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[TASK] Tuning of the DP for new drone #727

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@anbit-adhi

Description of task

Tuning the existing DP for the new drone. This will happen once the drone is read to go in the water.

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Code Quality

  • Every function in header files are documented (inputs/returns/exceptions)
  • The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
  • The code is documented on the wiki (provide link)
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