your initial condition is like upside down and then spinning quickly and then the drone kind of has to come down and recover this is another fun one where there's prior work on this as like its own controller but something neat that we found was if you actually basically just with parameter changes to our planning system if we shut off one rotor we find this kind of mode of flight where it's still semi stable where you're not controlling yaw anymore but you're able to sort of hover and come down to Al and this is all in simulation