diff --git a/RoccarasoFlight/postprocessing/AFD/NASData_recalib.mat b/RoccarasoFlight/postprocessing/AFD/NASData_recalib.mat
new file mode 100644
index 0000000000000000000000000000000000000000..5a1dc66e1259db5e22f7a0cbe45c41c736760e75
Binary files /dev/null and b/RoccarasoFlight/postprocessing/AFD/NASData_recalib.mat differ
diff --git a/RoccarasoFlight/postprocessing/AFD/estimationCA.m b/RoccarasoFlight/postprocessing/AFD/estimationCA.m
index 6f8df89b604f07b9498a9b3ff32eb1a3a1c5099c..805d5ab89239f5505b97a760b618fbbf02ba0423 100644
--- a/RoccarasoFlight/postprocessing/AFD/estimationCA.m
+++ b/RoccarasoFlight/postprocessing/AFD/estimationCA.m
@@ -23,11 +23,12 @@ function results = estimationCA(main, alt0)
     altNasFlight = -main.NASData(1:main.NASApogeeIndex, 4); 
     velNasFlight = vecnorm(main.NASData(1:main.NASApogeeIndex, 5:7), 2, 2); 
 
-    load nasSim.mat
-    indNasSim = sensorTot_NoPitot.nas.time < main.tApogee; 
-    tNasSim = sensorTot_NoPitot.nas.time(indNasSim);
-    velNasSim = vecnorm(sensorTot_NoPitot.nas.states(indNasSim, 4:6), 2,2); 
-    altNasSim = -sensorTot_NoPitot.nas.states(indNasSim, 3); 
+    load NASData_recalib.mat
+    sensorTot = sensorTot_WithPitot; 
+    indNasSim = sensorTot.nas.time < main.tApogee; 
+    tNasSim = sensorTot.nas.time(indNasSim);
+    velNasSim = vecnorm(sensorTot.nas.states(indNasSim, 4:6), 2,2); 
+    altNasSim = -sensorTot.nas.states(indNasSim, 3); 
     
     
     % Normalize data
@@ -46,7 +47,7 @@ function results = estimationCA(main, alt0)
     velNasSimNorm    = interp1(tNasSim, velNasSim, timeRef); 
     
     velVertNasFlightNorm = interp1(tNasFlight, movmean(-main.NASData(1:main.NASApogeeIndex, 7), 10), timeRef); 
-    velVertNasSimNorm = interp1(tNasSim, -sensorTot_NoPitot.nas.states(indNasSim, 6), timeRef); 
+    velVertNasSimNorm = interp1(tNasSim, -sensorTot.nas.states(indNasSim, 6), timeRef); 
 
     altFlightNorm = interp1(tNasFlight, altNasFlight, timeRef); 
     altSimNorm    = interp1(tNasSim, altNasSim, timeRef); 
diff --git a/RoccarasoFlight/postprocessing/AFD/mainPostprocess.m b/RoccarasoFlight/postprocessing/AFD/mainPostprocess.m
index c7b1fde450c038776b8e966e81df3b186d692a5f..55840790e67aa00f0863951ade240612623aef62 100644
--- a/RoccarasoFlight/postprocessing/AFD/mainPostprocess.m
+++ b/RoccarasoFlight/postprocessing/AFD/mainPostprocess.m
@@ -3,7 +3,7 @@ clc;
 close all; 
 
 %% Select options
-opt.flagTraj = true; 
+opt.flagTraj = false; 
 opt.flagCA = true; 
 alt0 = 1414; 
 
@@ -33,7 +33,7 @@ end
 if opt.flagCA
 
     configSimPostp; 
-    settings.Local = [1414, 25 + 273, 88369]; 
+    settings.Local = [1414, 22 + 273, 88369]; 
 
     % CONTINUE
     Thrust = res.Thrust(1:indexCO);
@@ -41,7 +41,7 @@ if opt.flagCA
     timeThrust = res.time(2:indexCO); 
     timeThrust = [0, timeThrust]; 
 
-    settings.motor.expM = res.mass.propMass(1:indexCO); 
+    settings.motor.expM = res.mass.propMass(1:indexCO)'; 
     settings.motor.Pe = reshapeVector(timeThrust, settings.motor.expTime, settings.motor.Pe); 
     settings.mTotalTime =  res.mass.rocketMass(1:indexCO); 
     settings.ms = res.mass.rocketMass(end); 
@@ -61,8 +61,6 @@ if opt.flagCA
     settings.motor.expThrust = Thrust; 
     settings.tb = settings.motor.expTime(end); 
     settings.tControl = settings.tb; 
-    
-    settings.z0 = settings.z0 - 100; 
 
     [Tf, Yf, Ta, Ya, bound_value] = stdRun(settings);
     load ascent_plot.mat; 
@@ -101,7 +99,7 @@ if opt.flagCA
     ylabel('Velocity [m/s]'); 
     title('Vertical Velocity'); 
     grid on
-    legend('NAS - flight', 'NAS - simulated', 'Simulation', 'Location','southoutside', 'Orientation', 'horizontal'); 
+    legend('NAS - flight', 'NAS - simulated', 'Simulation','Location','southoutside', 'Orientation', 'horizontal'); 
 
 
     figure
diff --git a/RoccarasoFlight/postprocessing/AFD/trajectory.m b/RoccarasoFlight/postprocessing/AFD/trajectory.m
index 2d4a64cf57d69aabd4ea775c1697b763fec17e48..6887ad2b290f2388abc4a108b6260d70efe9a889 100644
--- a/RoccarasoFlight/postprocessing/AFD/trajectory.m
+++ b/RoccarasoFlight/postprocessing/AFD/trajectory.m
@@ -23,4 +23,4 @@ altNasInterp = interp1(tNas, altNas, tGps);
 
 uif = uifigure;
 g = geoglobe(uif);
-geoplot3(g,lat,lon,altNasInterp + alt0,'b','Linewidth',2.5);
\ No newline at end of file
+geoplot3(g,lat,lon,altNasInterp + alt0,'b','Linewidth',2.5, 'Color','#D3212D');
\ No newline at end of file
diff --git a/RoccarasoFlight/postprocessing/RCS/cadrega.m b/RoccarasoFlight/postprocessing/RCS/cadrega.m
index 5fc28273fff02c08c7b2863fcd2850ff2d6e5528..a0175f63d956ecef87d0fe9a4eb8b07f43ed2555 100644
--- a/RoccarasoFlight/postprocessing/RCS/cadrega.m
+++ b/RoccarasoFlight/postprocessing/RCS/cadrega.m
@@ -3,7 +3,7 @@ clc; close all; clear;
 Meuroc_vera = 25.11;
 v_tgt       = 23;
 [~, ~, ~, rho_tgt] = atmosisa(350 + 160); % Considerando l'elevazione di costancia
-S =  (0.58/0.93)^2*pi;
+S =  1;
 % S = 1.0;
 Cd = 2*Meuroc_vera * 9.81 / (v_tgt^2 * rho_tgt*S);
 
diff --git a/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m b/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
index 8583211dddea2bf25c239142ce950eb33009531b..e47d7676dedcdec5e4ed7489b3fe75e870db288c 100644
--- a/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
+++ b/RoccarasoFlight/postprocessing/RCS/descentPostProcess.m
@@ -155,22 +155,36 @@ para.cfit = fit(para.altitudetime, para.altitude, 'poly1');
 para.refMass  = M;
 para.paraS    = S;
 
-N = 100;
-problem.objective = @(x)errFun(x, para, baseline);
-problem.x0 = para.cfit.p1*ones(N,1);
-% problem.A  = eye(N) - diag(ones(N-1, 1), 1);
-% problem.A = problem.A(1:end-1,:);
-% problem.B = zeros(N, 1);
-problem.lb = para.cfit.p1*ones(N,1)*1.2;
-problem.ub = para.cfit.p1*ones(N,1)*0.8;
-problem.nonlcon = @(x)nonlincon(x, para, baseline);
+N = 200;
+tvecCd = linspace(para.altitudetime(1), para.altitudetime(end), N); 
+problem.objective = @(x)errFun(x, para, tvecCd);
+% problem.x0 = para.cfit.p1*ones(N,1);
+problem.Aineq  = eye(N) - diag(ones(N-1, 1), 1);
+problem.Aineq = -problem.Aineq(1:end-1,:);
+problem.Bineq = zeros(N-1, 1);
+
+% problem.lb = para.cfit.p1*ones(N,1)*1.2;
+% problem.ub = para.cfit.p1*ones(N,1)*0.8;
+problem.x0 = baseline(tvecCd);
+problem.lb = baseline(tvecCd) - 10;
+problem.ub = baseline(tvecCd) + 10;
+
+% problem.nonlcon = @(x)nonlincon(x, para, baseline);
 problem.solver = 'fmincon';
-problem.options = optimoptions('fmincon', 'Display', 'none', 'Algorithm','active-set');
+problem.options = optimoptions('fmincon', 'Display', 'iter-detailed', 'Algorithm','active-set', 'MaxFunctionEvaluations',1e6, 'MaxIterations', 1000);
 
-V = fmincon(problem);
+hvec_int = fmincon(problem);
 
 tvecCd = linspace(para.altitudetime(1),para.altitudetime(end), N);
-hvec_int = para.altitude(1) + cumtrapz(tvecCd, V);
+% hvec_int = para.altitude(1) + cumtrapz(tvecCd, V);
+dt = tvecCd(2) - tvecCd(1);
+V = zeros(N, 1);
+V(1) = (hvec_int(2) - hvec_int(1))/dt;
+V(end) = (hvec_int(end) - hvec_int(end-1))/dt;
+
+V(2:end-1) = hvec_int(3:end) - hvec_int(1:end-2);
+
+
 Cd_vec = 2 * M * 9.81 ./ (V.^2 .*rhofun(hvec_int) * S);
 para.Cd = mean(Cd_vec);
 para.Cd_std = std(Cd_vec);
@@ -179,11 +193,13 @@ para.Cd_std = std(Cd_vec);
 figure('Name', [name, 'DescentAlt'])
 plot(para.pressureRCSalt(:,1), para.pressureRCSalt(:,2)); hold on
 plot(para.staticalt(:,1), para.staticalt(:,2))
-plot(para.NASalt(:,1), -para.NASalt(:,2)+h0)
-legend('RCS analogic', 'STATIC', 'NAS')
+legend('RCS analogic', 'STATIC')
 xlim(tvec)
 plot(para.cfit);
 plot(tvecCd, hvec_int, 's-', 'DisplayName', 'Optimizer Result')
+plot(tvecCd, problem.ub, 's-', 'DisplayName', 'Optimizer ub')
+plot(tvecCd, problem.lb, 'x-', 'DisplayName', 'Optimizer lb')
+plot(tvecCd, problem.x0, 'x-', 'DisplayName', 'Optimizer x0')
 
 grid on
 xlabel('time [s]')
@@ -194,7 +210,7 @@ figure('Name', [name, 'DescentAlt from baseline'])
 plot(para.pressureRCSalt(:,1), abs(para.pressureRCSalt(:,2) - baseline(para.pressureRCSalt(:,1)))./baseline(para.pressureRCSalt(:,1))); hold on
 plot(para.staticalt(:,1), abs(para.staticalt(:,2)- baseline(para.staticalt(:,1)))./baseline(para.staticalt(:,1)))
 plot(para.NASalt(:,1), abs(-para.NASalt(:,2)+h0- baseline(para.NASalt(:,1)))./baseline(para.NASalt(:,1)))
-plot(tvecCd, abs(hvec_int -  baseline(tvecCd)')./ baseline(tvecCd)', 's-', 'DisplayName', 'Optimizer Result')
+plot(tvecCd, abs(hvec_int -  baseline(tvecCd))./ baseline(tvecCd), 's-', 'DisplayName', 'Optimizer Result')
 
 legend('RCS analogic', 'STATIC', 'NAS', 'Optimizer Result')
 grid on
@@ -222,37 +238,47 @@ function rho = rhofun(h)
 
 end
 
-function X = errFun(V, para, baseline)
+% function X = errFun(V, para, baseline)
+% 
+% g = 9.81;
+% S = para.paraS;
+% M = para.refMass;
+% 
+% N = length(V);
+% tvec = linspace(para.altitudetime(1),para.altitudetime(end), N);
+% 
+% hvec = baseline(tvec);
+% 
+% rvec = rhofun(hvec);
+% 
+% Cd = 2 * M * g ./ (V.^2 .* rvec * S);
+% 
+% X = std(Cd);
+% end
+
+function X = errFun(hvec, para, tvec)
 
 g = 9.81;
 S = para.paraS;
 M = para.refMass;
 
-N = length(V);
-tvec = linspace(para.altitudetime(1),para.altitudetime(end), N);
+N = length(hvec);
+% tvec = linspace(para.altitudetime(1),para.altitudetime(end), N);
 
-hvec = baseline(tvec);
+V_vec = zeros(N, 1);
 
-rvec = rhofun(hvec);
+dt = tvec(2) - tvec(1);
 
-Cd = 2 * M * g ./ (V.^2 .* rvec * S);
+V_vec(1) = (hvec(2) - hvec(1))/dt;
+V_vec(end) = (hvec(end) - hvec(end-1))/dt;
 
-X = std(Cd);
-end
+V_vec(2:end-1) = hvec(3:end) - hvec(1:end-2);
 
-function [c, ceq] = nonlincon(V, para, baseline)
-
-% g = 9.81;
-% S = para.paraS;
-% M = para.refMass;
+rvec = rhofun(hvec);
 
-N = length(V);
-tvec = linspace(para.altitudetime(1),para.altitudetime(end), N);
+Cd = 2 * M * g ./ (V_vec.^2 .* rvec * S);
 
-hvec = baseline(tvec);
-hvec_int = hvec(1) + cumtrapz(tvec, V);
+X = std(Cd);
+end
 
 
-ceq = [];
-c = abs(hvec_int(:) - hvec(:)) - 10;
-end
diff --git a/RoccarasoFlight/postprocessing/RCS/lol.avi b/RoccarasoFlight/postprocessing/RCS/lol.avi
deleted file mode 100644
index 62496eece41c0f8914eda08fe87a9ccf7c791526..0000000000000000000000000000000000000000
Binary files a/RoccarasoFlight/postprocessing/RCS/lol.avi and /dev/null differ
diff --git a/RoccarasoFlight/postprocessing/RCS/rotationTest.m b/RoccarasoFlight/postprocessing/RCS/rotationTest.m
new file mode 100644
index 0000000000000000000000000000000000000000..2ffcf368f55dad044489883454a9536e9538c5ab
--- /dev/null
+++ b/RoccarasoFlight/postprocessing/RCS/rotationTest.m
@@ -0,0 +1,52 @@
+clc; close all; clear;
+addpath('Functions&Files');
+
+v0 = 200;
+M  = 20;
+g = 9.81;
+v0dir = [1; 2; 5];
+v0 = v0dir / norm(v0dir) * v0;
+
+x0 = [0;0;0];
+
+y0 = [x0;v0];
+
+dyn = @(t, y) [y(4:6);0;0;-g];
+
+% ef = @(t, y) deal(y(3),0,0);
+
+[t, y] = ode45(dyn, [0, 100], y0, odeset('Events', @(t, y)ef(t,y)));
+
+plot3(y(:,1), y(:,2), y(:,3))
+axis equal
+grid on
+
+vec0 = [1,0,0]';
+
+N = length(t);
+
+
+dcm = zeros(3, 3, N);
+
+for ii = 1:N
+
+    vec = y(ii,4:6)';
+    vec = vec / norm(vec);
+    v = cross(vec0, vec);
+    s = norm(v);
+    c = dot(vec0, vec);
+
+    vx = [0, -v(3), v(2); v(3), 0, -v(1); -v(2), v(1), 0];
+
+    dcm(:,:,ii) = (eye(3) + vx + vx * vx / (1 + c))';
+
+
+end
+
+animateOrientation(dcm, t)
+function [val, isterm, dir] = ef(~, y)
+
+val = y(3);
+isterm = 1;
+dir = 0;
+end
\ No newline at end of file