         % Resolution
TSPAN   = 0:T/resol:T;                  % Time span                 [s]

%% Open-loop steering input
% Single period sine wave with:
%

delta_amplitude     = 15*pi/180;        % Steering input amplitude  [rad]
T_period            = 3;                % Steering single period    [s]
freq                = 1/T_period;       % Steering frequency        [Hz]
delta_freq          = freq*2*pi;        % Steering frequency        [rad/s]

% End input index 
sine_index          = find(TSPAN == T_p