diff --git a/RoccarasoFlight/postprocessing/RCS/Functions&Files/RocketAnim.m b/RoccarasoFlight/postprocessing/RCS/Functions&Files/RocketAnim.m
new file mode 100644
index 0000000000000000000000000000000000000000..8959d99f30a568d7e8d17305d6bb941e30702260
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/RCS/Functions&Files/RocketAnim.m
@@ -0,0 +1,21 @@
+function OBJ = RocketAnim(RocketAttitude, Points, ConnList, edge, surface, alpha)
+%OBJ = RocketAnim(RocketAttitude, Points, ConnList, edge, surface, alpha)
+%Function for the creation of the the animated rocket, if called with
+%ouptut returns the graphic object.
+% INPUT:
+% RocketAttitude= Attitude matrix of the rocket
+% Points = Points of the rocket mesh, from the stlread function
+% ConnList = Connectivity list of the rocket mesh, from the stlread function
+% edge = Edge color of the rocket mesh
+% surface = Face color of the rocket mesh
+% alpha = Face alpha of the rocket mesh
+
+ PointsRCKrotated = RocketAttitude'*Points'; %Mesh rotation
+ OBJ = triangulation(ConnList, PointsRCKrotated'); %Creation of triangulated object
+ OBJ = trimesh(OBJ); %Creation of the graphic object
+ %Object properties setting
+ OBJ.EdgeColor = edge;
+ OBJ.FaceColor = surface;
+ OBJ.FaceAlpha = alpha;
+end
+
diff --git a/RoccarasoFlight/postprocessing/RCS/Functions&Files/STL2Obj.m b/RoccarasoFlight/postprocessing/RCS/Functions&Files/STL2Obj.m
new file mode 100644
index 0000000000000000000000000000000000000000..71bf36f0994191cc6fdbf504109eea006e96166c
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/RCS/Functions&Files/STL2Obj.m
@@ -0,0 +1,37 @@
+function [ConnList, Points] = STL2Obj(name, type)
+% [ConnList, Points] = STL2Obj(name)
+%Read a STL file and return the vertex list (Points output) and the
+%connectivity list (ConnList output). The points are resized, assuming that
+%the units are in millimetres, and centered about the origin.
+
+%Stl reading
+STL = stlread(name);
+
+%Struct extraction
+ConnList = STL.ConnectivityList;
+Points = STL.Points/1000;
+
+%Finding centre of the rocket
+
+
+%Solid centering
+dim = max(Points)/2;
+
+switch type
+ case 'r'
+ dim(1) = dim(1) - 0.0478568;
+ dim(3) = dim(3) - 0.00225635;
+ case 'p'
+ dim(3) = 0;
+ otherwise
+ dim(:) = 0;
+end
+
+Points = Points - dim;
+
+Points = Points * [0, -1, 0;
+ 1, 0, 0;
+ 0, 0, 1];
+Points = Points * [1, 0, 0;
+ 0, 0,-1;
+ 0, 1, 0];
\ No newline at end of file
diff --git a/RoccarasoFlight/postprocessing/RCS/Functions&Files/animateOrientation.m b/RoccarasoFlight/postprocessing/RCS/Functions&Files/animateOrientation.m
new file mode 100644
index 0000000000000000000000000000000000000000..6ddfbbea7c872e5b8417d37c651070e9db1d81bb
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/RCS/Functions&Files/animateOrientation.m
@@ -0,0 +1,73 @@
+% Author: Pier Francesco Bachini
+%
+% This function displays a parallelepiped which has its orientation in space
+% represented by the provided quaternions.
+% If the quaternions are vectors all of the same length, then the
+% parallelepid orientation will be animated following the quaternion data.
+% NOTE: The quaternion data must be provided in x,y,z,w order
+
+function animateOrientation(dcm, time, video_name)
+
+
+ figure();
+ view(3);
+ hold on;
+ axis equal
+ axis([-2 2 -2 2 -2 2]);
+ view(150,20);
+ plot3([-2 2], [0 0], [0 0], 'Color', 'blue'); % blue x
+ plot3([0 0], [-2 2], [0 0], 'Color', 'magenta'); % orange y
+ plot3([0 0], [0 0], [-2 2], 'Color', 'green'); % green z
+
+ % Time box settings
+ time_elapsed = time; % Set new t0 = 0
+ % time_elapsed = time - time(1);
+ timeBoxLocation = [.35 .8 .1 .1];
+ timeBox = annotation('textbox',timeBoxLocation,'String', time_elapsed(1), 'Interpreter', 'latex');
+ timeBox.FontSize = 24;
+ timeBox.BackgroundColor= 'w';
+ OBJ = plot3(0,0,0, 'b');
+ [ConnList, Points] = STL2Obj("rocket.STL", 'r');
+
+ if nargin > 2 %Set video settings
+ % High frame-rate for video
+ frame_rate = 5;
+
+ % Change renderer
+ set(gcf, 'renderer', 'zbuffer');
+ v = VideoWriter(video_name);
+ v.FrameRate = frame_rate;
+ open(v);
+ else
+ % Low frame-rate for only animation
+ frame_rate = 10;
+ end
+ grid on
+ set(gca, 'ZDir', 'reverse');
+ set(gca, 'YDir', 'reverse');
+
+ xlabel('N')
+ ylabel('E')
+ zlabel('D')
+ for t = 2:(50/frame_rate):length(dcm) % 50 Hz is the frequency of NAS
+ R = dcm(:,:,t);
+
+
+ delete(OBJ)
+ OBJ = RocketAnim(R, Points, ConnList, 'none', 'k', 0.5);
+ formatSpec = '%.3f';
+ sec = num2str(time_elapsed(t),formatSpec);
+ timeBox.String = sprintf('% s', sec);
+ drawnow
+ pause(0.02);
+
+ if nargin > 2
+ thisFrame = getframe(gcf);
+ writeVideo(v, thisFrame);
+ end
+ end
+
+ if nargin > 2
+ close(v);
+ end
+end
\ No newline at end of file
diff --git a/RoccarasoFlight/postprocessing/RCS/Functions&Files/rocket.STL b/RoccarasoFlight/postprocessing/RCS/Functions&Files/rocket.STL
new file mode 100644
index 0000000000000000000000000000000000000000..0162decfd81a6d96611c1393c0a586f7ed507272
Binary files /dev/null and b/RoccarasoFlight/postprocessing/RCS/Functions&Files/rocket.STL differ
diff --git a/RoccarasoFlight/postprocessing/RCS/NAS quaternion.mat b/RoccarasoFlight/postprocessing/RCS/NAS quaternion.mat
new file mode 100644
index 0000000000000000000000000000000000000000..5b1ec27dd377b44b5d023b506f7eeb61b42e12d3
Binary files /dev/null and b/RoccarasoFlight/postprocessing/RCS/NAS quaternion.mat differ
diff --git a/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m b/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
index ea6b96f5ef98828373f4590a0089178befb6bb1d..a29c393d0f2b77f439c70639cd0b56fe7efe29fa 100644
--- a/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
+++ b/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
@@ -1,6 +1,7 @@
clear; clc; close all;
%% adding path and recall data
+addpath('Functions&Files')
addpath("..\commonFunctions\");
main = importData('main');
@@ -40,9 +41,29 @@ xlabel('Time elapsed [s]')
ylabel('Pressure altitude [m]')
%% Drogue Descent Post
-droguePara = descentPost(main, droguedescent, h0, 'drogue', (0.58/0.93)^2*pi, 21.95);
-mainPara = descentPost(main, maindescent, h0, 'main', 7.34, 21.90);
-
+% droguePara = descentPost(main, droguedescent, h0, 'drogue', (0.58/0.93)^2*pi, 21.95);
+% mainPara = descentPost(main, maindescent, h0, 'main', 7.34, 21.90);
+
+%% Attitude visualization
+sensor = load('NAS quaternion.mat');
+qq = sensor.sensorTot_NoPitot;
+time_qq = qq.nas.time;
+qs = qq.nas.states(:,10);
+qq = qq.nas.states(:,7:9);
+test = vecnorm([qq, qs], 2, 2)-1;
+
+N = length(qs);
+qs = permute(qs, [2, 3, 1]);
+qq = permute(qq, [2, 3, 1]);
+qv = [zeros(1,1, N), - qq(3,1,:), qq(2,1,:);
+ qq(3,1,:), zeros(1,1, N), - qq(1,1,:);
+ - qq(2,1,:), qq(1,1,:), zeros(1,1, N)];
+A_dcm = (qs.^2 - pagemtimes(qq, 'transpose', qq, 'none')) .* eye(3) + ...
+2*pagemtimes(qq, 'none', qq, 'transpose') - 2 * qs.*qv;
+
+
+% A_dcm = repmat(eye(3), [1 1 10]);
+animateOrientation(A_dcm, time_qq);
function para = descentPost(main, desc, h0, name, S, M)
diff --git a/RoccarasoFlight/postprocessing/RCS/lol.avi b/RoccarasoFlight/postprocessing/RCS/lol.avi
new file mode 100644
index 0000000000000000000000000000000000000000..62496eece41c0f8914eda08fe87a9ccf7c791526
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