diff --git a/data/airbrakes/trajectories_euroc.mat b/data/airbrakes/trajectories_euroc.mat
index 6a2096e02c58c36f189f42c583d85bc289b8e435..e86e8c5d58a09f10641752f00cd147f169dd6d33 100644
Binary files a/data/airbrakes/trajectories_euroc.mat and b/data/airbrakes/trajectories_euroc.mat differ
diff --git a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
index 62e6333180d413ecf8a5688ccc2ba916604dc54f..51f87f62e572c8ed2901a9f8b89c0d1dfa6fb265 100644
--- a/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
+++ b/src/boards/DeathStack/AirBrakes/trajectories/TrajectoriesEuroc.h
@@ -27,7 +27,7 @@ namespace DeathStackBoard
{
static const unsigned int TOT_TRAJECTORIES = 9;
-static const unsigned int TRAJECTORY_MAX_LENGTH = 326;
+static const unsigned int TRAJECTORY_MAX_LENGTH = 381;
struct point_t
{
@@ -42,1436 +42,1543 @@ struct trajectory_t
};
const trajectory_t TRAJECTORIES_DATA[TOT_TRAJECTORIES] = {
- {326,
+ {381,
{
- {1593.049160, 194.060201}, {1602.730437, 193.190887},
- {1612.368334, 192.324990}, {1621.963021, 191.462478},
- {1631.514666, 190.603319}, {1641.023436, 189.747482},
- {1650.489496, 188.894938}, {1659.913011, 188.045654},
- {1669.294142, 187.199601}, {1678.633051, 186.356751},
- {1687.929897, 185.517073}, {1697.184837, 184.680538},
- {1706.398029, 183.847118}, {1715.569626, 183.016786},
- {1724.699784, 182.189512}, {1733.788653, 181.365269},
- {1742.836386, 180.544031}, {1751.843131, 179.725770},
- {1760.809036, 178.910459}, {1769.734250, 178.098072},
- {1778.618916, 177.288583}, {1787.463180, 176.481966},
- {1796.267184, 175.678196}, {1805.031070, 174.877247},
- {1813.754978, 174.079094}, {1822.439048, 173.283713},
- {1831.083418, 172.491079}, {1839.688224, 171.701168},
- {1848.253603, 170.913956}, {1856.779687, 170.129419},
- {1865.266611, 169.347534}, {1873.714506, 168.568277},
- {1882.123504, 167.791625}, {1890.493733, 167.017556},
- {1898.825323, 166.246048}, {1907.118401, 165.477077},
- {1915.373094, 164.710621}, {1923.589526, 163.946660},
- {1931.767822, 163.185171}, {1939.908104, 162.426133},
- {1948.010496, 161.669524}, {1956.075117, 160.915324},
- {1964.102088, 160.163511}, {1972.091527, 159.414066},
- {1980.043553, 158.666967}, {1987.958282, 157.922195},
- {1995.835830, 157.179730}, {2003.676312, 156.439551},
- {2011.479842, 155.701640}, {2019.246532, 154.965976},
- {2026.976495, 154.232541}, {2034.669842, 153.501316},
- {2042.326682, 152.772281}, {2049.947124, 152.045419},
- {2057.531277, 151.320710}, {2065.079248, 150.598136},
- {2072.591144, 149.877680}, {2080.067069, 149.159322},
- {2087.507128, 148.443047}, {2094.911425, 147.728835},
- {2102.280063, 147.016669}, {2109.613143, 146.306533},
- {2116.910766, 145.598409}, {2124.173034, 144.892280},
- {2131.400044, 144.188130}, {2138.591896, 143.485941},
- {2145.748687, 142.785698}, {2152.870514, 142.087384},
- {2159.957473, 141.390983}, {2167.009659, 140.696479},
- {2174.027168, 140.003856}, {2181.010092, 139.313099},
- {2187.958524, 138.624191}, {2194.872557, 137.937119},
- {2201.752281, 137.251865}, {2208.597788, 136.568416},
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- {2228.929899, 134.528746}, {2235.639427, 133.852367},
- {2242.315179, 133.177718}, {2248.957241, 132.504786},
- {2255.565700, 131.833556}, {2262.140639, 131.164016},
- {2268.682143, 130.496150}, {2275.190296, 129.829945},
- {2281.665179, 129.165387}, {2288.106875, 128.502464},
- {2294.515466, 127.841161}, {2300.891032, 127.181465},
- {2307.233652, 126.523364}, {2313.543407, 125.866845},
- {2319.820376, 125.211893}, {2326.064636, 124.558498},
- {2332.276264, 123.906645}, {2338.455338, 123.256323},
- {2344.601935, 122.607519}, {2350.716128, 121.960221},
- {2356.797994, 121.314417}, {2362.847607, 120.670095},
- {2368.865040, 120.027242}, {2374.850367, 119.385847},
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- {2404.297931, 116.200331}, {2410.092125, 115.567440},
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- {2786.423280, 66.945582}, {2789.756854, 66.397376},
- {2793.063035, 65.849875}, {2796.341859, 65.303072},
- {2799.593360, 64.756962}, {2802.817572, 64.211540},
- {2806.014531, 63.666800}, {2809.184269, 63.122737},
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- {2818.530500, 61.494550}, {2821.591692, 60.953138},
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diff --git a/src/boards/DeathStack/configs/AirBrakesConfig.h b/src/boards/DeathStack/configs/AirBrakesConfig.h
index 7f76005027b55668c31bb12951fcf0fdb554a761..f0d4ac6161e8fd043ef08e3018c1149217c5c101 100644
--- a/src/boards/DeathStack/configs/AirBrakesConfig.h
+++ b/src/boards/DeathStack/configs/AirBrakesConfig.h
@@ -93,9 +93,9 @@ static constexpr float ABK_UPDATE_PERIOD = 0.05 * 1000; // ms -> 20 Hz
static constexpr float ABK_UPDATE_PERIOD_SECONDS = ABK_UPDATE_PERIOD / 1000;
#ifdef EUROC
-static constexpr int SHADOW_MODE_DURATION = 6.3 * 1000; // 0.8 mach
+static constexpr int SHADOW_MODE_DURATION = 6.2 * 1000; // 0.8 mach
static constexpr int AIRBRAKES_ACTIVATION_AFTER_SHADOW_MODE =
- 1.2 * 1000; // 0.7 mach
+ 1.1 * 1000; // 0.7 mach
#else
static constexpr int SHADOW_MODE_DURATION = 3.5 * 1000;
#endif