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Hi @arjo129, I think you can safely cross off the "Downward spiral of death from milestone 1." issue since the controller was not closing the loop on depth or pitch in that test. If it was, the elevators or mass would work to correct any error in pitch/depth.
There are many issues currently with the hydrodynamics including but not limited to:
Mission Integrations:
run RegressionTests/IgnitionTests/testDepthVBS.xml
run RegressionTests/IgnitionTests/testPitchMass.xml
run RegressionTests/IgnitionTests/testPitchAndDepthMassVBS.xml
run RegressionTests/IgnitionTests/testYoYoCircle.xml
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