519,159.027602941595,158.724873467251,158.431297695513,158.14646984128
-2020,146.535383279066,146.409897777274,146.288325452034,146.170486289793,146.056211137843,145.94534089845,145.837725793591,145.733224693201,145.631694684321,145.532927941512,145.436900007296,160.356121815525,159.982635842776,159.62174201671,159.272814889976,158.935274713262,158.608578090986,158.292215230168,157.985676466675,157.688511580146,157.400316749897,157.1206950169
-2030,145.703863786175,145.580320852129,145.460628658026,145.344610145469,145.232098933755,145.122938527948,145.016981596303,144.914089310072,144.81413073952,144.716982300626,144.622527247612,159.2692565601,158.902821053688,158.5487342576,158.206358972611,157.87513272378,157.554527852596,157.244045923679,156.943218845248,156.651606632146,156.368734921188,156.094257982536
-2040,144.869143927633,144.747652426745,144.629946895004,144.515853279567,144.405208023058,144.297787439618,144.193477848436,144.092183894461,143.993776798312,143.898135002593,143.80514367317,158.182354078541,157.822878454364,157.475493937166,157.139606146026,156.814642130798,156.500054501047,156.195382174117,155.900167480302,155.61398018234,155.336415481238,155.067091728417
-2050,144.031606027675,143.912028131551,143.796174767656,143.683874788175,143.574967360873,143.46930120438,143.366733890421,143.267131206262,143.170366571422,143.076320503308,142.984880127093,157.095334648252,156.74273093052,156.401964751756,156.07245530354,155.753658689766,155.445065091192,155.146152651484,154.856483100845,154.575656235319,154.303276223903,154.038970284744
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diff --git a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index 70bf86cd8b292d044b69c5f09b890c5bc572b805..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
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diff --git a/data/Gemini_Portugal_October_2023/Trajectories.mat b/data/Gemini_Portugal_October_2023/Trajectories.mat
deleted file mode 100644
index 4f1f675556cc16344ee874bded115e13fac955f4..0000000000000000000000000000000000000000
Binary files a/data/Gemini_Portugal_October_2023/Trajectories.mat and /dev/null differ
diff --git a/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index 62dfad8f2fcf6cf373b9f94dbc785958c2440158..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Portugal_October_2023.csv
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv b/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv
deleted file mode 100644
index c1bd8d271e82315874d6a5937cc8933cc1808244..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Portugal_October_2023.csv
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deleted file mode 100644
index df0fab45871e665463e8b14d836cacc499919fad..0000000000000000000000000000000000000000
--- a/data/Gemini_Portugal_October_2023/data/Gemini_Portugal_October_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Portugal_October_2023.csv
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diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 2d967ad4e49ac06509527e974e51d4e4d9fb1a77..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_configABK_Gemini_Roccaraso_September_2023.csv
+++ /dev/null
@@ -1,2 +0,0 @@
-ABK_FREQUENCY,REFERENCE_DZ,STARTING_FILTER_VALUE,CHANGE_FILTER_MINIMUM_ALTITUDE,CHANGE_FILTER_MAXIMUM_ALTITUDE,ABK_CRITICAL_ALTITUDE,ABK_REFERENCE_LOWEST_MASS,DELTA_MASS,ESTIMATED_MASS,N_FORWARD,ABK_DELAY_FROM_SHUTDOWN
-10,10,0.75,400,1000,970,26,0.1,26.6127654803445,0,0.5
diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 70a327b1e8d9b08432369414f89f470e177c5181..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_outputABK_Gemini_Roccaraso_September_2023.csv
+++ /dev/null
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diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 0597c98901447a432abcb00fa74e7587811b806a..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_references_Gemini_Roccaraso_September_2023.csv
+++ /dev/null
@@ -1,107 +0,0 @@
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diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 76de407a2ec89e16842f67f0640ffb348d8ad618..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ABK/ABK_trajectories_Gemini_Roccaraso_September_2023.csv
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diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ADA/ADA_configADA_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ADA/ADA_configADA_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 3af7bb320805d1da0a0a8a28692492a8bbc35e2d..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_ADA/ADA_configADA_Gemini_Roccaraso_September_2023.csv
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_MTR/MTR_CDcoeffShutDown_Gemini_Roccaraso_September_2023.csv b/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_MTR/MTR_CDcoeffShutDown_Gemini_Roccaraso_September_2023.csv
deleted file mode 100644
index 63daa990fa28ef7b3c6d95f64aa490482dcdda62..0000000000000000000000000000000000000000
--- a/data/Gemini_Roccaraso_September_2023/HIL_CPP_files_MTR/MTR_CDcoeffShutDown_Gemini_Roccaraso_September_2023.csv
+++ /dev/null
@@ -1,2 +0,0 @@
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+++ /dev/null
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+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp10.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp10.csv
deleted file mode 100644
index 23c64184de6588387433606c0a0becc6ded62d5b..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp10.csv
+++ /dev/null
@@ -1,301 +0,0 @@
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp11.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp11.csv
deleted file mode 100644
index 9f5b504187361421ec31b51f751a9f479905f2d0..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp11.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp2.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp2.csv
deleted file mode 100644
index 71b9d9ee7634b0996e29a1ce3ae25f1992c1a492..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp2.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp3.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp3.csv
deleted file mode 100644
index 47153931101ba1c83eaa55a708d103c56940088c..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp3.csv
+++ /dev/null
@@ -1,301 +0,0 @@
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp4.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp4.csv
deleted file mode 100644
index 549937fd3cb202c9ae1dda4539a258e68ade50ec..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp4.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp5.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp5.csv
deleted file mode 100644
index 7c3819d59036a70edddc022aa7f841d2feb9b7cf..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp5.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp6.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp6.csv
deleted file mode 100644
index a9209a9581c8a102fdf1a78a38ed8a6e69b40360..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp6.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp7.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp7.csv
deleted file mode 100644
index a679118bb0e2ee5f70947d0ab9fdb6d65ae086c5..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp7.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp8.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp8.csv
deleted file mode 100644
index 765d8bb7f75fc5f1a0489a91a492f588a590863e..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp8.csv
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp9.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp9.csv
deleted file mode 100644
index c7bd86f40668a2a963f1449b59a60492f18502a6..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterp9.csv
+++ /dev/null
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deleted file mode 100644
index 42623accbdfa535b0646ec0c60f0cfcc1d3f23f9..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterpHeights.csv
+++ /dev/null
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diff --git a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterpVelocities.csv b/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterpVelocities.csv
deleted file mode 100644
index 949eadcd85f941fb498654a016332aaf8bb4c2f3..0000000000000000000000000000000000000000
--- a/data/Pyxis_Portugal_October_2022/Trajectories_CSV/referenceInterpVelocities.csv
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deleted file mode 100644
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--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp1.csv
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deleted file mode 100644
index 03e7c59620c663604b278ef19e013de6485b434b..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp10.csv
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--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp11.csv
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deleted file mode 100644
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--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp2.csv
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deleted file mode 100644
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--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp3.csv
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deleted file mode 100644
index 820dd8270b0adadefc6f89191698e528a3f81910..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp4.csv
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deleted file mode 100644
index 587b905bf83e089b730ca14dc93880143d171d39..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp5.csv
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diff --git a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp6.csv b/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp6.csv
deleted file mode 100644
index 0519c7bccf2b351ffab84f7a2970548119ef7d18..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp6.csv
+++ /dev/null
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diff --git a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp7.csv b/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp7.csv
deleted file mode 100644
index f3354e0139bd8f2e79c9d6d09975832369e5da8e..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp7.csv
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-100,156.39
-110,155.07
-120,153.75
-130,152.43
-140,151.11
-150,149.8
-160,148.48
-170,147.17
-180,145.86
-190,144.55
-200,143.23
-210,141.92
-220,140.61
-230,139.3
-240,137.99
-250,136.68
-260,135.37
-270,134.06
-280,132.75
-290,131.44
-300,130.13
-310,128.81
-320,127.5
-330,126.18
-340,124.86
-350,123.54
-360,122.22
-370,120.89
-380,119.56
-390,118.23
-400,116.9
-410,115.56
-420,114.22
-430,112.88
-440,111.53
-450,110.17
-460,108.82
-470,107.45
-480,106.09
-490,104.71
-500,103.33
-510,101.95
-520,100.56
-530,99.158
-540,97.75
-550,96.335
-560,94.912
-570,93.479
-580,92.036
-590,90.584
-600,89.12
-610,87.645
-620,86.157
-630,84.657
-640,83.142
-650,81.613
-660,80.068
-670,78.505
-680,76.925
-690,75.326
-700,73.705
-710,72.062
-720,70.395
-730,68.702
-740,66.981
-750,65.229
-760,63.445
-770,61.623
-780,59.762
-790,57.857
-800,55.904
-810,53.897
-820,51.829
-830,49.694
-840,47.481
-850,45.178
-860,42.772
-870,40.244
-880,37.568
-890,34.71
-900,31.622
-910,28.226
-920,24.394
-930,19.876
-940,14.025
-950,0
diff --git a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp8.csv b/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp8.csv
deleted file mode 100644
index 9116c55adc2caf7a5dae4686b27707e4c53a28cb..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp8.csv
+++ /dev/null
@@ -1,96 +0,0 @@
-0,174.44
-10,172.99
-20,171.54
-30,170.09
-40,168.65
-50,167.22
-60,165.79
-70,164.36
-80,162.94
-90,161.52
-100,160.11
-110,158.7
-120,157.29
-130,155.89
-140,154.49
-150,153.09
-160,151.69
-170,150.3
-180,148.91
-190,147.52
-200,146.13
-210,144.75
-220,143.37
-230,141.98
-240,140.6
-250,139.22
-260,137.84
-270,136.47
-280,135.09
-290,133.71
-300,132.33
-310,130.96
-320,129.58
-330,128.2
-340,126.82
-350,125.44
-360,124.06
-370,122.68
-380,121.29
-390,119.91
-400,118.52
-410,117.13
-420,115.74
-430,114.34
-440,112.94
-450,111.54
-460,110.14
-470,108.73
-480,107.31
-490,105.89
-500,104.47
-510,103.04
-520,101.6
-530,100.16
-540,98.713
-550,97.258
-560,95.794
-570,94.323
-580,92.842
-590,91.353
-600,89.853
-610,88.342
-620,86.82
-630,85.286
-640,83.738
-650,82.177
-660,80.6
-670,79.007
-680,77.397
-690,75.769
-700,74.12
-710,72.45
-720,70.756
-730,69.038
-740,67.292
-750,65.516
-760,63.708
-770,61.864
-780,59.982
-790,58.057
-800,56.084
-810,54.058
-820,51.972
-830,49.819
-840,47.59
-850,45.272
-860,42.852
-870,40.31
-880,37.622
-890,34.753
-900,31.653
-910,28.249
-920,24.408
-930,19.884
-940,14.027
-950,0
diff --git a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp9.csv b/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp9.csv
deleted file mode 100644
index 7df13ed356837b81abc6c913fb0adea0df5fef9b..0000000000000000000000000000000000000000
--- a/data/Pyxis_Roccaraso_September_2022/Trajectories_CSV/referenceInterp9.csv
+++ /dev/null
@@ -1,96 +0,0 @@
-0,179.7
-10,178.12
-20,176.55
-30,174.99
-40,173.43
-50,171.89
-60,170.35
-70,168.81
-80,167.28
-90,165.76
-100,164.24
-110,162.73
-120,161.22
-130,159.72
-140,158.22
-150,156.73
-160,155.24
-170,153.76
-180,152.28
-190,150.81
-200,149.33
-210,147.86
-220,146.4
-230,144.93
-240,143.47
-250,142.02
-260,140.56
-270,139.11
-280,137.65
-290,136.2
-300,134.75
-310,133.31
-320,131.86
-330,130.41
-340,128.97
-350,127.52
-360,126.08
-370,124.63
-380,123.19
-390,121.74
-400,120.29
-410,118.84
-420,117.39
-430,115.94
-440,114.49
-450,113.03
-460,111.57
-470,110.11
-480,108.64
-490,107.18
-500,105.7
-510,104.22
-520,102.74
-530,101.25
-540,99.76
-550,98.26
-560,96.753
-570,95.239
-580,93.717
-590,92.186
-600,90.647
-610,89.098
-620,87.537
-630,85.966
-640,84.383
-650,82.786
-660,81.175
-670,79.55
-680,77.907
-690,76.247
-700,74.568
-710,72.868
-720,71.146
-730,69.4
-740,67.627
-750,65.826
-760,63.992
-770,62.125
-780,60.219
-790,58.272
-800,56.277
-810,54.231
-820,52.126
-830,49.955
-840,47.708
-850,45.373
-860,42.938
-870,40.381
-880,37.679
-890,34.798
-900,31.687
-910,28.273
-920,24.424
-930,19.892
-940,14.03
-950,0
diff --git a/simulator/configs/configControl.m b/simulator/configs/configControl.m
index 7662ce90d74c8f3a01ce979ff4aeacfc94bc7188..c34c9b2b06c054aaa49fb64550877f41f9852682 100644
--- a/simulator/configs/configControl.m
+++ b/simulator/configs/configControl.m
@@ -11,7 +11,7 @@ All the parameters are stored in the "contSetting" structure.
  %}
 
 %% LOAD CD COEFFICIENTS
-data = load(strcat(dataPath, '/CAinterpCoeffs'));
+data = load(strcat(mission.dataPath, '/CAinterpCoeffs'));
 contSettings.coeff_Cd = data.coeffs;
 
 %% CONTROL PARAMETERS
@@ -41,8 +41,8 @@ contSettings.alpha_degree_prec   =   0;
 contSettings.iteration_flag      =   1;
 contSettings.saturation          =   false;
 
-contSettings.g  = settings.g0;
-contSettings.D  = settings.C; 
+contSettings.g  = environment.g0;
+contSettings.D  = rocket.diameter; 
 contSettings.S0 = (pi*contSettings.D^2)/4; 
 
 % Parameters for the function get extension from angle
@@ -56,7 +56,7 @@ contSettings.filter_coeff = 0.5;                                            % se
 
 % delay from motor shutdown to air brakes opening:
 contSettings.ABK_shutdown_delay = 0.5; % [s] time between engine shutdown command and ABK phase
-if contains(settings.mission, "Roccaraso")
+if contains(mission.name, "Roccaraso")
     contSettings.ABK_shadowmode = 1.5; % [s]
 else
     contSettings.ABK_shadowmode = 3.8; % [s]
@@ -116,4 +116,8 @@ contSettings.WES.N = 0;
 contSettings.WES.state = 1;
  
 %% MEA and shutdown
-contSettings.N_prediction_threshold = 5;
\ No newline at end of file
+contSettings.N_prediction_threshold = 5;
+
+%% Identification settings for algorithms
+rocket.airbrakes.identification = settings.identification;
+rocket.parachutes(2,2).controlParams.identification = settings.identification;
\ No newline at end of file
diff --git a/simulator/configs/configControlParams.m b/simulator/configs/configControlParams.m
index ba75191fc7ef6303a302f303b222730e834dc543..760c18aae6cb1bce1c7d48139d42b0faa432fef9 100644
--- a/simulator/configs/configControlParams.m
+++ b/simulator/configs/configControlParams.m
@@ -5,9 +5,9 @@
 %}
 
 % Possible range of values for the control variable
-switch settings.mission
+switch mission.name
 
-    case 'Lynx_Portugal_October_2021'
+    case '2021_Lynx_Portugal_October'
 
         contSettings.delta_S_available = (0.0:0.001/4:0.01017)';
         contSettings.filter_coeff0 = 0.9; % starting value, then linear decrease until max Altitude
@@ -19,11 +19,11 @@ switch settings.mission
         settings.stopPitotAltitude = 2800;
         settings.CD_correction = 1; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
 
-    case 'Lynx_Roccaraso_September_2021'
+    case '2021_Lynx_Roccaraso_September'
 
         contSettings.delta_S_available = (0.0:0.001/4:0.01017)';
     
-    case 'Pyxis_Portugal_October_2022'
+    case '2022_Pyxis_Portugal_October'
         % only for PID 
         contSettings.delta_S_available = (0.0:0.001/4:settings.arb.surfPol*settings.servo.maxAngle)'; 
         
@@ -41,7 +41,7 @@ switch settings.mission
         settings.stopPitotAltitude = 2800;
         settings.CD_correction = 1; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
 
-    case 'Pyxis_Roccaraso_September_2022'
+    case '2022_Pyxis_Roccaraso_September'
     
         contSettings.delta_S_available = (0.0:0.001/4:settings.arb.surfPol*settings.servo.maxAngle)'; 
         
@@ -64,7 +64,7 @@ switch settings.mission
         settings.stopPitotAltitude = 800;
         settings.CD_correction = 1; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
 
-    case 'Gemini_Portugal_October_2023' 
+    case '2023_Gemini_Portugal_October' 
      
         contSettings.traj_choice = 1; % if 1 performs trajectory choice, if zero it doesn't
         N_mass = 11;     % number of references to generate
@@ -98,7 +98,7 @@ switch settings.mission
         settings.CD_correction = 1; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
         
 
-    case 'Gemini_Roccaraso_September_2023' 
+    case '2023_Gemini_Roccaraso_September' 
      
         contSettings.traj_choice = 1; % if 1 performs trajectory choice, if zero it doesn't
         N_mass = 11;     % number of references to generate
@@ -131,7 +131,7 @@ switch settings.mission
 
         settings.CD_correction = 0.80; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
     
-    case 'Lyra_Portugal_October_2024' 
+    case '2024_Lyra_Portugal_October' 
 
         contSettings.traj_choice = 1; % if 1 performs trajectory choice, if zero it doesn't
         N_mass = 11;     % number of references to generate
@@ -165,7 +165,7 @@ switch settings.mission
         settings.CD_correction = 1; % set to 1 if you want to use CD from DATCOM in the simulation (and also in the accelerometer ascent), otherwise multiplies CD (only CD, not the others) for it
         
 
-    case 'Lyra_Roccaraso_September_2024' 
+    case '2024_Lyra_Roccaraso_September' 
      
         contSettings.traj_choice = 1; % if 1 performs trajectory choice, if zero it doesn't
         N_mass = 11;     % number of references to generate
diff --git a/simulator/configs/configFlags.m b/simulator/configs/configFlags.m
index f9876bef89a08a603c53f3e19d3a96a276f5aced..1f0f3bb519739cc1a4bc3c64decfc2371175b91e 100644
--- a/simulator/configs/configFlags.m
+++ b/simulator/configs/configFlags.m
@@ -27,7 +27,7 @@ scenarios explanation:
 
 
 % scenario configuration
-conf.scenario = "controlled ascent";
+conf.scenario = "full flight";
 conf.board = "main";            % Either "main" or "payload"
 conf.HIL = false;
 
@@ -177,7 +177,7 @@ settings.scenario = conf.scenario;
 
 %% %% uncomment when the MSA toolkit is updated
 
-% if settings.mission == 'NewRocket_2023' 
+% if mission.name == 'NewRocket_2023' 
 %     settings.HRE = true;
 % else
 %     settings.HRE = false;
diff --git a/simulator/configs/configMission.m b/simulator/configs/configMission.m
index d3f2a7b59f17823af6406cbb0eee85af869847b4..d4ae76b5624ea576dff695dd27635265bbcbdd3c 100644
--- a/simulator/configs/configMission.m
+++ b/simulator/configs/configMission.m
@@ -14,12 +14,12 @@ switch conf.year
         switch conf.flight
             
             case "roccaraso"
-                settings.mission = 'Lynx_Roccaraso_September_2021';
-                settings.missionMSA = '2021_Lynx_Roccaraso_September';
+                mission.name = 'Lynx_Roccaraso_September_2021';
+                mission.nameMSA = '2021_Lynx_Roccaraso_September';
 
             case "pds"
-                settings.mission = 'Lynx_Portugal_October_2021';
-                settings.missionMSA = '2021_Lynx_Portugal_October';
+                mission.name = 'Lynx_Portugal_October_2021';
+                mission.nameMSA = '2021_Lynx_Portugal_October';
         end
 
     case 2022
@@ -27,12 +27,12 @@ switch conf.year
         switch conf.flight
 
             case "roccaraso"
-                settings.mission = 'Pyxis_Roccaraso_September_2022';
-                settings.missionMSA = '2022_Pyxis_Roccaraso_September';
+                mission.name = 'Pyxis_Roccaraso_September_2022';
+                mission.nameMSA = '2022_Pyxis_Roccaraso_September';
 
             case "pds"
-                settings.mission = 'Pyxis_Portugal_October_2022';
-                settings.missionMSA = '2022_Pyxis_Portugal_October';
+                mission.name = 'Pyxis_Portugal_October_2022';
+                mission.nameMSA = '2022_Pyxis_Portugal_October';
                 
         end
 
@@ -41,12 +41,12 @@ switch conf.year
         switch conf.flight
             
             case "roccaraso"
-                settings.mission = 'Gemini_Roccaraso_September_2023';
-                settings.missionMSA = '2023_Gemini_Roccaraso_September';
+                mission.name = 'Gemini_Roccaraso_September_2023';
+                mission.nameMSA = '2023_Gemini_Roccaraso_September';
             
             case "pds"
-                settings.mission = 'Gemini_Portugal_October_2023';
-                settings.missionMSA = '2023_Gemini_Portugal_October';
+                mission.name = 'Gemini_Portugal_October_2023';
+                mission.nameMSA = '2023_Gemini_Portugal_October';
 
         end
         
@@ -55,12 +55,12 @@ switch conf.year
         switch conf.flight
             
             case "roccaraso"
-                settings.mission = 'Lyra_Roccaraso_September_2024';
-                settings.missionMSA = '2024_Lyra_Roccaraso_September';
+                mission.name = 'Lyra_Roccaraso_September_2024';
+                mission.nameMSA = '2024_Lyra_Roccaraso_September';
             
             case "pds"
-                settings.mission = 'Lyra_Portugal_October_2024';
-                settings.missionMSA = '2024_Lyra_Portugal_October';
+                mission.name = 'Lyra_Portugal_October_2024';
+                mission.nameMSA = '2024_Lyra_Portugal_October';
 
         end
 end
diff --git a/simulator/configs/configMontecarlo.m b/simulator/configs/configMontecarlo.m
index 088998c2ec41603ca110d14d4d6cdbca9756eab3..5c63b169552e3f3ca29a9a7dc9bbfd9076c4a6e9 100644
--- a/simulator/configs/configMontecarlo.m
+++ b/simulator/configs/configMontecarlo.m
@@ -14,7 +14,7 @@ if settings.montecarlo
 
 %% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% settable parameters %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 % how many simulations
-N_sim = 10; % set to at least 500
+N_sim = 16; % set to at least 500
 simulationType_thrust = "gaussian";  % "gaussian", "exterme"
 displayIter = true; % set to false if you don't want to see the iteration number (maybe if you want to run Montecarlos on hpe)
 
@@ -35,7 +35,7 @@ displayIter = true; % set to false if you don't want to see the iteration number
             mu_t = 1;                         % thrust_percentage mean value
 
             thrust_percentage = normrnd(mu_t,sigma_t,N_sim,1);       %generate normally distributed values ( [0.8 1.20] = 3sigma) % serve il toolbox
-            stoch.thrust = thrust_percentage*settings.motor.expThrust;                  % thrust - the notation used creates a matrix where each row is the expThrust multiplied by one coefficient in the thrust percentage array
+            stoch.thrust = thrust_percentage*rocket.motor.thrust;                  % thrust - the notation used creates a matrix where each row is the expThrust multiplied by one coefficient in the thrust percentage array
 
             
             %%% in questo modo però il burning time rimane fissato perchè è
@@ -49,10 +49,32 @@ displayIter = true; % set to false if you don't want to see the iteration number
             stoch.delta_Kt = normrnd(mu_Kt, sigma_Kt, N_sim, 1);
 
             impulse_uncertainty = normrnd(1,0.05/3,N_sim,1);
-            stoch.expThrust = diag(impulse_uncertainty)*((1./thrust_percentage) * settings.motor.expTime);          % burning time - same notation as thrust here
+            stoch.expTime = diag(impulse_uncertainty)*((1./thrust_percentage) * rocket.motor.time);          % burning time - same notation as thrust here
+            
+            for ii = 1:N_sim
+                if stoch.expTime(ii, end) <= rocket.motor.time(end)
+                    continue
+                end
+                expTime = stoch.expTime(ii, stoch.expTime(ii, :) <= rocket.motor.time(end));
+                time_diff = diff(expTime);
+                k = length(rocket.motor.time) - length(expTime);
+                [max_val, max_pos] = maxk(time_diff, k);
+                max_pos = sort(max_pos);
+
+                newTimes = expTime(max_pos) + (expTime(max_pos+1) - expTime(max_pos))/2;
+                padTime = paddata(expTime, length(expTime) + k);
+
+                for jj = 1:k
+                    padTime(max_pos(jj)+1:end) = [newTimes(jj) padTime(max_pos(jj)+1:end-1)];
+                    max_pos = max_pos+1;
+                end
+
+                stoch.expTime(ii, :) = padTime;
+            end
+            
             %%%
             for i =1:N_sim
-                stoch.State.xcgTime(:,i) =  settings.State.xcgTime/settings.tb .* stoch.expThrust(i,end);  % Xcg time
+                stoch.State.xcgTime(:,i) =  rocket.coefficients.state.xcgTime/rocket.motor.time(end) .* stoch.expTime(i,end);  % Xcg time
             end
 
             %%% Aero coefficients uncertainty
@@ -62,19 +84,53 @@ displayIter = true; % set to false if you don't want to see the iteration number
             stoch.aer_percentage = normrnd(mu_aer,sigma_aer,N_sim,1);
 
             %%% wind parameters
-            settings.wind.MagMin = 0;                                                % [m/s] Minimum Wind Magnitude
-            settings.wind.MagMax = 10;                                               % [m/s] Maximum Wind Magnitude
-            settings.wind.ElMin  = - deg2rad(5);
-            settings.wind.ElMax  = + deg2rad(5);
-            settings.wind.AzMin  = + deg2rad(0);
-            settings.wind.AzMax  = + deg2rad(360);
-
-            switch settings.windModel
-                case "constant"
-                    [stoch.wind.uw, stoch.wind.vw, stoch.wind.ww, stoch.wind.Az, stoch.wind.El ] = windConstGeneratorMontecarlo(settings.wind,N_sim,simulationType_thrust);
-                case "multiplicative"
-                    [stoch.wind.Mag,stoch.wind.Az,stoch.wind.unc] = windMultGeneratorMontecarlo(settings.wind,N_sim);
+            stoch.wind_params.altitudes = [0 3000];
+            stoch.wind_params.MagMin = [0 2];                                                % [m/s] Minimum Wind Magnitude
+            stoch.wind_params.MagMax = [10 4];                                               % [m/s] Maximum Wind Magnitude
+            stoch.wind_params.MagType = "u";
+            stoch.wind_params.ElMin  = - deg2rad([5 5]);
+            stoch.wind_params.ElMax  = + deg2rad([5 5]);
+            stoch.wind_params.ElType = "g";
+            stoch.wind_params.AzMin  = + deg2rad([0 0]);
+            stoch.wind_params.AzMax  = + deg2rad([360 360]);
+            stoch.wind_params.AzType = "u";
+
+            wind = WindCustom(mission);
+
+            wind.altitudes = stoch.wind_params.altitudes;
+            switch stoch.wind_params.MagType
+                case "u"
+                    wind.magnitudeDistribution = repmat("u", size(wind.altitudes));
+                    wind.magnitudeParameters = [stoch.wind_params.MagMin; stoch.wind_params.MagMax];
+                case "g"
+                    mu_Mag = (stoch.wind_params.MagMax + stoch.wind_params.MagMin) / 2;
+                    sigma_Mag = (stoch.wind_params.MagMax - mu_Mag)/3;
+                    wind.magnitudeDistribution = repmat("g", size(wind.altitudes));
+                    wind.magnitudeParameters = [mu_Mag; sigma_Mag];
             end
+            switch stoch.wind_params.ElType
+                case "u"
+                    wind.elevationDistribution = repmat("u", size(wind.altitudes));
+                    wind.elevationParameters = [stoch.wind_params.ElMin; stoch.wind_params.ElMax];
+                case "g"
+                    mu_El = (stoch.wind_params.ElMax + stoch.wind_params.ElMin) / 2;
+                    sigma_El = (stoch.wind_params.ElMax - mu_El)/3;
+                    wind.elevationDistribution = repmat("g", size(wind.altitudes));
+                    wind.elevationParameters = [mu_El; sigma_El];
+            end
+            switch stoch.wind_params.AzType
+                case "u"
+                    wind.azimuthDistribution = repmat("u", size(wind.altitudes));
+                    wind.azimuthParameters = [stoch.wind_params.AzMin; stoch.wind_params.AzMax];
+                case "g"
+                    mu_Az = (stoch.wind_params.AzMax + stoch.wind_params.AzMin) / 2;
+                    sigma_Az = (stoch.wind_params.AzMax - mu_Az)/3;
+                    wind.magnitudeDistribution = repmat("g", size(wind.altitudes));
+                    wind.magnitudeParameters = [mu_Az; sigma_Az];
+            end
+
+            wind.updateAll();
+            stoch.wind = wind;
 
             %%% mass offset distribution
             sigma_m = 1/3; % 1 [kg] of offset (uncertainty on refueling mass)
@@ -84,25 +140,72 @@ displayIter = true; % set to false if you don't want to see the iteration number
 
             % launch rail orientation
             sigma_om = 2/3 *pi/180; % 2 [deg] of offset (uncertainty on ramp elevation angle)
-            mu_om = settings.OMEGA;
+            mu_om = environment.omega;
             stoch.OMEGA_rail = normrnd(mu_om,sigma_om,N_sim,1);
 
             % launch rail orientation
             sigma_phi = 5/3 *pi/180; % 2 [deg]of offset (uncertainty on ramp azimuth angle)
-            mu_phi = settings.PHI;
+            mu_phi = environment.phi;
             stoch.PHI_rail = normrnd(mu_phi,sigma_phi,N_sim,1);
 
         case "extreme"
 
             thrust_percentage = [0.9;1.1]; % this is overwritten in the next step, but it sets the values to retrieve in the parameter generation
+            Az_vec = deg2rad([-180 -90 0 90]);
+            El_vec = deg2rad([-60 60]);
+
+            [A,B,C] = meshgrid(Az_vec,El_vec,thrust_percentage);
+            Az = [];
+            El = [];
+            thrust_percentage = [];
+            for i = 1:size(A,1)
+                for j = 1:size(A,2)
+                    for k = 1:size(A,3)
+                        Az = [Az; A(i,j,k)];
+                        El = [El; B(i,j,k)];
+                        thrust_percentage = [thrust_percentage; C(i,j,k)];
+                    end
+                end
+            end
 
-            %%% wind parameters
-            [stoch.wind.uw, stoch.wind.vw, stoch.wind.ww, stoch.wind.Az, stoch.wind.El ,thrust_percentage, N_sim] = windConstGeneratorMontecarlo(settings.wind,N_sim,simulationType_thrust,thrust_percentage);
+            N_sim = length(Az);
 
-            stoch.thrust = thrust_percentage*settings.motor.expThrust;                  % thrust - the notation used creates a matrix where each row is the expThrust multiplied by one coefficient in the thrust percentage array
-            %%%
-            stoch.expThrust = (1./thrust_percentage) * settings.motor.expTime;          % burning time - same notation as thrust here
+            wind = WindCustom(mission);
+            wind.altitudes = 0;
+            wind.magnitudeDistribution = "u";
+            wind.azimuthDistribution = "u";
+            wind.elevationDistribution = "u";
+            wind.magnitudeParameters = 5;
+
+            wind_vec = cell(N_sim, 1);
+
+            for ii = 1:N_sim
+                wind_vec{ii} = copy(wind);
+                wind_vec{ii}.azimuthParameters = Az(ii);
+                wind_vec{ii}.elevationParameters = El(ii);
+                wind_vec{ii}.updateAll();
+            end
+
+            stoch.thrust = thrust_percentage*rocket.motor.thrust;                  % thrust - the notation used creates a matrix where each row is the expThrust multiplied by one coefficient in the thrust percentage array
+            stoch.expTime = (1./thrust_percentage) * rocket.motor.time;          % burning time - same notation as thrust here
     
+            stoch.delta_Kt = zeros(N_sim, 1);
+
+            for i =1:N_sim
+                stoch.State.xcgTime(:,i) =  rocket.coefficients.state.xcgTime/rocket.motor.time(end) .* stoch.expTime(i,end);  % Xcg time
+            end
+
+            % aero coeffs
+            stoch.aer_percentage = zeros(N_sim,1);
+
+            % mass offset distribution
+            stoch.mass_offset = zeros(N_sim, 1);
+
+            % launch rail orientation
+            stoch.OMEGA_rail = ones(N_sim,1) .* environment.omega;
+
+            % launch rail orientation
+            stoch.PHI_rail = ones(N_sim,1) .* environment.phi;
             
     end
 
@@ -116,10 +219,10 @@ displayIter = true; % set to false if you don't want to see the iteration number
 else
 
     settings.mass_offset = 0;%2*(-0.5+rand(1)); % initialise to 0 the value of the mass offset, in order to not consider its uncertainty on the nominal simulations
-    % mass_flow_rate = diff(settings.motor.expM([end,1]))/settings.tb; % [kg/s]
+    % mass_flow_rate = diff(settings.motor.expM([end,1]))/rocket.motor.time(end); % [kg/s]
     % real_tb = (settings.mass_offset +  settings.motor.mOx)/ mass_flow_rate;
-    % if real_tb < settings.tb
-    %     settings.tb = real_tb;
+    % if real_tb < rocket.motor.time(end)
+    %     rocket.motor.time(end) = real_tb;
     % end
 
 end
\ No newline at end of file
diff --git a/simulator/configs/configPath.m b/simulator/configs/configPath.m
index b49f9bcdd607f9d7479adca87db99b476f796fab..9cc927366738a072886d2fa8b835904c0b1cd62b 100644
--- a/simulator/configs/configPath.m
+++ b/simulator/configs/configPath.m
@@ -5,17 +5,16 @@ folder path configuration script
 %}
 
 % Retrieve MSA-Toolkit rocket data
-dataPath = strcat('../common/missions/', settings.missionMSA);
-addpath(dataPath);
-run([dataPath,'/simulationsData.m']); 
 
+
+%
 commonFunctionsPath = '../common/functions/';
 addpath(genpath(commonFunctionsPath))
 
 % Retrieve Control rocket data
-ConDataPath = strcat('../data/', settings.mission);
+ConDataPath = strcat('../data/', mission.name);
 addpath(ConDataPath);
- run(strcat('config', settings.mission));
+ 
 
 % Control common functions
 commonFunctionsPath = '../commonFunctions';
diff --git a/simulator/configs/configPayload.m b/simulator/configs/configPayload.m
index 5caa89b3101cc88e401759afd013a95e090270ae..16cd3a9161ae4a6a387af53399b9a21209deb7d1 100644
--- a/simulator/configs/configPayload.m
+++ b/simulator/configs/configPayload.m
@@ -4,46 +4,6 @@ x_target = -500;
 y_target = 500;
 z_target = 0;
 
-% Geometry
-settings.payload.mass = 4.2;                 % [kg]  mass 
-settings.payload.b    = 2.55/2;              % [m]   semiwingspan  - vela nuova: 2.55/2; - vela vecchia: 2.06/2;
-settings.payload.c    = 0.8;                 % [m]   mean aero chord
-settings.payload.S    = 2.04;                % [m^2] payload surface - vela nuova 2.04; - vela vecchia: 1.64;  
-settings.payload.inertia = [0.42, 0,   0.03;
-                            0,    0.4,    0; 
-                            0.03, 0, 0.053]; % [kg m^2] [3x3] inertia matrix payload+payload 
-settings.payload.inverseInertia = inv(settings.payload.inertia);
-
-% Aerodynamic constants
-settings.payload.CD0       =  0.25; 
-settings.payload.CDAlpha2  =  0.12;
-settings.payload.CL0       =  0.091;
-settings.payload.CLAlpha   =  0.9;
-settings.payload.Cm0       =  0.35; 
-settings.payload.CmAlpha   = -0.72;
-settings.payload.Cmq       = -1.49;
-settings.payload.CLDeltaA  = -0.0035;
-settings.payload.Cnr       = -0.27;
-settings.payload.CnDeltaA  =  0.0115;
-settings.payload.CDDeltaA  = 0.01;
-settings.payload.Clp       = -0.84;
-settings.payload.ClPhi     = -0.1;
-settings.payload.ClDeltaA  = 0.01;
-settings.payload.deltaSMax =  0.1;
-
-% %% Enviornment
-% % Gravity
-% const.g = 9.81;                     % [m/s^2] Gravity acceleration 
-% 
-% % Wind velocity
-% environment.wind = [1; 1; 0];      % [m/s] [3x1] Wind velocity vector 
-
-% %% Intial conditions
-% settings.payload.omega0   = [0;0;0];        % [rad/s] [3x1] Initial angular velocity
-% settings.payload.velBody0 = [7.3;0;0];      % [m/s] [3x1] Initial velocity
-% settings.payload.initPos  = [0;0;-400];     % [m] [3x1] Initial position
-% settings.payload.attitude = [0;0;0];        % [rad] [3x1] Initial attitude
-
 %% Target
 settings.payload.target = [x_target; y_target; z_target]; % [m] [3x1] target (IPI)
 
@@ -73,17 +33,17 @@ contSettings.WES.deltaA = 0.05;        % [-] DeltaA before guidance
 payload.simParam.incControl = true;
 
 % Subtract the wind from the velocity
-payload.simParam.wind_sub = 1;            % Set as 1 for subtracting and 0 otherwise
+% payload.simParam.wind_sub = 1;            % Set as 1 for subtracting and 0 otherwise
 % payload.simParam.WES0 = environment.wind; % Windspeed considered in the subtraction
 
 % P and PI controller
-contSettings.payload.Kp = 0.4;
-contSettings.payload.Ki = 0.08;
-contSettings.payload.uMax = 0.1;
-contSettings.payload.uMin = -0.1;
-contSettings.payload.deltaA_tau = 0.4; % [s], absolutely arbitrary value
-contSettings.payload.deltaA_delay = 0; % [s], absolutely arbitrary value
-contSettings.payload.deltaA_maxSpeed = deg2rad(300);
+rocket.parachutes(2,2).controlParams.Kp = 0.4;
+rocket.parachutes(2,2).controlParams.Ki = 0.08;
+rocket.parachutes(2,2).controlParams.uMax = 0.1;
+rocket.parachutes(2,2).controlParams.uMin = -0.1;
+rocket.parachutes(2,2).controlParams.deltaA_tau = 0.4; % [s], absolutely arbitrary value
+rocket.parachutes(2,2).controlParams.deltaA_delay = 0; % [s], absolutely arbitrary value
+rocket.parachutes(2,2).controlParams.deltaA_maxSpeed = deg2rad(300);
 
 %% Guidance algorithm
 % Algorithm selection: choose from "closed loop", "t-approach"
diff --git a/simulator/configs/configReferences.m b/simulator/configs/configReferences.m
index e0a1787964736f2ec95f37eedf6d092ac6727af3..8b43c64ef9f2587f948cbd836338da27c63fba7b 100644
--- a/simulator/configs/configReferences.m
+++ b/simulator/configs/configReferences.m
@@ -17,9 +17,9 @@ contSettings.data_trajectories = struct_trajectories.trajectories_saving;
 
 %% LOAD REFERENCES
 % select the trajectories for the rocket used in the simulation
-switch settings.mission
+switch mission.name
 
-    case 'Lynx_Portugal_October_2021'
+    case '2021_Lynx_Portugal_October'
 
         load("reference_gdtozero.mat")
         for i = 1:size(all_Vz,2)
@@ -29,7 +29,7 @@ switch settings.mission
         reference.z_min = 466.738;
         reference.z_max = 1307.4;
 
-    case 'Pyxis_Portugal_October_2022'
+    case '2022_Pyxis_Portugal_October'
 
         load("Trajectories.mat")
         for i = 1:size(trajectories_saving,1)
@@ -47,7 +47,7 @@ switch settings.mission
         reference.z_min = 466.738;
         reference.z_max = 1307.4;
 
-    case 'Pyxis_Roccaraso_September_2022'
+    case '2022_Pyxis_Roccaraso_September'
         load('Trajectories.mat');
         for i = 1:size(trajectories_saving,1)
             reference.vz_ref{i,1} = trajectories_saving{i}.VZ_ref;
@@ -59,7 +59,7 @@ switch settings.mission
                 reference.Vnorm_ref{i,1}(j) = norm([reference.vz_ref{i,1}(j) reference.vx_ref{i,1}(j) reference.vy_ref{i,1}(j)]);
             end
         end
-    case 'Gemini_Portugal_October_2023'
+    case '2023_Gemini_Portugal_October'
 
         load("Trajectories.mat")
         for i = 1:size(trajectories_saving,1)
@@ -74,7 +74,7 @@ switch settings.mission
                 end
             end
         end
-    case 'Gemini_Roccaraso_September_2023'
+    case '2023_Gemini_Roccaraso_September'
 
         load("Trajectories.mat")
         for i = 1:size(trajectories_saving,1)
@@ -89,7 +89,7 @@ switch settings.mission
                 end
             end
         end
-    case 'Lyra_Portugal_October_2024'
+    case '2024_Lyra_Portugal_October'
 
         load("Trajectories.mat")
         for i = 1:size(trajectories_saving,1)
@@ -104,7 +104,7 @@ switch settings.mission
                 end
             end
         end
-    case 'Lyra_Roccaraso_September_2024'
+    case '2024_Lyra_Roccaraso_September'
 
         load("Trajectories.mat")
         for i = 1:size(trajectories_saving,1)
@@ -124,7 +124,7 @@ end
 contSettings.reference.deltaZ = 10;
 heights = (0:contSettings.reference.deltaZ:settings.z_final)';
 
-if str2double(settings.mission(end)) > 2
+if contains(mission.name,'2024') || contains(mission.name,'2023')
 
     V_rescale = cell( size(reference.altitude_ref,1),size(reference.altitude_ref,2) );
     for j = 1 : size(reference.altitude_ref,2)
diff --git a/simulator/configs/configSimulator.m b/simulator/configs/configSimulator.m
index 3e92fed832968a9102f4b9c99689df479cd111b2..a1433d263c10cecd8c3c9e40bf995eb813f735e9 100644
--- a/simulator/configs/configSimulator.m
+++ b/simulator/configs/configSimulator.m
@@ -14,28 +14,28 @@ SPDX-License-Identifier: GPL-3.0-or-later
 %}
 
 
-
-
-%% 1) MISSION FILE
-configMission;
-
 %% 2) SIMULATION SETTINGS
 
 configFlags;
 
 
+%% Mission parameters
+mission = Mission(true);
+rocket = Rocket(mission);
+environment = Environment(mission, rocket.motor);
+
 %% 3) LOAD DATAPATH
 configPath;
 
+%% CONFIG CONTROL
+run(strcat('config', mission.name));
+if conf.HIL
+    run('HILconfig.m');
+end
 %% 4) TRAJECTORY GENERATION SETUP
 if conf.script == "trajectory generation"
     config_TrajectoryGen;
 end
-%% 5) LAUNCH SETUP
-configLaunchRail;
-
-%% 6) WIND DETAILS
-configWind;
 
 %% 8) PLOTS?
 configPlots;
@@ -59,7 +59,7 @@ if conf.script ~= "trajectory generation"
     %% 14) REFERENCES
     configReferences;
     %% 15) SPECIAL CONDITIONS?
-%     config_SpecialConditions;
+    %     config_SpecialConditions;
 end
 
 
diff --git a/simulator/configs/config_SpecialConditions.m b/simulator/configs/config_SpecialConditions.m
index 28e61bb1d553434c3c7e64712eb80dd54ae9f81a..123d86ed0551a8d0f7cda8ee91c8961b9fec43a5 100644
--- a/simulator/configs/config_SpecialConditions.m
+++ b/simulator/configs/config_SpecialConditions.m
@@ -13,7 +13,7 @@ conf.motor_Thrust_Factor = 1.; % default: = 1;
 conf.motor_Time_Factor = 1; % default: 
 
 % mach control
-conf.mach_control = 0.85; % default: = settings.MachControl;
+conf.mach_control = 0.85; % default: = rocket.airbrakes.maxMach;
 
 % steps in advance
 contSettings.N_forward = 2;
@@ -29,7 +29,7 @@ settings.wind.input = false;
 
 %% changed parameters
 
-settings.motor.expThrust = conf.motor_Thrust_Factor.* settings.motor.expThrust;
-settings.motor.expTime = conf.motor_Time_Factor .* settings.motor.expTime;
+rocket.motor.thrust = conf.motor_Thrust_Factor.* rocket.motor.thrust;
+rocket.motor.time = conf.motor_Time_Factor .* rocket.motor.time;
 
 settings.mach_control = conf.mach_control;
diff --git a/simulator/mainMontecarlo.m b/simulator/mainMontecarlo.m
index 7fcde1d8fa671444588fda2a62095f3c27aabf16..fb88171bdd802a2655ee9a6b5eb4d020c669df70 100644
--- a/simulator/mainMontecarlo.m
+++ b/simulator/mainMontecarlo.m
@@ -26,6 +26,7 @@ end
 % adds folders to the path and retrieves rocket, mission, simulation, etc
 % data.
 
+restoredefaultpath;
 filePath = fileparts(mfilename('fullpath'));
 currentPath = pwd;
 if not(strcmp(filePath, currentPath))
@@ -38,6 +39,10 @@ addpath(genpath(currentPath));
 % Common Functions path
 addpath(genpath(commonFunctionsPath));
 
+% add common data path
+dataPath = strcat('../common');
+addpath(genpath(dataPath));
+
 %% CHECK IF MSA-TOOLKIT IS UPDATED
 % msaToolkitURL = 'https://github.com/skyward-er/msa-toolkit';
 % localRepoPath = '../data/msa-toolkit';
@@ -89,6 +94,11 @@ clearvars   msaToolkitURL Itot
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%CONFIG%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 settings_mont_init = struct('x',[]);
+rocket_vec = cell(N_sim, 1);
+
+if ~exist("wind_vec", 'var')
+    wind_vec = cell(N_sim, 1);
+end
 
 %% start simulation
 for alg_index = 4
@@ -105,43 +115,33 @@ for alg_index = 4
     motor_K = settings.motor.K;
 
     parfor i = 1:N_sim
+        rocket_vec{i} = copy(rocket);
         settings_mont = settings_mont_init;
         settings_mont.motor.expThrust = stoch.thrust(i,:);                      % initialize the thrust vector of the current simulation (parfor purposes)
-        settings_mont.motor.expTime = stoch.expThrust(i,:);                     % initialize the time vector for thrust of the current simulation (parfor purposes)
+        settings_mont.motor.expTime = stoch.expTime(i,:);                     % initialize the time vector for thrust of the current simulation (parfor purposes)
         settings_mont.motor.K = motor_K + stoch.delta_Kt(i,:);                  % 
-        settings_mont.tb = max( stoch.expThrust(i,stoch.expThrust(i,:)<=settings.tb) );     % initialize the burning time of the current simulation (parfor purposes)
         settings_mont.State.xcgTime = stoch.State.xcgTime(:,i);                 % initialize the baricenter position time vector
         settings_mont.mass_offset = stoch.mass_offset(i);
         settings_mont.OMEGA = stoch.OMEGA_rail(i);
         settings_mont.PHI = stoch.PHI_rail(i);
-        
-        
 
-   
-        % Define coeffs matrix for the i-th simulation
-        settings_mont.Coeffs = settings.Coeffs* (1+stoch.aer_percentage(i));
-
-stoch;
-        % set the wind parameters
-        switch settings.windModel
-            case "constant"
-                settings_mont.wind.uw = stoch.wind.uw(i);
-                settings_mont.wind.vw = stoch.wind.vw(i);
-                settings_mont.wind.ww = stoch.wind.ww(i);
-                settings_mont.wind.Az = stoch.wind.Az(i);
-                settings_mont.wind.El = stoch.wind.El(i);
-            case "multiplicative"
-                settings_mont.wind.Mag = stoch.wind.Mag(i);
-                settings_mont.wind.Az = stoch.wind.Az(i,:);
-                settings_mont.wind.unc = stoch.wind.unc(i,:);
+        if isempty(wind_vec{i})
+            wind_vec{i} = copy(stoch.wind);
+            wind_vec{i}.updateAll();
         end
         
+        settings_mont.wind = wind_vec{i};
+       
+        % Define coeffs matrix for the i-th simulation
+        settings_mont.Coeffs = rocket.coefficients.total * (1+stoch.aer_percentage(i));
+
+        
         if displayIter == true
             fprintf("simulation = " + num2str(i) + " of " + num2str(N_sim) + ", algorithm: " + contSettings.algorithm +", scenario: "+ settings.scenario +"\n");
         end
 
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%STD_RUN%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-        [simOutput] = std_run(settings,contSettings,settings_mont);
+        [simOutput] = std_run(settings,contSettings,rocket_vec{i},environment,mission,settings_mont);
         %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%STD_RUN%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
         save_thrust{i} = simOutput;
 
@@ -174,14 +174,13 @@ stoch;
         % time of engine shutdown
         t_shutdown.value(i) = save_thrust{i}.sensors.mea.t_shutdown;
 
-        if ~settings.wind.model && ~settings.wind.input
-            % wind magnitude
-            wind_Mag(i) = save_thrust{i}.wind.Mag;
-            % wind azimuth
-            wind_az(i) = save_thrust{i}.wind.Az;
-            %wind elevation
-            wind_el(i) = save_thrust{i}.wind.El;
-        end
+        % wind magnitude
+        wind_Mag(i) = wind_vec{i}.magnitude(1);
+        % wind azimuth
+        wind_az(i) = wind_vec{i}.azimuth(1);
+        %wind elevation
+        wind_el(i) = wind_vec{i}.elevation(1);
+
         %reached apogee time
         apogee.times(i) = save_thrust{i}.apogee.time;
         apogee.prediction(i) = save_thrust{i}.sensors.mea.prediction(end);
@@ -328,35 +327,31 @@ stoch;
     folder = [];
 
     if flagSaveOffline == "yes" || flagSaveOffline == "y"
-        switch  settings.mission
+        switch  mission.name
 
             case 'Pyxis_Portugal_October_2022'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
+                folder = [folder ; "MontecarloResults\"+mission.name+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*rocket.airbrakes.maxMach)+"_"+simulationType_thrust+"_"+saveDate]; % offline
 
             case 'Gemini_Portugal_October_2023'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
+                folder = [folder ; "MontecarloResults\"+mission.name+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*rocket.airbrakes.maxMach)+"_"+simulationType_thrust+"_"+saveDate]; % offline
 
             case 'Pyxis_Roccaraso_September_2022'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\z_f_"+settings.z_final+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
+                folder = [folder ; "MontecarloResults\"+mission.name+"\z_f_"+settings.z_final+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*rocket.airbrakes.maxMach)+"_"+simulationType_thrust+"_"+saveDate]; % offline
         
             case 'Gemini_Roccaraso_September_2023'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
+                folder = [folder ; "MontecarloResults\"+mission.name+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*rocket.airbrakes.maxMach)+"_"+simulationType_thrust+"_"+saveDate]; % offline
 
-            case 'Lyra_Portugal_October_2024'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
-
-            case 'Lyra_Roccaraso_September_2024'
-                folder = [folder ; "MontecarloResults\"+settings.mission+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*settings.MachControl)+"_"+simulationType_thrust+"_"+saveDate]; % offline
-    
+            case {'2024_Lyra_Portugal_October', '2024_Lyra_Roccaraso_September'}
+                folder = [folder ; "MontecarloResults\"+mission.name+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"sim_Mach"+num2str(100*rocket.airbrakes.maxMach)+"_"+simulationType_thrust+"_"+saveDate]; % offline
         end
 
     end
     if flagSaveOnline == "yes" || flagSaveOnline == "y"
         if computer == "Marco" || computer == "marco"
-            folder = [folder ; "C:\Users\marco\OneDrive - Politecnico di Milano\SKYWARD\AIR BRAKES\MONTECARLO E TUNING\"+settings.mission+"\"+conf.scenario+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"_"+simulationType_thrust+"_"+saveDate]; % online
+            folder = [folder ; "C:\Users\marco\OneDrive - Politecnico di Milano\SKYWARD\AIR BRAKES\MONTECARLO E TUNING\"+mission.name+"\"+conf.scenario+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"_"+simulationType_thrust+"_"+saveDate]; % online
         end
         if computer == "Max" || computer == "max"
-            folder = [folder ; "C:\Users\Max\OneDrive - Politecnico di Milano\SKYWARD\AIR BRAKES\MONTECARLO E TUNING\"+settings.mission+"\"+conf.scenario+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"_"+simulationType_thrust+"_"+saveDate]; % online
+            folder = [folder ; "C:\Users\Max\OneDrive - Politecnico di Milano\SKYWARD\AIR BRAKES\MONTECARLO E TUNING\"+mission.name+"\"+conf.scenario+"\"+contSettings.algorithm+"\"+num2str(N_sim)+"_"+simulationType_thrust+"_"+saveDate]; % online
         end
     end
 
@@ -386,7 +381,7 @@ stoch;
             fprintf(fid,'Algorithm: %s \n',contSettings.algorithm );
             fprintf(fid,'Engine shut-down control frequency: %d Hz \n',settings.frequencies.controlFrequency);
             fprintf(fid,'Airbrakes control frequency: %d Hz \n',settings.frequencies.arbFrequency );
-            fprintf(fid,'Initial Mach number at which the control algorithm starts: %.3f \n\n',settings.MachControl);
+            fprintf(fid,'Initial Mach number at which the control algorithm starts: %.3f \n\n',rocket.airbrakes.maxMach);
             fprintf(fid,'Other parameters specific of the simulation: \n');
             fprintf(fid,'Filter coefficient: %.3f \n', contSettings.filter_coeff);
             fprintf(fid,'Target for shutdown: %d \n',settings.mea.z_shutdown);
@@ -410,27 +405,32 @@ stoch;
             % %             end
 
             %%%%%%%%%%%%%%%%%%%%%%%%%%%
-            fprintf(fid,'WIND \n\n ');
-            fprintf(fid,'Wind model: %s \n',settings.windModel);
-            if settings.windModel == "constant"
-                fprintf(fid,'Wind model parameters: \n'); % inserisci tutti i parametri del vento
-                fprintf(fid,'Wind Magnitude: 0-%d m/s\n',settings.wind.MagMax);
-                fprintf(fid,'Wind minimum azimuth: %d [°] \n',rad2deg(settings.wind.AzMin));
-                fprintf(fid,'Wind maximum azimuth: %d [°] \n',rad2deg(settings.wind.AzMax));
-                fprintf(fid,'Wind minimum elevation: %d [°] \n', rad2deg(settings.wind.ElMin));
-                fprintf(fid,'Wind maximum elevation: %d [°] \n\n\n',rad2deg(settings.wind.ElMax));
-            else
-                fprintf(fid,'Wind model parameters: \n'); % inserisci tutti i parametri del vento
-                fprintf(fid,'Ground wind Magnitude: 0-%d m/s\n\n\n',settings.wind.MagMax);
+            fprintf(fid,'WIND \n\n');
+            fprintf(fid,'Wind model parameters: \n'); % inserisci tutti i parametri del vento
+            fprintf(fid,'Wind altitudes: '+string(repmat('%.2f m ', [1 length(wind.altitudes)]))+"\n\n", wind.altitudes);
+            for ii = 1:length(wind.altitudes)
+                fprintf(fid,'Wind magnitude distribution at %.2f m: \"%s\"\n', wind.altitudes(ii), string(wind.magnitudeDistribution(ii)));
+                fprintf(fid,'Wind magnitude parameters at %.2f m: %d-%d m/s\n',wind.altitudes(ii), stoch.wind_params.MagMin(ii), stoch.wind_params.MagMax(ii));
+            end
+            fprintf(fid, '\n');
+            for ii = 1:length(wind.altitudes)
+                fprintf(fid,'Wind azimuth distribution at %.2f m: \"%s\"\n', wind.altitudes(ii), string(wind.azimuthDistribution(ii)));
+                fprintf(fid,'Wind azimuth parameters at %.2f m: %d-%d [°] \n', wind.altitudes(ii), rad2deg(stoch.wind_params.AzMin(ii)), rad2deg(stoch.wind_params.AzMax(ii)));
+            end
+            fprintf(fid, '\n');
+            for ii = 1:length(wind.altitudes)
+                fprintf(fid,'Wind elevation distribution at %.2f m: \"%s\"\n', wind.altitudes(ii), string(wind.elevationDistribution(ii)));
+                fprintf(fid,'Wind elevation parameters at %.2f m: %d-%d [°] \n', wind.altitudes(ii), rad2deg(stoch.wind_params.ElMin(ii)), rad2deg(stoch.wind_params.ElMax(ii)));
             end
+            fprintf(fid,'\n\n');
 
             %%%%%%%%%%%%%%%%%%%%%%%%%%%
             if (settings.scenario == "descent" || settings.scenario == "full flight") && settings.parafoil
                 fprintf(fid,'PARAFOIL \n\n');
                 fprintf(fid,'Guidance approach %s \n',contSettings.payload.guidance_alg);
-                fprintf(fid,'PID proportional gain %s \n',contSettings.payload.Kp);
-                fprintf(fid,'PID integral gain %s \n',contSettings.payload.Ki);
-                fprintf(fid,'Opening altitude %s \n',settings.para(1).z_cut);
+                fprintf(fid,'PID proportional gain %s \n',rocket.parachutes(2,2).controlParams.Kp);
+                fprintf(fid,'PID integral gain %s \n',rocket.parachutes(2,2).controlParams.Ki);
+                fprintf(fid,'Opening altitude %s \n',settings.ada.para.z_cut);
             end
             fprintf(fid,'MASS: \n\n');
             fprintf(fid,'Interval : +-%d at 3sigma \n',3*sigma_m );
@@ -477,8 +477,8 @@ end
 
 %% generate file for rocketpy (euroc 2023 prelaunch)
 % for i = 1:N_sim
-%     [apogee.coordinates(i,1),apogee.coordinates(i,2),apogee.coordinates(i,3)] = ned2geodetic(save_thrust{i}.apogee.position(1),save_thrust{i}.apogee.position(2),save_thrust{i}.apogee.position(3),settings.lat0,settings.lon0,settings.z0,wgs84Ellipsoid);
-%     [landing.coordinates(i,1),landing.coordinates(i,2),landing.coordinates(i,3)] = ned2geodetic(save_thrust{i}.Y(end,1),save_thrust{i}.Y(end,2),save_thrust{i}.Y(end,3),settings.lat0,settings.lon0,settings.z0,wgs84Ellipsoid);
+%     [apogee.coordinates(i,1),apogee.coordinates(i,2),apogee.coordinates(i,3)] = ned2geodetic(save_thrust{i}.apogee.position(1),save_thrust{i}.apogee.position(2),save_thrust{i}.apogee.position(3),environment.lat0,environment.lon0,environment.z0,wgs84Ellipsoid);
+%     [landing.coordinates(i,1),landing.coordinates(i,2),landing.coordinates(i,3)] = ned2geodetic(save_thrust{i}.Y(end,1),save_thrust{i}.Y(end,2),save_thrust{i}.Y(end,3),environment.lat0,environment.lon0,environment.z0,wgs84Ellipsoid);
 % end
 % landing.coordinates = landing.coordinates(:,1:2);
 % 
diff --git a/simulator/mainSimulator.m b/simulator/mainSimulator.m
index b5dca78b930aec563d5afee4e0a5859caa17096d..0123a22efdf0c28b486a02f0f281f82979a2368a 100644
--- a/simulator/mainSimulator.m
+++ b/simulator/mainSimulator.m
@@ -51,6 +51,10 @@ addpath(genpath(currentPath));
 % Common Functions path
 addpath(genpath(commonFunctionsPath));
 
+% add MSA data path
+dataPath = strcat('../common');
+addpath(genpath(dataPath));
+
 %% CHECK SUBMODULES UPDATES
 % if ~exist('flagSubmodulesUpdated','var')
 %     checkSubmodules;
@@ -81,13 +85,13 @@ end
 % Y = State = ( x y z | u v w | p q r | q0 q1 q2 q3 | thetax thetay thetaz | ap_ref ) also for Ya,Yf corresponding to T
 
 %% simulation:
-[simOutput] = std_run(settings,contSettings);
+[simOutput] = std_run(settings,contSettings,rocket,environment,mission);
 
 %% PLOTS
 if ~exist("../commonFunctions/graphics/general-utilities/","dir")
     warning('To export file you need to download the repository, read the README file in the folder')
 end
-std_plots(simOutput,settings,contSettings)
+std_plots(simOutput,settings,contSettings,mission,rocket,environment)
 sensor_plots(simOutput)
 % report_plots(simOutput,settings,contSettings)
 
diff --git a/simulator/montecarlo/plotsMontecarlo.m b/simulator/montecarlo/plotsMontecarlo.m
index b3ef455e677fc4a697b7a8f356653cf3c0fff8b0..b3118d4b9b5b5c6c40bcc1a389a90102ae8524cf 100644
--- a/simulator/montecarlo/plotsMontecarlo.m
+++ b/simulator/montecarlo/plotsMontecarlo.m
@@ -247,12 +247,6 @@ if (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'co
 end
 
 %% PLOT APOGEE 3D
-if ~settings.wind.model && ~settings.wind.input
-    for i = 1:N_sim
-        wind_Mag(i) = save_thrust{i}.wind.Mag;
-        wind_az(i) = save_thrust{i}.wind.Az;
-        wind_el(i) = save_thrust{i}.wind.El;
-    end
 montFigures.apogee_3D_wind_thrust = figure;
 %%%%%%%%%% wind magnitude - thrust - apogee
 subplot(2,2,1)
@@ -295,7 +289,7 @@ zlabel('Apogee')
 % zlim([settings.z_final-200,settings.z_final+200])
 view(30,20)
 legend(contSettings.algorithm);
-end
+
 
  
 
diff --git a/simulator/report_images/report_plots.m b/simulator/report_images/report_plots.m
index 5d7939b49b5de2e935951faeee81068b27f1be00..43f8e0008a482a2a5661aaa452f7f0a9a5932740 100644
--- a/simulator/report_images/report_plots.m
+++ b/simulator/report_images/report_plots.m
@@ -6,7 +6,7 @@ function report_plots(structIn,settings,contSettings)
 % figures.trajectory = figure('Name', 'Trajectory','ToolBar','auto','Position',[100,100,600,400]);
 % plot3(structIn.Y(1:end-10, 2), structIn.Y(1:end-10, 1), -structIn.Y(1:end-10, 3),'DisplayName','True trajectory');
 % hold on; grid on;
-% % plot3(structIn.NAS(1:end-10, 2), structIn.NAS(1:end-10, 1), -structIn.NAS(1:end-10, 3)-settings.z0,'DisplayName','NAS trajectory');
+% % plot3(structIn.NAS(1:end-10, 2), structIn.NAS(1:end-10, 1), -structIn.NAS(1:end-10, 3)-environment.z0,'DisplayName','NAS trajectory');
 % 
 % if not(settings.scenario == "descent")
 %     plot3(structIn.ARB_openingPosition(2),structIn.ARB_openingPosition(1),structIn.ARB_openingPosition(3),'ko','DisplayName','Airbrake deployment')
@@ -30,13 +30,13 @@ function report_plots(structIn,settings,contSettings)
 % axis equal
 % view([0,90])
 % legend
-% exportStandardizedFigure(figures.trajectory,"report_images\"+settings.mission+"\src_trajectory.pdf",0.9,'forcedMarkers',10)
+% exportStandardizedFigure(figures.trajectory,"report_images\"+mission.name+"\src_trajectory.pdf",0.9,'forcedMarkers',10)
 % 
 % %% Trajectory
 % figures.trajectory = figure('Name', 'Trajectory','ToolBar','auto','Position',[100,100,600,400]);
 % plot(structIn.Y(1:end-10, 2), structIn.Y(1:end-10, 1),'DisplayName','Trajectory');
 % hold on; grid on;
-% % plot3(structIn.NAS(1:end-10, 2), structIn.NAS(1:end-10, 1), -structIn.NAS(1:end-10, 3)-settings.z0,'DisplayName','NAS trajectory');
+% % plot3(structIn.NAS(1:end-10, 2), structIn.NAS(1:end-10, 1), -structIn.NAS(1:end-10, 3)-environment.z0,'DisplayName','NAS trajectory');
 % 
 % if not(settings.scenario == "descent")
 %     plot(structIn.ARB_openingPosition(2),structIn.ARB_openingPosition(1),'ko','DisplayName','Airbrake deployment')
@@ -63,7 +63,7 @@ function report_plots(structIn,settings,contSettings)
 % title('Trajectory (ENU)');
 % axis equal
 % legend
-% exportStandardizedFigure(figures.trajectory,"report_images\"+settings.mission+"\src_trajectory.pdf",0.7,'forcedMarkers',10)
+% exportStandardizedFigure(figures.trajectory,"report_images\"+mission.name+"\src_trajectory.pdf",0.7,'forcedMarkers',10)
 % 
 % 
 % %% parafoil control action
@@ -77,7 +77,7 @@ function report_plots(structIn,settings,contSettings)
 % sgtitle('Parafoil control action')
 % xlabel('Time [s]')
 % ylabel('Normalized control action [-]')
-% exportStandardizedFigure(figures.parafoil_servo_action,"report_images\"+settings.mission+"\prf_control_action.pdf",0.7,'forcedMarkers',10)
+% exportStandardizedFigure(figures.parafoil_servo_action,"report_images\"+mission.name+"\prf_control_action.pdf",0.7,'forcedMarkers',10)
 
 %% Reference
 figures.ABK_wrt_referenceTrajectory = figure;
diff --git a/simulator/src/export_HILdataABK.m b/simulator/src/export_HILdataABK.m
index 8cd1279229b10a6f4f7668a0b05b9705ee702040..1e29492cc088ce4dfd48f32d251db7f00c269444 100644
--- a/simulator/src/export_HILdataABK.m
+++ b/simulator/src/export_HILdataABK.m
@@ -7,7 +7,7 @@
 %
 % check also export_HILdataPRF for parafoil HIL and software testing 
 
-switch settings.mission
+switch mission.name
    
     case {"Gemini_Portugal_October_2023", "Gemini_Roccaraso_September_2023"}
         folder = "HIL_CPP_files_ABK";
@@ -36,7 +36,7 @@ switch settings.mission
             reference_export_table(:,i) = table(reference_export(:,i));
         end
         reference_export_table.Properties.VariableNames = varNames;
-        writetable(reference_export_table,ConDataPath+"/"+folder+"/ABK_references_"+settings.mission+".csv")
+        writetable(reference_export_table,ConDataPath+"/"+folder+"/ABK_references_"+mission.name+".csv")
 
         % second file: configuration for the air brakes
         configABK_export_table = table;
@@ -46,7 +46,7 @@ switch settings.mission
             configABK_export_table(1,i) = table(configValues(1,i));
         end
         configABK_export_table.Properties.VariableNames = configABKvarNames;
-        writetable(configABK_export_table,ConDataPath+"/"+folder+"/ABK_configABK_"+settings.mission+".csv")
+        writetable(configABK_export_table,ConDataPath+"/"+folder+"/ABK_configABK_"+mission.name+".csv")
 
         % third file: input extrapolation:
         % first column - timestamps of the NAS system
@@ -61,7 +61,7 @@ switch settings.mission
             trajectory_export_table(:,i) = table(trajectory(:,i));
         end
         trajectory_export_table.Properties.VariableNames = traj_varNames;
-        writetable(trajectory_export_table,ConDataPath+"/"+folder+"/ABK_trajectories_"+settings.mission+".csv")
+        writetable(trajectory_export_table,ConDataPath+"/"+folder+"/ABK_trajectories_"+mission.name+".csv")
 
         % fourth file: input extrapolation:
         % first column - data with air brakes timestamps;
@@ -87,7 +87,7 @@ switch settings.mission
             outputABK_export_table(:,i) = table(ABK_recall(:,i));
         end
         outputABK_export_table.Properties.VariableNames = ABK_varNames;
-        writetable(outputABK_export_table,ConDataPath+"/"+folder+"/ABK_outputABK_"+settings.mission+".csv")
+        writetable(outputABK_export_table,ConDataPath+"/"+folder+"/ABK_outputABK_"+mission.name+".csv")
         
         
 end
\ No newline at end of file
diff --git a/simulator/src/export_HILdataADA.m b/simulator/src/export_HILdataADA.m
index 2729806ad1b041b8e30a177761c38e4da7e6c486..77b2140a40e1d0bd62166eef1e3bfb699bbaccc2 100644
--- a/simulator/src/export_HILdataADA.m
+++ b/simulator/src/export_HILdataADA.m
@@ -1,7 +1,7 @@
 %{
 export configuration files for ADA algorithm (for our friends of software development)
 %}
-switch settings.mission
+switch mission.name
 
     case {"Gemini_Portugal_October_2023", "Gemini_Roccaraso_September_2023"}
         folder = "HIL_CPP_files_ADA";
@@ -17,7 +17,7 @@ switch settings.mission
             configADA_export_table(1,i) = table(configValues(1,i));
         end
         configADA_export_table.Properties.VariableNames = configADAvarNames;
-        writetable(configADA_export_table,ConDataPath+"/"+folder+"/ADA_configADA_"+settings.mission+".csv")
+        writetable(configADA_export_table,ConDataPath+"/"+folder+"/ADA_configADA_"+mission.name+".csv")
 
 
 end
\ No newline at end of file
diff --git a/simulator/src/export_HILdataMTR.m b/simulator/src/export_HILdataMTR.m
index e5eae8c863e6e6fdb6971e6b9544a1d378800d8b..04b939f7c93070fb8c5b9db65fbb11ba61d6d400 100644
--- a/simulator/src/export_HILdataMTR.m
+++ b/simulator/src/export_HILdataMTR.m
@@ -3,7 +3,7 @@
 %}
 
 
-switch settings.mission
+switch mission.name
     case  {"Gemini_Portugal_October_2023", "Gemini_Roccaraso_September_2023"}
         folder_MTR = "HIL_CPP_files_MTR";
         if ~exist(ConDataPath+"/"+folder_MTR,"dir")
@@ -20,18 +20,18 @@ switch settings.mission
             CD_coeff_table(:,i) = table(CD_coefficients(:,i));
         end
         CD_coeff_table.Properties.VariableNames = varNames;
-        writetable(CD_coeff_table,ConDataPath+"/"+folder_MTR+"/MTR_CDcoeffShutDown_"+settings.mission+".csv")
+        writetable(CD_coeff_table,ConDataPath+"/"+folder_MTR+"/MTR_CDcoeffShutDown_"+mission.name+".csv")
 
        
         % second file: configuration for mass estimation algorithm
         configMTR_export_table = table;
-        configValues = [settings.frequencies.MEAFrequency,settings.mea.t_lower_shadowmode,settings.mea.t_higher_shadowmode,contSettings.N_prediction_threshold,settings.mea.Q(1,1),settings.mea.Q(2,2),settings.mea.Q(3,3),settings.mea.R,settings.m0,settings.mea.z_shutdown];
+        configValues = [settings.frequencies.MEAFrequency,settings.mea.t_lower_shadowmode,settings.mea.t_higher_shadowmode,contSettings.N_prediction_threshold,settings.mea.Q(1,1),settings.mea.Q(2,2),settings.mea.Q(3,3),settings.mea.R,rocket.mass(1),settings.mea.z_shutdown];
         configMTRvarNames = {'MEA_FREQUENCY','MEA_SHADOWMODE','SHUTDOWN_MAX_TIME','MEA_PREDICTION_THRESHOLD','MEA_Q_11','MEA_Q_22','MEA_Q_33','MEA_R','MEA_INIT_MASS','MEA_SHUTDOWN_TARGET_APOGEE'};
         for i = 1:size(configValues,2)
             configMTR_export_table(1,i) = table(configValues(1,i));
         end
         configMTR_export_table.Properties.VariableNames = configMTRvarNames;
-        writetable(configMTR_export_table,ConDataPath+"/"+folder_MTR+"/MTR_configMTR_"+settings.mission+".csv")
+        writetable(configMTR_export_table,ConDataPath+"/"+folder_MTR+"/MTR_configMTR_"+mission.name+".csv")
 
         % third file: configuration for the air brakes
         configMEA_MODEL_export_table = table;
@@ -41,7 +41,7 @@ switch settings.mission
             configMEA_MODEL_export_table(1,i) = table(configValues(1,i));
         end
         configMEA_MODEL_export_table.Properties.VariableNames = configMEA_MODELvarNames;
-        writetable(configMEA_MODEL_export_table,ConDataPath+"/"+folder_MTR+"/MTR_mea_model_"+settings.mission+".csv")
+        writetable(configMEA_MODEL_export_table,ConDataPath+"/"+folder_MTR+"/MTR_mea_model_"+mission.name+".csv")
 
 
 end
\ No newline at end of file
diff --git a/simulator/src/export_HILdataNAS.m b/simulator/src/export_HILdataNAS.m
index cba945b7ba873d5cb04cd1742734535f81425a0b..b60125394f1c8cb112c271b80d77bf782d6762be 100644
--- a/simulator/src/export_HILdataNAS.m
+++ b/simulator/src/export_HILdataNAS.m
@@ -1,7 +1,7 @@
 %{
 export configuration files for NAS algorithm (for our friends of software development)
 %}
-switch settings.mission
+switch mission.name
 
     case {"Gemini_Portugal_October_2023", "Gemini_Roccaraso_September_2023"}
         folder = "HIL_CPP_files_NAS";
@@ -17,7 +17,7 @@ switch settings.mission
             configNAS_export_table(1,i) = table(configValues(1,i));
         end
         configNAS_export_table.Properties.VariableNames = configNASvarNames;
-        writetable(configNAS_export_table,ConDataPath+"/"+folder+"/NAS_configNAS_"+settings.mission+".csv")
+        writetable(configNAS_export_table,ConDataPath+"/"+folder+"/NAS_configNAS_"+mission.name+".csv")
         
         
 end
\ No newline at end of file
diff --git a/simulator/src/export_HILdataPRF.m b/simulator/src/export_HILdataPRF.m
index ec44d00e5b90fa8ca29bd29f9362cb6c294c66b4..b5b5fe39d22b9b37f64582498f61a98696863b0f 100644
--- a/simulator/src/export_HILdataPRF.m
+++ b/simulator/src/export_HILdataPRF.m
@@ -7,7 +7,7 @@
 %
 % check also export_HILdataABK for air brakes HIL and software testing 
 
-switch settings.mission
+switch mission.name
    
     case "Gemini_Portugal_October_2023"
         if ~exist(ConDataPath+"/HIL_CPP_files_PRF","dir")
@@ -21,7 +21,7 @@ switch settings.mission
         PRFtrajectory = zeros(size(simOutput.t_nas(simOutput.events.mainChuteIndex:end)'));
         PRFtrajectory(:,1) = simOutput.NAS(simOutput.events.mainChuteIndex:end,1);
         PRFtrajectory(:,2) = simOutput.NAS(simOutput.events.mainChuteIndex:end,2);
-        PRFtrajectory(:,3) = simOutput.NAS(simOutput.events.mainChuteIndex:end,3)+settings.z0;
+        PRFtrajectory(:,3) = simOutput.NAS(simOutput.events.mainChuteIndex:end,3)+environment.z0;
         PRFtrajectory(:,4) = simOutput.NAS(simOutput.events.mainChuteIndex:end,4);
         PRFtrajectory(:,5) = simOutput.NAS(simOutput.events.mainChuteIndex:end,5);
         traj_varNames = {'N','E','D','Vn','Ve'};
@@ -29,7 +29,7 @@ switch settings.mission
             trajectory_export_table(:,i) = table(PRFtrajectory(:,i));
         end
         trajectory_export_table.Properties.VariableNames = traj_varNames;
-        writetable(trajectory_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_trajectories_"+settings.mission+".csv")
+        writetable(trajectory_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_trajectories_"+mission.name+".csv")
         
 
         % second file: WES output extrapolation:
@@ -49,7 +49,7 @@ switch settings.mission
             outputWES_export_table(:,i) = table(WES_output(:,i));
         end
         outputWES_export_table.Properties.VariableNames = WES_varNames;
-        writetable(outputWES_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputWES_"+settings.mission+".csv")
+        writetable(outputWES_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputWES_"+mission.name+".csv")
 
         % third file: configuration file for WES
         configPRF_export_table = table;
@@ -63,7 +63,7 @@ switch settings.mission
             configPRF_export_table(1,i) = table(configValues(1,i));
         end
         configPRF_export_table.Properties.VariableNames = configPRFvarNames;
-        writetable(configPRF_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_configGuidance_"+settings.mission+".csv")
+        writetable(configPRF_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_configGuidance_"+mission.name+".csv")
         
 
         % fourth file: guidance output
@@ -80,7 +80,7 @@ switch settings.mission
             outputGuidance_export_table(:,i) = table(guidance_output(:,i));
         end
         outputGuidance_export_table.Properties.VariableNames = WES_varNames;
-        writetable(outputGuidance_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputGuidance_"+settings.mission+".csv")
+        writetable(outputGuidance_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputGuidance_"+mission.name+".csv")
 
         % fifth file: control output
         % recall contSettings
@@ -121,7 +121,7 @@ switch settings.mission
             outputPRFcontrol_export_table(:,i) = table(PRFcontrol_output(:,i));
         end
         outputPRFcontrol_export_table.Properties.VariableNames = PRFcontrol_varNames;
-        writetable(outputPRFcontrol_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputControl_"+settings.mission+".csv")
+        writetable(outputPRFcontrol_export_table,ConDataPath+"/HIL_CPP_files_PRF/PRF_outputControl_"+mission.name+".csv")
 
 
 end
\ No newline at end of file
diff --git a/simulator/src/std_plots.m b/simulator/src/std_plots.m
index 163f64f0880356a132d685388a165a5b2baaf54e..b5cfba20fb1f49b33fa52d3034d8a5653a3facae 100644
--- a/simulator/src/std_plots.m
+++ b/simulator/src/std_plots.m
@@ -1,7 +1,7 @@
-function std_plots(simOutput, settings,contSettings)
+function std_plots(simOutput, settings,contSettings,mission,rocket,environment)
 
-if ~exist("report_images\"+settings.mission,"dir")
-    mkdir("report_images\"+settings.mission)
+if ~exist("report_images\"+mission.name,"dir")
+    mkdir("report_images\"+mission.name)
 end
 
 %% post process data
@@ -12,7 +12,7 @@ eul = rad2deg(eul);
 v_ned = quatrotate(quatconj(simOutput.Y(:, 10:13)), simOutput.Y(:, 4:6));
 
 %% MASS ESTIMATION ALGORITHM
-if contains(settings.mission, '2023') || contains(settings.mission, '2024')
+if contains(mission.name, '2023') || contains(mission.name, '2024')
     if (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
         figures.MEA = figure('Name', 'Predicted apogee','ToolBar','auto');
         sgtitle('MEA')
@@ -66,7 +66,7 @@ if ~settings.electronics
     end
 end
 plot( -simOutput.Y(:, 3), -v_ned(:,3),'b','DisplayName','Traj')
-plot( -simOutput.sensors.nas.states(:,3)-settings.z0,  -simOutput.sensors.nas.states(:,6),'m--','DisplayName','NAS')
+plot( -simOutput.sensors.nas.states(:,3)-environment.z0,  -simOutput.sensors.nas.states(:,6),'m--','DisplayName','NAS')
 % plot( structIn.ADA(:,4),  structIn.ADA(:,5),'b','DisplayName','ADA z')
 yyaxis right
 plot( -simOutput.Y(:, 3), simOutput.Y(:, 14),'g','DisplayName','arb')
@@ -136,7 +136,7 @@ if not(settings.scenario == "descent")
     legend('simulated','reference values','Airbrakes deployment','Apogee')
 
     if settings.flagExportPLOTS == true
-        exportStandardizedFigure(figures.servo_angle,"report_images\"+settings.mission+"\src_servo_angle.pdf",0.9)
+        exportStandardizedFigure(figures.servo_angle,"report_images\"+mission.name+"\src_servo_angle.pdf",0.9)
     end
 end
 % parafoil
@@ -156,7 +156,7 @@ end
 figures.trajectory = figure('Name', 'Trajectory','ToolBar','auto','Position',[100,100,600,400]);
 plot3(simOutput.Y(1:end-10, 2), simOutput.Y(1:end-10, 1), -simOutput.Y(1:end-10, 3),'DisplayName','True trajectory');
 hold on; grid on;
-plot3(simOutput.sensors.nas.states(1:end-10, 2), simOutput.sensors.nas.states(1:end-10, 1), -simOutput.sensors.nas.states(1:end-10, 3)-settings.z0,'DisplayName','NAS trajectory');
+plot3(simOutput.sensors.nas.states(1:end-10, 2), simOutput.sensors.nas.states(1:end-10, 1), -simOutput.sensors.nas.states(1:end-10, 3)-environment.z0,'DisplayName','NAS trajectory');
 
 if not(settings.scenario == "descent")
     plot3(simOutput.ARB.openingPosition(2),simOutput.ARB.openingPosition(1),simOutput.ARB.openingPosition(3),'ko','DisplayName','Airbrake deployment')
@@ -180,7 +180,7 @@ axis equal
 view([157,55])
 legend
 if settings.flagExportPLOTS == true
-    exportStandardizedFigure(figures.trajectory,"report_images\"+settings.mission+"\src_trajectory.pdf",0.49)
+    exportStandardizedFigure(figures.trajectory,"report_images\"+mission.name+"\src_trajectory.pdf",0.49)
 end
 
 %% Velocities BODY w.r.t. time against NAS
@@ -237,7 +237,7 @@ ylabel('V_z [m/s]');
 sgtitle('Velocities BODY');
 legend
 if settings.flagExportPLOTS == true
-    exportStandardizedFigure(figures.velocities_BODY,"report_images\"+settings.mission+"\src_velocities_BODY.pdf",0.9)
+    exportStandardizedFigure(figures.velocities_BODY,"report_images\"+mission.name+"\src_velocities_BODY.pdf",0.9)
 end
 
 %% Velocities NED w.r.t. time against NAS
@@ -277,12 +277,12 @@ ylabel('V_z [m/s]');
 sgtitle('Velocities NED');
 legend
 if settings.flagExportPLOTS == true
-    exportStandardizedFigure(figures.velocities_NED,"report_images\"+settings.mission+"\src_velocities_NED.pdf",0.9)
+    exportStandardizedFigure(figures.velocities_NED,"report_images\"+mission.name+"\src_velocities_NED.pdf",0.9)
 end
 
 %% check consistency of NAS:
 
-altitude = simOutput.sensors.nas.states(:,3)+settings.z0;
+altitude = simOutput.sensors.nas.states(:,3)+environment.z0;
 v_int_NAS = 0;
 v_int_simulation = 0;
 for i = 2:length(simOutput.sensors.nas.states(:,6))
@@ -388,7 +388,7 @@ ylabel('r [rad/s]');
 sgtitle('Angular rotations BODY');
 legend
 if settings.flagExportPLOTS == true
-    exportStandardizedFigure(figures.velocities,"report_images\"+settings.mission+"\src_Angular_rotations_BODY.pdf",0.9)
+    exportStandardizedFigure(figures.velocities,"report_images\"+mission.name+"\src_Angular_rotations_BODY.pdf",0.9)
 end
 
 
diff --git a/simulator/src/std_run.m b/simulator/src/std_run.m
index 7851d4855a78687925ccce9f930fc40c6dd85837..0b54998b9b7731082da43d094963111c303d4705 100644
--- a/simulator/src/std_run.m
+++ b/simulator/src/std_run.m
@@ -1,4 +1,4 @@
-function [struct_out] = std_run(settings, contSettings, varargin)
+function [struct_out] = std_run(settings, contSettings, rocket, environment, mission, varargin)
 %{
 
 STD_RUN_BALLISTIC - This function runs a standard ballistic (non-stochastic) simulation
@@ -40,30 +40,24 @@ Revision date: 11/04/2022
 
 %}
 
-if nargin > 2
+if nargin > 5
     settings_mont = varargin{1};
-    settings.motor.expThrust = settings_mont.motor.expThrust;
-    settings.motor.expTime = settings_mont.motor.expTime;
-    settings.motor.K = settings_mont.motor.K;
-    settings.tb = settings_mont.tb;
-    settings.Coeffs = settings_mont.Coeffs;
-    switch settings.windModel
-        case "constant"
-            settings.wind.uw = settings_mont.wind.uw;
-            settings.wind.vw = settings_mont.wind.vw;
-            settings.wind.ww = settings_mont.wind.ww;
-            settings.wind.Az = settings_mont.wind.Az;
-            settings.wind.El = settings_mont.wind.El;
-        case "multiplicative"
-            settings.wind.inputGround = settings_mont.wind.Mag;
-            % settings.wind.inputAzimut = settings_mont.wind.Az;
-            settings.wind.input_uncertainty = settings_mont.wind.unc;
-    end
-   
-    settings.State.xcgTime = settings_mont.State.xcgTime;
+    rocket.motor.thrust = settings_mont.motor.expThrust;
+    rocket.motor.time = settings_mont.motor.expTime;
+    % rocket.motor.time(end) = settings_mont.tb;
     settings.mass_offset = settings_mont.mass_offset;
-    settings.OMEGA = settings_mont.OMEGA;
-    settings.PHI = settings_mont.PHI;
+    settings.motor.K = settings_mont.motor.K;
+    rocket.coefficients.total = settings_mont.Coeffs;
+    wind = settings_mont.wind;
+
+    rocket.coefficients.state.xcgTime = settings_mont.State.xcgTime;
+    environment.omega = settings_mont.OMEGA;
+    environment.phi = settings_mont.PHI;
+end
+
+if ~exist("wind", "var")
+    % If the wind was not already defined, generate new one
+    wind = WindCustom(mission);
 end
 
 if settings.electronics % global variables slow down a bit the comunication over thread, we don't need these for montecarlo analysis
@@ -72,20 +66,20 @@ if settings.electronics % global variables slow down a bit the comunication over
 end
 
 %% ode states initialization ( initial conditions )
-            % Attitude initial condition
+% Attitude initial condition
 
 
 if settings.scenario ~= "descent"
     % Attitude
-    Q0 = angle2quat(settings.PHI, settings.OMEGA, 0*pi/180, 'ZYX')';
+    Q0 = angle2quat(environment.phi, environment.omega, 0*pi/180, 'ZYX')';
     % State
     X0 = [0; 0; 0];                                                             % Position initial condition
     V0 = [0; 0; 0];                                                             % Velocity initial condition
     W0 = [0; 0; 0];                                                             % Angular speed initial condition
 else
     % Attitude
-    Q0 = angle2quat(settings.PHI, 0, 0, 'ZYX')';
-    % State   
+    Q0 = angle2quat(environment.phi, 0, 0, 'ZYX')';
+    % State
     X0 = [0; 0; -settings.z_final];                                              % Position initial condition -settings.z_final
     V0 = [0; 0; -settings.Vz_final];             % Velocity initial condition
     W0 = [0; 0; 0];                                                             % Angular speed initial condition
@@ -98,15 +92,12 @@ initialCond = [X0; V0; W0; Q0; ap0; deltaA0];
 Y0 = initialCond';
 
 %% WIND GENERATION
-[uw, vw, ww, Az , El, Mag] = std_setWind(settings);
-settings.constWind = [uw, vw, ww];
-settings.wind.Mag = Mag;
-settings.wind.El = El;
-settings.wind.Az = Az;
+% [uw, vw, ww, Az , El, Mag] = std_setWind(settings);
+% settings.constWind = [uw, vw, ww];
+% settings.wind.Mag = Mag;
+% settings.wind.El = El;
+% settings.wind.Az = Az;
 
-%% stochastic parameter settings:
-settings.ms = settings.ms + settings.mass_offset;
-settings.mTotalTime = settings.mTotalTime + settings.mass_offset;
 
 %% INTEGRATION
 % integration time
@@ -121,9 +112,11 @@ if mod(dt/dt_ode,1)~= 0
 end
 std_setInitialParams;
 
+rocket.massNoMotor = rocket.massNoMotor + settings.mass_offset;
+rocket.updateMass;
 
 %% SENSORS INIT
-run(strcat('initSensors', settings.mission));
+run(strcat('initSensors', mission.name));
 
 %% MAGNETIC FIELD MODEL
 std_magneticField;
@@ -186,7 +179,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
 
     lastFlagAscent = settings.flagAscent;                                   % Saves the last value of the flagAscent to recall it later
     lastFlagExpulsion2 = eventExpulsion2;                                   % saves the last value of the expulsion to recall the opening of the second chute later
-    
+
     if settings.launchWindow
         if not(settings.lastLaunchFlag) && launchFlag
             std_setInitialParams
@@ -208,15 +201,15 @@ while settings.flagStopIntegration && n_old < nmax                          % St
             flagFlight = false;
             flagAeroBrakes = false;
             settings.flagAscent = false;
-            
+
             % Transition to powered_ascent
             if launchFlag &&  t0 > time_on_ground
                 state_lastTime(currentState) = t0;
-                
+
                 % Exit condition of on_ground / Entry condition of powered_ascent:
-                % Here are setup all the time variables 
-                % that require to be offset depending on when the liftoff actually happens, 
-                % i.e. all the engine time variables that otherwise require the simulation time t0 
+                % Here are setup all the time variables
+                % that require to be offset depending on when the liftoff actually happens,
+                % i.e. all the engine time variables that otherwise require the simulation time t0
                 % to be reset to 0
                 flagFlight = true;
                 engineT0 = t0-dt;
@@ -229,7 +222,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
                 end
             end
         case availableStates.powered_ascent
-            
+
             flagFlight = true;
             settings.flagAscent = true;
             lastAscentIndex = n_old-1;
@@ -251,8 +244,8 @@ while settings.flagStopIntegration && n_old < nmax                          % St
             settings.flagAscent = true;
             lastAscentIndex = n_old-1;
 
-            % Transitions out of unpowered_ascent: 
-            % drogue_descent if full_flight, 
+            % Transitions out of unpowered_ascent:
+            % drogue_descent if full_flight,
             % landed if apogee was never detected
             if flagApogee
                 state_lastTime(currentState) = t0;
@@ -281,7 +274,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
             flagAeroBrakes = false;
             lastDrogueIndex = n_old-1;
 
-            % Transition out of drogue_descent: 
+            % Transition out of drogue_descent:
             % parachute_descent if main parachute, payload_descent if parafoil
             if flagOpenPara
                 state_lastTime(currentState) = t0;
@@ -300,7 +293,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
                         disp("Transition to parachute descent");
                     end
                 end
-                
+
             end
         case availableStates.parachute_descent
 
@@ -342,21 +335,24 @@ while settings.flagStopIntegration && n_old < nmax                          % St
         otherwise
             error("Invalid state requested");
     end
-    
+
     % For ascent only we stop the simulation once the ode apogee has been reached
     if vz(end) < 0 && flagFlight && settings.ascentOnly
         break;
     end
-    
+
     %% dynamics (ODE) %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     tspan = t0:dt_ode:t1;
 
+    control.angleRef = ap_ref;
+    control.timeChangeRef = t_change_ref_ABK;
     if flagFlight
 
         if settings.ballisticFligth
             Y0_ode = Y0(1:14);
-            [Tf, Yd] = ode4(@ascentControl, tspan, Y0_ode, settings,[], ap_ref, t_change_ref_ABK, engineT0);
-            parout = RecallOdeFcn(@ascentControl, Tf, Yd, settings,[], Yd(:,14), t_change_ref_ABK,engineT0,'apVec');
+            [Tf, Yd] = ode4(@ballistic, tspan, Y0_ode, rocket, environment, wind, control, engineT0);
+            control.angleRef = Yd(:,14);
+            parout = RecallOdeFcn(@ballistic, Tf, Yd, rocket, environment, wind, control, engineT0);
             [nd, ~] = size(Yd);
             Yf = [Yd, ones(nd,1)*Y0(end,15)];
             para = NaN;
@@ -364,30 +360,39 @@ while settings.flagStopIntegration && n_old < nmax                          % St
             switch currentState
                 case {availableStates.powered_ascent, availableStates.unpowered_ascent}
                     Y0_ode = Y0(1:14);
-                    [Tf, Yd] = ode4(@ascentControl, tspan, Y0_ode, settings,[],  ap_ref, t_change_ref_ABK, engineT0);
-                    parout = RecallOdeFcn(@ascentControl, Tf, Yd, settings,[], Yd(:,14), t_change_ref_ABK,engineT0,'apVec');
+                    [Tf, Yd] = ode4(@ballistic, tspan, Y0_ode, rocket, environment, wind, control, engineT0);
+                    control.angleRef = Yd(:,14);
+                    parout = RecallOdeFcn(@ballistic, Tf, Yd, rocket, environment, wind, control, engineT0);
                     [nd, ~] = size(Yd);
                     Yf = [Yd, ones(nd,1)*Y0(end,15)];
                     para = NaN;
                 case availableStates.drogue_descent
-                    para = 1;
+                    if settings.parafoil; descentData.stage = 2; else; descentData.stage = 1; end
+                    descentData.para = 1;
                     Y0_ode = Y0(:,1:6);
-                    [Tf, Yd] = ode4(@descentParachute, tspan, Y0_ode, settings, uw, vw, ww, para, Y0(end,10:13),tLaunch); % ..., para, uncert);
-                    parout = RecallOdeFcn(@descentParachute, Tf, Yd, settings, uw, vw, ww, para, Y0(end,10:13),tLaunch);
+                    Q0_ode = Y0(end, 10:13);
+                    [Tf, Yd] = ode4(@descentParachute, tspan, Y0_ode, rocket, environment, wind, descentData, [], Q0_ode);
+                    parout = RecallOdeFcn(@descentParachute, Tf, Yd, rocket, environment, wind, descentData, [], Q0_ode);
                     [nd, ~] = size(Yd);
                     Yf = [Yd, zeros(nd, 3), ones(nd,1).*Y0(end,10:13), zeros(nd,2)];
                 case availableStates.parachute_descent
-                    para = 2;
+                    descentData.para = 2;
+                    descentData.stage = 1;
                     Y0_ode = Y0(:,1:6);
-                    [Tf, Yd] = ode4(@descentParachute, tspan, Y0_ode,  settings, uw, vw, ww, para, Y0(end,10:13),tLaunch); % ..., para, uncert);
-                    parout = RecallOdeFcn(@descentParachute, Tf, Yd, settings, uw, vw, ww, para, Y0(end,10:13));
+                    Q0_ode = Y0(end, 10:13);
+                    [Tf, Yd] = ode4(@descentParachute, tspan, Y0_ode, rocket, environment, wind, descentData, [], Q0_ode);
+                    parout = RecallOdeFcn(@descentParachute, Tf, Yd, rocket, environment, wind, descentData, [], Q0_ode);
                     [nd, ~] = size(Yd);
                     Yf = [Yd, zeros(nd, 3), ones(nd,1).*Y0(end,10:13), zeros(nd,2)];
 
                 case availableStates.payload_descent
+                    descentData.para = 2;
+                    descentData.stage = 2;
                     Y0_ode = Y0(:,[1:13,15]);
-                    [Tf, Yd] = ode4(@descentParafoil, tspan, Y0_ode, settings,contSettings, deltaA_ref, t_change_ref_PRF,tLaunch);
-                    parout = RecallOdeFcn(@descentParafoil, Tf, Yd, settings,contSettings, Yd(:,14),t_change_ref_PRF,tLaunch,'apVec');
+                    control.deltaARef = deltaA_ref;
+                    control.timeChangeRef = t_change_ref_PRF;
+                    [Tf, Yd] = ode4(@descentParafoil, tspan, Y0_ode, rocket, environment, wind, descentData, control, engineT0);
+                    parout = RecallOdeFcn(@descentParafoil, Tf, Yd, rocket, environment, wind, descentData, control, engineT0);
                     [nd, ~] = size(Yd);
                     Yf = [Yd(:,1:13), zeros(nd,1),Yd(:,14)];
             end
@@ -397,15 +402,16 @@ while settings.flagStopIntegration && n_old < nmax                          % St
         Yf = [Y0; Y0];
         para = NaN;
     end
-    
+
     % recall some useful parameters
     settings.parout.partial_time = Tf;
-    if currentState == availableStates.on_ground 
-        % If the rocket is on groud, the accelerometer should measure 
+    control.partialTime = Tf;
+    if currentState == availableStates.on_ground
+        % If the rocket is on groud, the accelerometer should measure
         % the gravity acceleration on ramp.
         Q_acc = quat2rotm(Q0');
         settings.parout.acc = (Q_acc'*[zeros(length(Tf),2) -9.81*ones(length(Tf), 1)]')';
-        settings.parout.m = settings.mTotalTime(1)*ones(1,length(Tf));
+        settings.parout.m = rocket.mass(1)*ones(1,length(Tf));
     elseif currentState == availableStates.landed
         settings.parout.acc = [zeros(length(Tf),2) -9.81*ones(length(Tf),1)];
         settings.parout.m = ones(1,length(Tf))*settings.parout.m(end);
@@ -414,8 +420,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
         settings.parout.m   = parout.interp.mass;
     end
 
-
-    ext = extension_From_Angle(Yf(end,14),settings); % bug fix, check why this happens because sometimes happens that the integration returns a value slightly larger than the max value of extension for airbrakes and this mess things up
+    ext = extension_From_Angle(Yf(end,14),settings,mission); % bug fix, check why this happens because sometimes happens that the integration returns a value slightly larger than the max value of extension for airbrakes and this mess things up
     if ext > settings.arb.maxExt
         ext = settings.arb.maxExt;
         warning("the extension of the airbrakes exceeds the maximum value of "+num2str(settings.arb.maxExt)+": ext = "+num2str(ext))
@@ -424,14 +429,16 @@ while settings.flagStopIntegration && n_old < nmax                          % St
     %% simulate sensors
 
     % [sensorData] = manageSignalFrequencies(magneticFieldApprox, settings.flagAscent, settings,sensorData, Yf, Tf, uw, vw, ww);
-    wind = [uw, vw, ww];
-    [sensorData] = generateSensorMeasurements(magneticFieldApprox, Yf, Tf, wind, sensorData,sensorTot, settings, engineT0, currentState, availableStates);
-    
+    % wind = [uw, vw, ww];
+    [uw, vw, ww] = wind.getVels(-Yf(end, 3));
+    wind_vector = [uw, vw, ww];
+    [sensorData] = generateSensorMeasurements(magneticFieldApprox, Yf, Tf, wind_vector, sensorData,sensorTot, settings, engineT0, currentState, availableStates, environment, mission, rocket);
+
     % simulate sensor acquisition
     if settings.dataNoise
-        [sensorData, sensorTot] = acquisition_Sys(sensorData, sensorSettings, sensorTot, settings, t0);
+        [sensorData, sensorTot] = acquisition_Sys(sensorData, sensorSettings, sensorTot, t0, mission);
     end
-    
+
     %% subsystems
 
     % SIMU SIMU SIMU SIMU SIMU SIMU SIMU SIMU SIMU SIMU
@@ -448,10 +455,10 @@ while settings.flagStopIntegration && n_old < nmax                          % St
 
     % airbrakes reference update (for the ODE)
     ap_ref = [ ap_ref_old ap_ref_new ];
-    
+
     % parafoil control action update for the ODE
     deltaA_ref = [ deltaA_ref_old deltaA_ref_new ];
-    
+
 
     %% vertical velocity for update of the state machine
     if  settings.flagAscent || (not(settings.flagAscent) && settings.ballisticFligth) || currentState == availableStates.parachute_descent
@@ -461,7 +468,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
         vx =  vels(2);   % north
         vy =  vels(1);   % east
     else
-        vz = - Yf(end, 6); 
+        vz = - Yf(end, 6);
         vx = Yf(end, 5);
         vy = Yf(end, 4);
     end
@@ -473,11 +480,11 @@ while settings.flagStopIntegration && n_old < nmax                          % St
         % the current simulation step, because the parac
         Q    =   Yf(end, 10:13);
         vels =   quatrotate(quatconj(Q), Yf(end, 4:6));
-        Y0 = [Yf(end, 1:3), vels, Yf(end, 7:end)]; 
-    elseif ~lastFlagExpulsion2 && eventExpulsion2 && not(settings.scenario == "ballistic")
-        Q    =   Yf(end, 10:13);
-        vels =   quatrotate(Q, Yf(end, 4:6));
         Y0 = [Yf(end, 1:3), vels, Yf(end, 7:end)];
+    % elseif ~lastFlagExpulsion2 && eventExpulsion2 && not(settings.scenario == "ballistic")
+    %     Q    =   Yf(end, 10:13);
+    %     vels =   quatrotate(Q, Yf(end, 4:6));
+    %     Y0 = [Yf(end, 1:3), vels, Yf(end, 7:end)];
     else
         Y0 = Yf(end, :);
     end
@@ -488,23 +495,23 @@ while settings.flagStopIntegration && n_old < nmax                          % St
     normV = norm([vz vx vy]);
     mach = normV/a;
 
-    %% wind update
-    if settings.windModel == "multiplicative"
+    %%% wind update
+    % if settings.windModel == "multiplicative"
+    %
+    %     [uw, vw, ww] = windInputGenerator(settings, -Y0(3), settings.wind.inputUncertainty);
+    %
+    %     settings.constWind = [uw, vw, ww];
+    %
+    %     windMag = [windMag sqrt(uw^2+vw^2+ww^2)];
+    %     windAz = [windAz atan2(sqrt(uw^2+vw^2+ww^2)/vw,sqrt(uw^2+vw^2+ww^2)/uw)];
+    % end
 
-        [uw, vw, ww] = windInputGenerator(settings, -Y0(3), settings.wind.inputUncertainty);
-
-        settings.constWind = [uw, vw, ww];
-
-        windMag = [windMag sqrt(uw^2+vw^2+ww^2)];
-        windAz = [windAz atan2(sqrt(uw^2+vw^2+ww^2)/vw,sqrt(uw^2+vw^2+ww^2)/uw)];
-    end
 
-    
     if t1-t_last_arb_control >= 1/settings.frequencies.arbFrequency - 1e-6
         t_change_ref_ABK = t1 + settings.servo.delay;
     end
     if t1-t_last_prf_control >= 1/settings.frequencies.prfFrequency - 1e-6
-        t_change_ref_PRF = t1 + contSettings.payload.deltaA_delay;
+        t_change_ref_PRF = t1 + rocket.parachutes(2,2).controlParams.deltaA_delay;
     end
     % assemble total state
     [n, ~] = size(Yf);
@@ -517,7 +524,7 @@ while settings.flagStopIntegration && n_old < nmax                          % St
     sensorTot.sfd.time(iTimes) = t1;
     sensorTot.sfd.pressure(iTimes) = sensorData.barometer.measures(end);
     % sensorTot.sfd.faults(iTimes,:) = settings.faulty_sensors;
-    dataRecall.true_mass(n_old:n_old+n-1, 1) = settings.parout.m'; % if you want to save other parameters, remember to go down and remove the last two values                                                                                            
+    dataRecall.true_mass(n_old:n_old+n-1, 1) = settings.parout.m'; % if you want to save other parameters, remember to go down and remove the last two values
     n_old = n_old + n -1;
 
 
@@ -529,11 +536,11 @@ while settings.flagStopIntegration && n_old < nmax                          % St
 
     if not(settings.montecarlo)
         if settings.flagAscent
-            disp("z: " + (-Yf(end,3)+settings.z0) +", z_est: " + -sensorData.kalman.z + ", ap_ref: " + ap_ref_new + ", ap_ode: " + Yf(end,14)); %  + ", quatNorm: "+ vecnorm(Yf(end,10:13))
+            disp("z: " + (-Yf(end,3)+environment.z0) +", z_est: " + -sensorData.kalman.z + ", ap_ref: " + ap_ref_new + ", ap_ode: " + Yf(end,14)); %  + ", quatNorm: "+ vecnorm(Yf(end,10:13))
         elseif currentState == availableStates.payload_descent
-            disp("z: " + (-Yf(end,3)+settings.z0) +", z_est: " + -sensorData.kalman.z + ", deltaA_ref: " + deltaA_ref_new + ", deltaA_ode: " + Yf(end,15)); % +", quatNorm: "+ vecnorm(Yf(end,10:13))
+            disp("z: " + (-Yf(end,3)+environment.z0) +", z_est: " + -sensorData.kalman.z + ", deltaA_ref: " + deltaA_ref_new + ", deltaA_ode: " + Yf(end,15)); % +", quatNorm: "+ vecnorm(Yf(end,10:13))
         else
-            disp("z: " + (-Yf(end,3)+settings.z0) +", z_est: " + -sensorData.kalman.z);
+            disp("z: " + (-Yf(end,3)+environment.z0) +", z_est: " + -sensorData.kalman.z);
         end
     end
 
@@ -556,7 +563,7 @@ end
 t_ada    = settings.ada.t_ada;
 settings.flagMatr = settings.flagMatr(1:n_old, :);
 
-%% RETRIVE PARAMETERS FROM THE ODE (RECALL ODE) 
+%% RETRIVE PARAMETERS FROM THE ODE (RECALL ODE)
 
 % if ~settings.electronics && ~settings.montecarlo && not(settings.scenario == "descent")
 %     settings.wind.output_time = Tf;
@@ -575,9 +582,9 @@ struct_out.Y = Yf;
 % struct_out.flags = settings.flagMatr;
 struct_out.state_lastTimes = state_lastTime;
 % wind
-struct_out.wind.Mag = settings.wind.Mag;
-struct_out.wind.Az = settings.wind.Az;
-struct_out.wind.El = settings.wind.El;
+struct_out.wind.Mag = wind.magnitude(1);
+struct_out.wind.Az =  wind.azimuth(1);
+% struct_out.wind.El =  wind.El(1);
 struct_out.wind.Vel = [uw, vw, ww];
 
 % sensors (ADA, NAS, MEA, SFD, and all sensor data are stored here)
@@ -631,7 +638,7 @@ if settings.scenario == "descent" || settings.scenario == "full flight"
     struct_out.PRF.landing_velocities_BODY = Yf(idx_landing,4:6);
     struct_out.PRF.landing_velocities_NED = quatrotate(quatconj(Yf(idx_landing,10:13)),Yf(idx_landing,4:6));
     % deployment
-    struct_out.PRF.deploy_altitude_set = settings.para(1).z_cut + settings.z0; % set altitude for deployment
+    % struct_out.PRF.deploy_altitude_set = settings.para(1).z_cut + environment.z0; % set altitude for deployment
     struct_out.PRF.deploy_position = Yf(lastDrogueIndex+1,1:3); % actual position of deployment
     struct_out.PRF.deploy_velocity = Yf(lastDrogueIndex+1,4:6);
 else
diff --git a/simulator/src/std_run_parts/run_ARB_SIM.m b/simulator/src/std_run_parts/run_ARB_SIM.m
index f47bbd819e8554e22e45866e2d7acab6973ba78d..94083aea9e4c3f9b2cb8473d97b20fd44b663429 100644
--- a/simulator/src/std_run_parts/run_ARB_SIM.m
+++ b/simulator/src/std_run_parts/run_ARB_SIM.m
@@ -1,4 +1,4 @@
-function [ap_ref_new,contSettings,varargout] = run_ARB_SIM(sensorData,settings,contSettings,ap_ref_old)
+function [ap_ref_new,contSettings,varargout] = run_ARB_SIM(sensorData,settings,contSettings,ap_ref_old,environment)
 
 
 %% HELP:
@@ -31,19 +31,19 @@ switch true % set this value in configControl.m
     case strcmp(contSettings.algorithm,'interp') || strcmp(contSettings.algorithm,'complete')
         % help in the function
 
-        [ap_ref_new,contSettings] = control_Interp(-sensorData.kalman.z-settings.z0,-sensorData.kalman.vz,settings,contSettings,ap_ref_old); % cambiare nome alla funzione tra le altre cose
+        [ap_ref_new,contSettings] = control_Interp(-sensorData.kalman.z-environment.z0,-sensorData.kalman.vz,settings,contSettings,ap_ref_old); % cambiare nome alla funzione tra le altre cose
       
         
     case strcmp (contSettings.algorithm,'shooting')
         % shooting algorithm:
 
-        [ap_ref_new] = control_Interp(-sensorData.kalman.z-settings.z0,-sensorData.kalman.vz,contSettings.reference.Z,contSettings.reference.Vz,'linear',contSettings.N_forward,settings); % cambiare nome alla funzione tra le altre cose
+        [ap_ref_new] = control_Interp(-sensorData.kalman.z-environment.z0,-sensorData.kalman.vz,contSettings.reference.Z,contSettings.reference.Vz,'linear',contSettings.N_forward,settings); % cambiare nome alla funzione tra le altre cose
         init.options = optimoptions("lsqnonlin","Display","off");
         
         if not(contSettings.flagFilter)
-            [ap_ref_new] = control_Shooting([-sensorData.kalman.z-settings.z0,-sensorData.kalman.vz],ap_ref_new,settings,contSettings.coeff_Cd,settings.arb,init);
+            [ap_ref_new] = control_Shooting([-sensorData.kalman.z-environment.z0,-sensorData.kalman.vz],ap_ref_new,settings,contSettings.coeff_Cd,settings.arb,init);
         else
-            [ap_base_filter] = control_Shooting([-sensorData.kalman.z-settings.z0,-sensorData.kalman.vz],ap_ref_new,settings,contSettings.coeff_Cd,settings.arb,init);
+            [ap_base_filter] = control_Shooting([-sensorData.kalman.z-environment.z0,-sensorData.kalman.vz],ap_ref_new,settings,contSettings.coeff_Cd,settings.arb,init);
 
             % filter control action
             if contSettings.flagFirstControlABK == false % the first reference is given the fastest possible (unfiltered), then filter
diff --git a/simulator/src/std_run_parts/run_MTR_SIM.m b/simulator/src/std_run_parts/run_MTR_SIM.m
index da1c52a059c07135581b3d7595009d01b72b5fe3..0ff11e03ea5ed145ba8934e3577110d3c2ce8e5f 100644
--- a/simulator/src/std_run_parts/run_MTR_SIM.m
+++ b/simulator/src/std_run_parts/run_MTR_SIM.m
@@ -1,72 +1,91 @@
-function [sensorData,sensorTot,settings,contSettings] = run_MTR_SIM (sensorData,sensorTot,settings,contSettings,T1, engineT0,dt_ode)
+function [sensorData,sensorTot,settings,contSettings,rocket] = run_MTR_SIM...
+    (sensorData,sensorTot,settings,contSettings,T1, engineT0,dt_ode,rocket,environment, mission)
 
-    % impose valve position
-    if T1 < settings.timeEngineCut
-        u = 1;
-    else
-        u = 0;
-    end
-    if ~settings.flagMEAInit
-        sensorTot.mea.time = T1-dt_ode;
-        settings.flagMEAInit =  true;
-    end
-    
-        [sensorData,sensorTot] = run_MEA(sensorData,sensorTot,settings,contSettings,u,T1);
- 
-    if sensorTot.mea.prediction(end) >= settings.mea.z_shutdown
-        settings.mea.counter_shutdown = settings.mea.counter_shutdown + 1*floor(settings.frequencies.MEAFrequency/settings.frequencies.controlFrequency); % the last multiplication is to take into account the frequency difference
-        if ~settings.expShutdown
-            if  settings.mea.counter_shutdown > contSettings.N_prediction_threshold %&& T1 > settings.mea.t_lower_shadowmode% threshold set in configControl
-                settings.expShutdown = true;
-                settings.t_shutdown = T1;
-                settings.timeEngineCut = settings.t_shutdown + settings.shutdownValveDelay;
-                settings.expTimeEngineCut = settings.t_shutdown;
-            end
-            if T1-engineT0 >= settings.mea.t_higher_shadowmode
-                settings.expShutdown = true;
-                settings.t_shutdown = T1;
-                settings.timeEngineCut = settings.t_shutdown + settings.shutdownValveDelay;
-                settings.expTimeEngineCut = settings.t_shutdown;
-            end
-        end
-        if T1-engineT0 < settings.tb
-            settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, T1-engineT0);
-        else
-            settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, settings.tb);
-        end
-        settings.expMengineCut = settings.parout.m(end) - settings.ms;
-        if T1 > settings.timeEngineCut
-            settings.shutdown = true;
-            settings = settingsEngineCut(settings, engineT0);
-            settings.quatCut = [sensorTot.nas.states(end, 10) sensorTot.nas.states(end, 7:9)];
-            [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
-        end
-
-        contSettings.valve_pos = 0;
-        % else
-        %     settings.t_shutdown = nan;
-        % end
-    else
-        if ~settings.expShutdown && T1-engineT0 >= settings.mea.t_higher_shadowmode
+% impose valve position
+if T1 < rocket.motor.cutoffTime
+    u = 1;
+else
+    u = 0;
+end
+if ~settings.flagMEAInit
+    sensorTot.mea.time = T1-dt_ode;
+    settings.flagMEAInit =  true;
+end
+[sensorData,sensorTot] = run_MEA(sensorData,sensorTot,settings,contSettings,u,T1,engineT0,environment,rocket, mission);
+if sensorTot.mea.prediction(end) >= settings.mea.z_shutdown
+    settings.mea.counter_shutdown = settings.mea.counter_shutdown + 1*floor(settings.frequencies.MEAFrequency/settings.frequencies.controlFrequency); % the last multiplication is to take into account the frequency difference
+    if ~settings.expShutdown
+        if  settings.mea.counter_shutdown > contSettings.N_prediction_threshold %&& T1 > settings.mea.t_lower_shadowmode% threshold set in configControl
             settings.expShutdown = true;
             settings.t_shutdown = T1;
-            settings.timeEngineCut = settings.t_shutdown + settings.shutdownValveDelay;
+            rocket.motor.cutoffTime  = settings.t_shutdown + settings.shutdownValveDelay;
             settings.expTimeEngineCut = settings.t_shutdown;
+            [settings, rocket] = settingsEngineCut(settings, engineT0, rocket);
         end
-        if T1-engineT0 < settings.tb
-            settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, T1-engineT0);
-        else
-            settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, settings.tb);
-        end
-        settings.expMengineCut = settings.parout.m(end) - settings.ms;
-        if T1 > settings.timeEngineCut
-            settings.shutdown = true;
-            settings = settingsEngineCut(settings, engineT0);
-            settings.quatCut = [sensorTot.nas.states(end, 10) sensorTot.nas.states(end, 7:9)];
-            [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
+        if T1-engineT0 >= settings.mea.t_higher_shadowmode
+            settings.expShutdown = true;
+            settings.t_shutdown = T1;
+            rocket.motor.cutoffTime = settings.t_shutdown + settings.shutdownValveDelay;
+            settings.expTimeEngineCut = settings.t_shutdown;
         end
-        settings.counter_shutdown = 0;
+
+
+    end
+
+    % if settings.expShutdown
+    %     if T1-engineT0 < rocket.motor.time(end)
+    %         % if rocket.motor.cutoffTime > rocket.motor.time(end)
+    %         %     rocket.motor.cutoffTime = rocket.motor.cutoffTime - engineT0;
+    %         % end
+    %         cutoff = rocket.motor.cutoffTime;
+    %         rocket.motor.cutoffTime = T1 - engineT0;
+    %         rocket.updateCutoff;
+    %         rocket.motor.cutoffTime = cutoff;
+    %         % settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, T1-engineT0);
+    %     else
+    %         rocket.motor.cutoffTime = rocket.motor.time(end);
+    %         rocket.updateCutoff;
+    %         % settings.IengineCut = interpLinear(settings.motor.expTime, settings.I, settings.tb);
+    %     end
+    % end
+
+    settings.expMengineCut = settings.parout.m(end) - (rocket.massNoMotor + rocket.motor.mass(end));
+    if T1 - engineT0 > rocket.motor.cutoffTime
+        settings.shutdown = true;
+        % rocket.updateCutoff;
+        % [settings, rocket] = settingsEngineCut(settings, engineT0, rocket);
+        % settings.quatCut = [sensorTot.nas.states(end, 10) sensorTot.nas.states(end, 7:9)];
+        % [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
+    end
+
+    contSettings.valve_pos = 0;
+    % else
+    %     settings.t_shutdown = nan;
+    % end
+else
+    if ~settings.expShutdown && T1-engineT0 >= settings.mea.t_higher_shadowmode
+        settings.expShutdown = true;
+        settings.t_shutdown = T1;
+        rocket.motor.cutoffTime  = settings.t_shutdown + settings.shutdownValveDelay;
+        settings.expTimeEngineCut = settings.t_shutdown;
     end
+    % if T1-engineT0 < rocket.motor.time(end)
+        % rocket.updateCutoff;
+        % settings.IengineCut = interpLinear(rocket.motor.time, rocket.inertia, T1-engineT0);
+    % else
+    %      rocket.updateCutoff;
+    %     % settings.IengineCut = interpLinear(rocket.motor.time, rocket.inertia, rocket.motor.time(end));
+    % end
+    settings.expMengineCut = settings.parout.m(end) - (rocket.massNoMotor + rocket.motor.mass(end));
+    if T1 - engineT0 > rocket.motor.cutoffTime
+        settings.shutdown = true;
+        rocket.updateCutoff;
+        [settings,rocket] = settingsEngineCut(settings, engineT0, rocket);
+        settings.quatCut = [sensorTot.nas.states(end, 10) sensorTot.nas.states(end, 7:9)];
+        [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
+    end
+    settings.counter_shutdown = 0;
+end
 
 end
 
diff --git a/simulator/src/std_run_parts/run_parafoilGuidance.m b/simulator/src/std_run_parts/run_parafoilGuidance.m
index b6fbce65e6b929ab5a8caaeb5e509e626ce3ccb9..7d755d54d3fee1264bb46e5c88a2d5b42db80469 100644
--- a/simulator/src/std_run_parts/run_parafoilGuidance.m
+++ b/simulator/src/std_run_parts/run_parafoilGuidance.m
@@ -1,4 +1,4 @@
-function [deltaA_ref, contSettings] = run_parafoilGuidance(pos_est, vel_est, wind_est, target, contSettings)
+function [deltaA_ref, contSettings] = run_parafoilGuidance(pos_est, vel_est, wind_est, target, contSettings, controlParams)
 % HELP:
 % 
 % parafoil guidance algorithm
@@ -43,16 +43,16 @@ else
     % compute heading difference
     error_psi = angdiff(psi,psi_ref); 
 
-    P = contSettings.payload.Kp * error_psi;
+    P = controlParams.Kp * error_psi;
     if contSettings.payload.saturation == false
-        contSettings.payload.I = contSettings.payload.Ki * error_psi + contSettings.payload.I;
+        contSettings.payload.I = controlParams.Ki * error_psi + contSettings.payload.I;
     end 
     
 
 
     deltaA_ref = P + contSettings.payload.I;
 
-    [deltaA_ref,contSettings.payload.saturation] = Saturation(deltaA_ref,contSettings.payload.uMin, contSettings.payload.uMax);
+    [deltaA_ref,contSettings.payload.saturation] = Saturation(deltaA_ref,controlParams.uMin, controlParams.uMax);
    
      % inserire WES conditions
      % storia dei 15 secondi di calibrazione etc
diff --git a/simulator/src/std_run_parts/std_hardwareInTheLoop.m b/simulator/src/std_run_parts/std_hardwareInTheLoop.m
index 1b679fab906b6c69b0a21d09ebaae6f8e5aa660b..c4e56199e94fbe92df3c3462820e32922e3cf3db 100644
--- a/simulator/src/std_run_parts/std_hardwareInTheLoop.m
+++ b/simulator/src/std_run_parts/std_hardwareInTheLoop.m
@@ -89,7 +89,7 @@ end
 
 %% Update Mass estimation data
 if ~settings.parafoil
-    if contains(settings.mission,'_2023') ||  contains(settings.mission,'_2024')
+    if contains(mission.name,'_2023') ||  contains(mission.name,'_2024')
         lastShutdown = settings.shutdown;
         settings.shutdown = not(flagBurning);
 
@@ -109,7 +109,8 @@ if ~settings.parafoil
         if settings.shutdown && not(lastShutdown) && flagFlight     % Need to check if this happens only once or the condition can be met multiple times
             t_shutdown = Tf(end);
             settings.expShutdown = 1;
-            settings.timeEngineCut = t_shutdown;
+            settings.shutdown = 1;
+            rocket.motor.cutoffTime = t_shutdown;
             settings.expTimeEngineCut = t_shutdown;
             settings.expMengineCut = m - settings.ms;
             settings.shutdown = 1;
@@ -117,61 +118,58 @@ if ~settings.parafoil
             settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
             [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
             sensorTot.mea.t_shutdown = t_shutdown; % to pass the value out of the std_run to the structOut
-        elseif ~settings.shutdown && Tf(end) >= settings.tb
-            t_shutdown = settings.tb;
-            settings.expShutdown = 1;
-            settings.timeEngineCut = t_shutdown;
-            settings.expTimeEngineCut = t_shutdown;
-            settings.expMengineCut = m - settings.ms;
-            settings.shutdown = 1;
-            settings = settingsEngineCut(settings);
+        elseif ~settings.shutdown && Tf(end)-engineT0 >= rocket.motor.time(end)
+            settings.expShutdown = true;
+            settings.shutdown = true;
+            settings.t_shutdown = rocket.motor.time(end);
+            rocket.motor.cutoffTime = settings.t_shutdown;
+            settings.expTimeEngineCut = settings.t_shutdown;
+            % settings.expMengineCut = settings.parout.m(end) - settings.ms;
+            % settings = settingsEngineCut(settings);
             settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
             [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
             sensorTot.mea.t_shutdown = t_shutdown; % to pass the value out of the std_run to the structOut
         end
     else
-        if t0 > settings.motor.expTime(end)
+        if t0 > rocket.motor.time(end)
             settings.expShutdown = 1;
         end
     end
 else
-    if contains(settings.mission,'_2023') ||  contains(settings.mission,'_2024')
-        if Tf(end) <= settings.tb+0.5 &&...
-                (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
+    if (contains(mission.name,'_2023') || contains(mission.name,'_2024')) && currentState ~= availableStates.on_ground
+        if (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
 
             if isnan(sensorTot.comb_chamber.measures(end))
                 sensorTot.comb_chamber.measures(end) = 0;
             end
             if ~settings.shutdown
-                [t_shutdown,settings,contSettings,sensorData] =run_MTR_SIM (contSettings,sensorData,settings,sensorTot,Tf);
-                m = sensorData.mea.estimated_mass(end);
-                sensorTot.mea.pressure(iTimes) = sensorData.mea.estimated_pressure;
-                sensorTot.mea.mass(iTimes) = sensorData.mea.estimated_mass;
-                sensorTot.mea.prediction(iTimes) = sensorData.mea.predicted_apogee;
-                sensorTot.mea.t_shutdown = t_shutdown;
-                sensorTot.mea.time(iTimes) = t1;
-            end
 
-            if ~settings.shutdown && Tf(end) >= settings.tb
-                t_shutdown = settings.tb;
-                settings.expShutdown = 1;
-                settings.timeEngineCut = t_shutdown;
-                settings.expTimeEngineCut = t_shutdown;
-                settings.expMengineCut = m - settings.ms;
-                settings.shutdown = 1;
-                settings = settingsEngineCut(settings);
-                settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
-                [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
-                sensorTot.mea.t_shutdown = t_shutdown; % to pass the value out of the std_run to the structOut
+                [sensorData,sensorTot,settings,contSettings] =run_MTR_SIM (sensorData,sensorTot,settings,contSettings,t1, engineT0,dt_ode);
+                sensorTot.mea.t_shutdown = settings.t_shutdown;
+
+                if  Tf(end)-engineT0 >= rocket.motor.time(end)
+                    settings.expShutdown = true;
+                    settings.shutdown = true;
+                    settings.t_shutdown = rocket.motor.time(end);
+                    rocket.motor.cutoffTime = settings.t_shutdown;
+                    settings.expTimeEngineCut = settings.t_shutdown;
+                    % settings.expMengineCut = settings.parout.m(end) - settings.ms;
+                    % settings = settingsEngineCut(settings);
+                    settings.quatCut = [sensorTot.nas.states(end,10) sensorTot.nas.states(end, 7:9)]; % why do we take the nas ones and not the simulation ones?
+                    [~,settings.pitchCut,~] = quat2angle(settings.quatCut,'ZYX');
+                    sensorTot.mea.t_shutdown = settings.t_shutdown; % to pass the value out of the std_run to the structOut
+                end
             end
-        elseif ~(strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete')) && Tf(end) > settings.tb
+
+
+        elseif ~(strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete')) && Tf(end)-engineT0 > rocket.motor.time(end)
             settings.shutdown = 1;
             settings.expShutdown = 1;
-            settings.timeEngineCut = settings.tb;
-            settings.expTimeEngineCut = settings.tb;
+            rocket.motor.cutoffTime = rocket.motor.time(end);
+            settings.expTimeEngineCut = rocket.motor.time(end);
         end
     else
-        if t0 > settings.motor.expTime(end)
+        if t0-engineT0 > rocket.motor.time(end)
             settings.expShutdown = 1;
         end
     end
@@ -199,7 +197,7 @@ else
     if flagAeroBrakes && settings.flagNAS && settings.control && ...
             ~( strcmp(contSettings.algorithm,'NoControl') || strcmp(contSettings.algorithm,'engine') )
 
-        if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) && contSettings.traj_choice == 1 && settings.expShutdown
+        if (contains(mission.name,'_2023') || contains(mission.name,'_2024')) && contSettings.traj_choice == 1 && settings.expShutdown
             if ~strcmp(contSettings.algorithm,'complete')
                 m = settings.ms;
             else
@@ -234,7 +232,7 @@ if ~settings.flagAscent && settings.parafoil
                 contSettings.flagFirstControlPRF = false;
                 if contSettings.payload.guidance_alg == "t-approach"
                     pos_est = sensorData.nas.states(end,1:3);
-                    pos_est(3) = -pos_est(3)-settings.z0;
+                    pos_est(3) = -pos_est(3)-environment.z0;
                     [contSettings.payload.EMC,contSettings.payload.M1,contSettings.payload.M2] = setEMCpoints(pos_est,settings.payload.target,contSettings.payload);
                 end
         end
@@ -255,7 +253,7 @@ if ~settings.flagAscent && settings.parafoil
 %                 deltaA_ref_old = deltaA_ref_new;
 %                 t_last_prf_control = t1;
 %                 pos_est = sensorData.nas.states(end,1:3);
-%                 pos_est(3) = -pos_est(3)-settings.z0;
+%                 pos_est(3) = -pos_est(3)-environment.z0;
 %                 
 %                 [deltaA_ref_new,contSettings] = run_parafoilGuidance(pos_est, sensorData.nas.states(end,4:5), wind_est, settings.payload.target, contSettings);
 %         end
diff --git a/simulator/src/std_run_parts/std_magneticField.m b/simulator/src/std_run_parts/std_magneticField.m
index bb1ff613f9d31c7985c7917481fcf079f50b054f..6703b0f24f168dd585eed9f84e17b8ef0242f77d 100644
--- a/simulator/src/std_run_parts/std_magneticField.m
+++ b/simulator/src/std_run_parts/std_magneticField.m
@@ -8,8 +8,8 @@ hmax   =   settings.hmax;
 
 %Use this lines if your MATLAB version is up to 2020
 dy     =    decyear(settings.launchDate);
-XYZ0   =    wrldmagm(0, settings.lat0, settings.lon0, dy, '2020');        % World magnetic map at h = 0
-XYZh   =    wrldmagm(hmax, settings.lat0, settings.lon0, dy, '2020');     % World magnetic map at h = 6000
+XYZ0   =    wrldmagm(0, environment.lat0, environment.lon0, dy, '2020');        % World magnetic map at h = 0
+XYZh   =    wrldmagm(hmax, environment.lat0, environment.lon0, dy, '2020');     % World magnetic map at h = 6000
 
 % %Use this next line if your MATLAB version is previous to 2020
 % load('magn_field.mat');
diff --git a/simulator/src/std_run_parts/std_setInitialParams.m b/simulator/src/std_run_parts/std_setInitialParams.m
index c20359c61438aa264a6c0dfed001d5bac415dcdd..1b999512e79b54955efca70366dc4823f982324d 100644
--- a/simulator/src/std_run_parts/std_setInitialParams.m
+++ b/simulator/src/std_run_parts/std_setInitialParams.m
@@ -8,7 +8,7 @@ integration initialization script- setting initial condition before control phas
 %% kalman initialization
 if not(settings.scenario == "descent")
     sensorData.kalman.vz = 0;                                                   % Vertical velocity
-    sensorData.kalman.z  = -settings.z0;
+    sensorData.kalman.z  = -environment.z0;
 else 
     sensorData.kalman.vz = -settings.Vz_final;                                                   % Vertical velocity
     sensorData.kalman.z  = -settings.z_final;
@@ -51,7 +51,7 @@ sensorData.barometer_sens{3}.t0 = initSensorT0...
 sensorData.pitot.t0 = initSensorT0...
     (control_freq,settings.frequencies.pitotFrequency);
 
-if contains(settings.mission,'_2023')  || contains(settings.mission,'_2024')
+if contains(mission.name,'2023')  || contains(mission.name,'2024')
 sensorData.chamberPressure.t0 = initSensorT0...
     (control_freq,settings.frequencies.chamberPressureFrequency);
 end
@@ -77,7 +77,7 @@ windMag = [];
 windAz = [];
 
 %% control angle (air brakes) initialization
-ap_ref_new = 0;                                                             % air brakes closed until Mach < settings.MachControl
+ap_ref_new = 0;                                                             % air brakes closed until Mach < rocket.airbrakes.maxMach
 ap_ref_old = 0;
 ap_ref = [ ap_ref_old ap_ref_new ];
 
@@ -89,7 +89,7 @@ deltaA_ref_new = 0;
 deltaA_ref_old = 0;
 deltaA_ref = [deltaA_ref_old,deltaA_ref_new];
 % servo motor time delay - in ode it needs to be set to change reference value
-t_change_ref_PRF =      t0 + contSettings.payload.deltaA_delay;
+t_change_ref_PRF =      t0 + rocket.parachutes(2,2).controlParams.deltaA_delay;
 t_last_prf_control = 0;
 
 
@@ -133,7 +133,7 @@ sfd_mean_p = [];
 %% ADA initial conditions (Apogee Detection Algorithm)
 
 if strcmp(settings.scenario, 'descent')
-    [~, ~, p_fin, ~]  =   atmosisa(settings.z_final+settings.z0);               % Reference temperature in kelvin and pressure in Pa
+    [~, ~, p_fin, ~]  =   atmosisa(settings.z_final+environment.z0);               % Reference temperature in kelvin and pressure in Pa
 
     settings.ada.v0          =   -10;                                           % Vertical velocity initial condition
     settings.ada.a0          =   -100;                                          % Acceleration velocity initial condition
@@ -157,9 +157,9 @@ if settings.flagNAS || settings.electronics
     % initialize states of the NAS 
     sensorData.nas.states = [X0; V0; Q0(2:4); Q0(1);0;0;0]';
     if settings.scenario ~="descent"
-        sensorData.nas.states(3) = -settings.z0;
+        sensorData.nas.states(3) = -environment.z0;
     else
-        sensorData.nas.states(3) = -settings.z_final-settings.z0;
+        sensorData.nas.states(3) = -settings.z_final-environment.z0;
     end
     sensorData.nas.P = 0.01*eye(12);
 end
@@ -168,12 +168,12 @@ sensorData.nas.time = 0;
 settings.nas.flagStopPitotCorrection = false;
 
 %% MEA PARAMETERS (mass estimation algorithm) 
-sensorData.mea.x = [0,0,settings.m0];     % initial state estimate
-sensorData.mea.estimated_mass(1) = settings.m0;
+sensorData.mea.x = [0,0,rocket.mass(1)];     % initial state estimate
+sensorData.mea.estimated_mass(1) = rocket.mass(1);
 sensorData.mea.P = diag([0 0 0.36^2]);          % initial value for P
 sensorData.mea.P_acc = diag([0 0 0.36^2]);
 sensorData.mea.time = 0;
-sensorData.mea.estimated_mass = settings.m0;
+sensorData.mea.estimated_mass = rocket.mass(1);
 sensorData.mea.estimated_pressure = 0;
 sensorData.mea.predicted_apogee = 0;
 settings.t_shutdown = Inf;
@@ -185,20 +185,20 @@ para = 1;
 
 %% total sensors initialization
 % total measurements
-[~,~,P0,~] = atmosisa(settings.z0);
+[~,~,P0,~] = atmosisa(environment.z0);
 sensorTot.barometer_sens{1}.pressure_measures   =   P0;
 sensorTot.barometer_sens{2}.pressure_measures   =   P0;
 sensorTot.barometer_sens{3}.pressure_measures   =   P0;
-sensorTot.barometer_sens{1}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{2}.altitude            =   -settings.z0;
-sensorTot.barometer_sens{3}.altitude            =   -settings.z0;
+sensorTot.barometer_sens{1}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{2}.altitude            =   -environment.z0;
+sensorTot.barometer_sens{3}.altitude            =   -environment.z0;
 sensorTot.barometer.pressure_measures           =   P0;
-sensorTot.barometer.altitude                    =   -settings.z0;
+sensorTot.barometer.altitude                    =   -environment.z0;
 sensorTot.comb_chamber.measures                 =   0;
 sensorTot.imu.accelerometer_measures            =   [0, 0, 0];
 sensorTot.imu.gyro_measures                     =   [0, 0, 0];
 sensorTot.imu.magnetometer_measures             =   [0, 0, 0];
-sensorTot.gps.position_measures                 =   [settings.lat0, settings.lon0, settings.z0];
+sensorTot.gps.position_measures                 =   [environment.lat0, environment.lon0, environment.z0];
 sensorTot.gps.velocity_measures                 =   [0, 0, 0];
 sensorTot.pitot.total_pressure                  =   P0;
 sensorTot.pitot.static_pressure                 =   P0;
@@ -207,7 +207,7 @@ sensorTot.pitot.airspeed                        =   0;
 sensorTot.nas.states                            =   sensorData.nas.states;
 sensorTot.nas.timestampPitotCorrection          =   nan;
 sensorTot.mea.pressure                          =   0; %it's a differential pressure sensor
-sensorTot.mea.mass                              =   settings.m0;
+sensorTot.mea.mass                              =   rocket.motor.mass(1);
 sensorTot.mea.prediction                        =   0;
 sensorTot.mea.time                              =   0;
 
diff --git a/simulator/src/std_run_parts/std_subsystems.m b/simulator/src/std_run_parts/std_subsystems.m
index 960442fb9dd269c5283f833cc223978fa2768f67..d4b7ad382e463d2dc3440fa149f98363debeb152 100644
--- a/simulator/src/std_run_parts/std_subsystems.m
+++ b/simulator/src/std_run_parts/std_subsystems.m
@@ -13,7 +13,7 @@ end
 
 %% Navigation system (NAS)
 if settings.flagNAS && settings.dataNoise
-    [sensorData, sensorTot, settings.nas]   =  run_NAS(t1,  XYZ0*0.01, sensorData, sensorTot, settings);
+    [sensorData, sensorTot, settings.nas]   =  run_NAS(t1,  XYZ0*0.01, sensorData, sensorTot, settings, environment);
 
 
 
@@ -27,7 +27,7 @@ if settings.flagNAS && settings.dataNoise
 end
 
 %% Engine Control algorithm
-if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) && currentState ~= availableStates.on_ground
+if (contains(mission.name,'2023') || contains(mission.name,'2024')) && currentState ~= availableStates.on_ground
     if (strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete'))
 
         if isnan(sensorTot.comb_chamber.measures(end))
@@ -35,14 +35,15 @@ if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) &&
         end
         if ~settings.shutdown
 
-            [sensorData,sensorTot,settings,contSettings] = run_MTR_SIM (sensorData,sensorTot,settings,contSettings,t1, engineT0,dt_ode);
+            [sensorData,sensorTot,settings,contSettings,rocket] = run_MTR_SIM ...
+                (sensorData,sensorTot,settings,contSettings,t1, engineT0,dt_ode,rocket,environment, mission);
             sensorTot.mea.t_shutdown = settings.t_shutdown;
 
-            if  Tf(end)-engineT0 >= settings.tb
+            if  Tf(end)-engineT0 >= rocket.motor.time(end)
                 settings.expShutdown = true;
                 settings.shutdown = true;
-                settings.t_shutdown = settings.tb;
-                settings.timeEngineCut = settings.t_shutdown;
+                settings.t_shutdown = rocket.motor.time(end);
+                rocket.motor.cutoffTime = settings.t_shutdown;
                 settings.expTimeEngineCut = settings.t_shutdown;
                 % settings.expMengineCut = settings.parout.m(end) - settings.ms;
                 % settings = settingsEngineCut(settings);
@@ -53,17 +54,17 @@ if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) &&
         end
 
 
-    elseif ~(strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete')) && Tf(end)-engineT0 > settings.tb
+    elseif ~(strcmp(contSettings.algorithm,'engine') || strcmp(contSettings.algorithm,'complete')) && Tf(end)-engineT0 > rocket.motor.time(end)
         settings.shutdown = 1;
         settings.expShutdown = 1;
-        settings.timeEngineCut = settings.tb;
-        settings.expTimeEngineCut = settings.tb;
+        rocket.motor.cutoffTime = rocket.motor.time(end);
+        settings.expTimeEngineCut = rocket.motor.time(end);
     end
 else
-    if t0-engineT0 > settings.motor.expTime(end) && currentState ~= availableStates.on_ground 
+    if t0-engineT0 > rocket.motor.time(end) && currentState ~= availableStates.on_ground 
         settings.shutdown = 1;
         settings.expShutdown = 1;
-        settings.expTimeEngineCut = engineT0 + settings.tb;
+        settings.expTimeEngineCut = engineT0 + rocket.motor.time(end);
     end
 end
 
@@ -72,11 +73,11 @@ end
 
 if flagAeroBrakes && settings.flagNAS && settings.control && ...
         ~( strcmp(contSettings.algorithm,'NoControl') || strcmp(contSettings.algorithm,'engine')) && ...
-        mach < settings.MachControl && Tf(end) > settings.expTimeEngineCut + contSettings.ABK_shutdown_delay
+        mach < rocket.airbrakes.maxMach && Tf(end) > settings.expTimeEngineCut + contSettings.ABK_shutdown_delay
 
-    if (contains(settings.mission,'_2023') || contains(settings.mission,'_2024')) && contSettings.traj_choice == 1 && settings.expShutdown
+    if (contains(mission.name,'2023') || contains(mission.name,'2024')) && contSettings.traj_choice == 1 && settings.expShutdown
         if ~strcmp(contSettings.algorithm,'complete')
-            m = settings.ms;
+            m = rocket.massNoMotor + rocket.motor.mass(end);
         else
             m = sensorData.mea.estimated_mass(end);
         end
@@ -92,7 +93,7 @@ if flagAeroBrakes && settings.flagNAS && settings.control && ...
         ap_ref_old = ap_ref_new;
         settings.quat = [sensorTot.nas.states(end, [10,7:9])];
         [~,settings.pitch,~] = quat2angle(settings.quat,'ZYX');
-        [ap_ref_new,contSettings] = run_ARB_SIM(sensorData,settings,contSettings,ap_ref_old); % "simulated" airbrakes because otherwise are run by the HIL.
+        [ap_ref_new,contSettings] = run_ARB_SIM(sensorData,settings,contSettings,ap_ref_old,environment); % "simulated" airbrakes because otherwise are run by the HIL.
     end
 else
     ap_ref_new = 0;
@@ -110,7 +111,7 @@ if ~settings.flagAscent && settings.parafoil
             contSettings.flagFirstControlPRF = false;
             if contSettings.payload.guidance_alg == "t-approach"
                 pos_est = sensorData.nas.states(end,1:3);
-                pos_est(3) = -pos_est(3)-settings.z0;
+                pos_est(3) = -pos_est(3)-environment.z0;
                 [contSettings.payload.EMC,contSettings.payload.M1,contSettings.payload.M2] = setEMCpoints(pos_est,settings.payload.target,contSettings.payload);
             end
         end
@@ -126,6 +127,7 @@ if ~settings.flagAscent && settings.parafoil
             sensorTot.wes.measure(iTimes,:) = wind_est;
             sensorTot.wes.time(iTimes) = t1;
         else
+            contSettings.WES.state = 2;
             wind_est = [0,0];
         end
 
@@ -134,9 +136,10 @@ if ~settings.flagAscent && settings.parafoil
             deltaA_ref_old = deltaA_ref_new;
             t_last_prf_control = t1;
             pos_est = sensorData.nas.states(end,1:3);
-            pos_est(3) = -pos_est(3)-settings.z0;
+            pos_est(3) = -pos_est(3)-environment.z0;
 
-            [deltaA_ref_new,contSettings] = run_parafoilGuidance(pos_est, sensorData.nas.states(end,4:5), wind_est, settings.payload.target, contSettings);
+            [deltaA_ref_new,contSettings] = run_parafoilGuidance(pos_est, sensorData.nas.states(end,4:5), wind_est, ...
+                settings.payload.target, contSettings, rocket.parachutes(2,2).controlParams);
         end
 
     end
diff --git a/trajectoryGeneration/configTrajectoryGeneration.m b/trajectoryGeneration/configTrajectoryGeneration.m
index 697e8113112e235a2bdc15ac331e88a7af5986e3..4d1a59ed51fc471f0a214344681c40664deb7d6d 100644
--- a/trajectoryGeneration/configTrajectoryGeneration.m
+++ b/trajectoryGeneration/configTrajectoryGeneration.m
@@ -15,7 +15,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 
 %% LOAD DATA
 % Retrieve MSA-Toolkit rocket data
-dataPath = strcat('../common/missions/', settings.missionMSA);
+dataPath = strcat('../common/missions/', mission.nameMSA);
 addpath(dataPath);
 simulationsData
 
@@ -23,9 +23,9 @@ commonFunctionsPath = '../common/functions';
 addpath(genpath(commonFunctionsPath))
 
 % Retrieve Control rocket data
-ConDataPath = strcat('../data/', settings.mission);
+ConDataPath = strcat('../data/', mission.name);
 addpath(ConDataPath);
-run(strcat('config', settings.mission));
+run(strcat('config', mission.name));
 
 % Control common functions
 commonFunctionsPath = '../commonFunctions';
diff --git a/trajectoryGeneration/mainTrajectoryGeneration.m b/trajectoryGeneration/mainTrajectoryGeneration.m
index 1cf69a2bf6e73079ee0903a3846310edb7608b31..06ebcc91e30a8068821137fe2d3080a2fe17da22 100644
--- a/trajectoryGeneration/mainTrajectoryGeneration.m
+++ b/trajectoryGeneration/mainTrajectoryGeneration.m
@@ -27,6 +27,7 @@ else
     clearvars -except flagSubmodulesUpdated
 end
 
+restoredefaultpath;
 filePath = fileparts(mfilename('fullpath'));
 currentPath = pwd;
 if not(strcmp(filePath, currentPath))
@@ -42,6 +43,10 @@ addpath(genpath(commonFunctionsPath));
 % Config path
 addpath('../simulator/configs/');
 
+% add MSA data path
+commonPath = strcat('../common');
+addpath(genpath(commonPath));
+
 %% CHECK IF MSA-TOOLKIT IS UPDATED
 % msaToolkitURL = 'https://github.com/skyward-er/msa-toolkit';
 % localRepoPath = '../data/msa-toolkit';
@@ -56,7 +61,7 @@ configSimulator;
 %% AIRBRAKES RADIAL EXTENSION
 % Airbrakes extension vector
 delta_alpha_values  = linspace(settings.servo.minAngle,settings.servo.maxAngle,2);
-[deltaX_values] = extension_From_Angle(delta_alpha_values, settings);
+[deltaX_values] = extension_From_Angle(delta_alpha_values, settings, mission);
 % I exclude the limits for robustness
 % deltaX_values = deltaX_values(2:end-1);
 
@@ -73,7 +78,7 @@ y_final  =  settings.y_final;
 %% INITIAL VELOCITY
 
 %%% Attitude
-Q0 = angleToQuat(settings.PHI, settings.OMEGA, 0*pi/180)'; % set initial quaternion to ramp angles
+Q0 = angleToQuat(environment.phi, environment.omega, 0*pi/180)'; % set initial quaternion to ramp angles
 
 %%% State
 X0 = [0 0 0]';
@@ -81,19 +86,20 @@ V0 = [0 0 0]';
 W0 = [0 0 0]';
 
 %%% wind initialization
-[uw, vw, ww, ~] = windConstGenerator(settings.wind);
+wind = WindCustom(mission);
+[uw, vw, ww] = wind.getVels(0);
 settings.constWind = [uw, vw, ww];
 
 Z_initial = 0;
 
 %% INTERPOLATED CA
-coeffsCA = load(strcat(dataPath, '/CAinterpCoeffs.mat'));
+coeffsCA = load(strcat(commonPath, '/missions/', mission.name, '/data/CAinterpCoeffs.mat'));
 
 %% NEEDED PARAMETERS
 
-settingsSim.g0 = settings.g0;
-settingsSim.z0 = settings.z0;
-settingsSim.C  = settings.C;
+settingsSim.g0 = environment.g0;
+settingsSim.z0 = environment.z0;
+settingsSim.C  = rocket.diameter;
 settingsSim.CD_correction_ref = settings.CD_correction_ref;
 
 %% COMPUTE THE TRAJECTORIES BY BACK INTEGRATION
@@ -141,7 +147,7 @@ for j = 1:N_mass
 
 end
 %% SAVING
-%  settings.save = false;
+% settings.save = false;
 % load test
 if ~settings.save
     warning('save is set to false')
diff --git a/trajectoryGeneration/src/Trajectory_generation.slx b/trajectoryGeneration/src/Trajectory_generation.slx
index 3e027b2ba52a58dffb9d9400a8fe1b3dc58f7d98..3f98aa353c5a425432d00f3f7a354d2f0e2ac698 100644
Binary files a/trajectoryGeneration/src/Trajectory_generation.slx and b/trajectoryGeneration/src/Trajectory_generation.slx differ
diff --git a/trajectoryGeneration/src/Trajectory_generation.slx.autosave b/trajectoryGeneration/src/Trajectory_generation.slx.r2022b
similarity index 52%
rename from trajectoryGeneration/src/Trajectory_generation.slx.autosave
rename to trajectoryGeneration/src/Trajectory_generation.slx.r2022b
index d39d5d46631218148b71e48dae2e7709719b836a..3e027b2ba52a58dffb9d9400a8fe1b3dc58f7d98 100644
Binary files a/trajectoryGeneration/src/Trajectory_generation.slx.autosave and b/trajectoryGeneration/src/Trajectory_generation.slx.r2022b differ
diff --git a/trajectoryGeneration/src/eventAirBrake.m b/trajectoryGeneration/src/eventAirBrake.m
index b5b842a060e3571dc787478e380423f3488b7a51..39bbe07f437130b3ecf6055cb4c3b5fd26842b29 100644
--- a/trajectoryGeneration/src/eventAirBrake.m
+++ b/trajectoryGeneration/src/eventAirBrake.m
@@ -30,7 +30,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
 
 %}
 
-if t > settings.tb
+if t > rocket.motor.time(end)
     
     %% RECALL THE STATE
     z = -Y(3);
@@ -57,9 +57,9 @@ if t > settings.tb
     wr = w - wind(3);
 
     V_norm = norm([ur vr wr]);
-    Mach = getMach(V_norm, z + settings.z0);
+    Mach = getMach(V_norm, z + environment.z0);
     
-    value = Mach - settings.MachControl;
+    value = Mach - rocket.airbrakes.maxMach;
     
 else
     value = 1;
diff --git a/trajectoryGeneration/src/eventSpeed.m b/trajectoryGeneration/src/eventSpeed.m
index 2d0a4571dfe4489b49ab9aa7162baaf6337d2a4b..814a08064801d00609ffd37cf5181c2973f5a573 100644
--- a/trajectoryGeneration/src/eventSpeed.m
+++ b/trajectoryGeneration/src/eventSpeed.m
@@ -1,6 +1,6 @@
 function [value, isterminal, direction] = eventSpeed(t, Y,settings, varargin)
 
- Mach = getMach(norm(Y(4:6)), -Y(3) + settings.z0);
+ Mach = getMach(norm(Y(4:6)), -Y(3) + environment.z0);
     
 value = Mach - 0.8;