diff --git a/@miSim/miSim.m b/@miSim/miSim.m
index 5ca5056..627ae4e 100644
--- a/@miSim/miSim.m
+++ b/@miSim/miSim.m
@@ -69,7 +69,7 @@ classdef miSim
             obj.obstacles = {rectangularPrism};
             obj.agents = {agent};
         end
-        [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo);
+        [obj] = initialize(obj, domain, agents, barrierGain, barrierExponent, minAlt, timestep, maxIter, obstacles, makePlots, makeVideo, useDoubleIntegrator, dampingCoeff, useFixedTopology);
         [obj] = initializeFromCsv(obj, csvPath);
         [obj] = initializeFromInits(obj, initsPath);
         [obj] = plotFromSimHist(obj, initsPath, histPath);
diff --git a/aerpaw/controller.coderprj b/aerpaw/controller.coderprj
index c822aab..b057661 100644
--- a/aerpaw/controller.coderprj
+++ b/aerpaw/controller.coderprj
@@ -158,6 +158,11 @@
                   <Size type="coderapp.internal.codertype.Dimension"/>
                   <Size type="coderapp.internal.codertype.Dimension"/>
                 </Types>
+                <Types id="32" type="coderapp.internal.codertype.PrimitiveType">
+                  <ClassName>int32</ClassName>
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+                  <Size type="coderapp.internal.codertype.Dimension"/>
+                </Types>
               </Types>
             </coderapp.internal.interface.project.Interface>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xrotg.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.cpp</Path>
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                   <File type="coderapp.internal.util.mfz.FileSpec">
-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarf.h</Path>
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-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/xzlarfg.cpp</Path>
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-                    <Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
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-                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
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                   <Type>GENERATED_SOURCE</Type>
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+                  <File type="coderapp.internal.util.mfz.FileSpec">
+                    <Path>/home/kdee/matlab/R2025a/extern/include/tmwtypes.h</Path>
+                  </File>
+                  <Type>GENERATED_SOURCE</Type>
+                </Artifacts>
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+                  <File type="coderapp.internal.util.mfz.FileSpec">
+                    <Path>/home/kdee/Desktop/miSim/aerpaw/codegen/examples/main.cpp</Path>
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@@ -1161,7 +1178,7 @@
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diff --git a/aerpaw/controller.m b/aerpaw/controller.m
index fba8fab..d759205 100644
--- a/aerpaw/controller.m
+++ b/aerpaw/controller.m
@@ -57,7 +57,7 @@ if ~coder.target('MATLAB')
 end
 
 % Load guidance scenario from CSV (parameters for guidance_step)
-NUM_SCENARIO_PARAMS = 45;
+NUM_SCENARIO_PARAMS = 48;
 MAX_OBSTACLES_CTRL  = int32(8);
 scenarioParams = zeros(1, NUM_SCENARIO_PARAMS);
 obstacleMin    = zeros(MAX_OBSTACLES_CTRL, 3);
diff --git a/aerpaw/guidance_step.m b/aerpaw/guidance_step.m
index bd8df89..25f34df 100644
--- a/aerpaw/guidance_step.m
+++ b/aerpaw/guidance_step.m
@@ -29,6 +29,9 @@ function nextPositions = guidance_step(currentPositions, isInit, ...
 %                                               39-40  objectivePos
 %                                               41-44  objectiveVar (2x2, col-major)
 %                                               45     sensorPerformanceMinimum
+%                                               46     useDoubleIntegrator
+%                                               47     dampingCoeff
+%                                               48     useFixedTopology
 %   obstacleMin       (MAX_OBSTACLES × 3) double  column-major obstacle corners (compiled path)
 %   obstacleMax       (MAX_OBSTACLES × 3) double
 %   numObstacles      (1,1) int32                 actual obstacle count
@@ -94,6 +97,9 @@ if isInit
         OBJECTIVE_GROUND_POS        = scenarioParams(39:40);
         OBJECTIVE_VAR               = reshape(scenarioParams(41:44), 2, 2);
         SENSOR_PERFORMANCE_MINIMUM  = scenarioParams(45);
+        USE_DOUBLE_INTEGRATOR       = logical(scenarioParams(46));
+        DAMPING_COEFF               = scenarioParams(47);
+        USE_FIXED_TOPOLOGY          = logical(scenarioParams(48));
 
         % --- Build domain geometry ---
         dom = rectangularPrism;
@@ -146,7 +152,8 @@ if isInit
         % --- Initialise simulation (plots and video disabled) ---
         sim = miSim;
         sim = sim.initialize(dom, agentList, BARRIER_GAIN, BARRIER_EXPONENT, ...
-                             MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false);
+                             MIN_ALT, TIMESTEP, MAX_ITER, obstacleList, false, false, ...
+                             USE_DOUBLE_INTEGRATOR, DAMPING_COEFF, USE_FIXED_TOPOLOGY);
     end
 
     % On the init call return current positions unchanged
@@ -176,7 +183,9 @@ else
     sim.timestepIndex = sim.timestepIndex + 1;
 
     % 3. Update communications topology (Lesser Neighbour Assignment)
-    sim = sim.lesserNeighbor();
+    if ~sim.useFixedTopology
+        sim = sim.lesserNeighbor();
+    end
 
     % 4. Compute Voronoi partitioning
     sim.partitioning = sim.agents{1}.partition(sim.agents, sim.domain.objective);
@@ -184,7 +193,8 @@ else
     % 5. Unconstrained gradient-ascent step for each agent
     for ii = 1:size(sim.agents, 1)
         sim.agents{ii} = sim.agents{ii}.run(sim.domain, sim.partitioning, ...
-                                             sim.timestepIndex, ii, sim.agents);
+                                             sim.timestepIndex, ii, sim.agents, ...
+                                             sim.useDoubleIntegrator, sim.dampingCoeff, sim.timestep);
     end
 
     % 6. Apply CBF safety filter (collision / comms / domain constraints via QP)
diff --git a/aerpaw/impl/controller_impl.cpp b/aerpaw/impl/controller_impl.cpp
index 91c627f..e8992fa 100644
--- a/aerpaw/impl/controller_impl.cpp
+++ b/aerpaw/impl/controller_impl.cpp
@@ -186,7 +186,10 @@ static int readScenarioDataRow(const char* filename, char* line, int lineSize) {
 //   35-37: domainMax  (east, north, up)
 //   38-39: objectivePos (east, north)
 //   40-43: objectiveVar (2x2 col-major: v11, v12, v21, v22)
-//   44   : sensorPerformanceMinimum
+//   44   : sensorPerformanceMinimum  (CSV column 18)
+//   45   : useDoubleIntegrator       (CSV column 23; 0=single-integrator, 1=double-integrator)
+//   46   : dampingCoeff              (CSV column 24)
+//   47   : useFixedTopology          (CSV column 25; 0=dynamic lesser-neighbor, 1=fixed)
 // Returns 1 on success, 0 on failure.
 int loadScenario(const char* filename, double* params) {
     char line[4096];
@@ -198,8 +201,8 @@ int loadScenario(const char* filename, double* params) {
 
     char* fields[32];
     int nf = splitCSVRow(copy, fields, 32);
-    if (nf < 19) {
-        fprintf(stderr, "loadScenario: expected >=19 columns, got %d\n", nf);
+    if (nf < 26) {
+        fprintf(stderr, "loadScenario: expected >=26 columns, got %d\n", nf);
         return 0;
     }
 
@@ -290,6 +293,24 @@ int loadScenario(const char* filename, double* params) {
         params[44] = atof(trimField(tmp));
     }
 
+    // useDoubleIntegrator: column 23
+    {
+        char tmp[64]; strncpy(tmp, fields[23], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[45] = atof(trimField(tmp));
+    }
+
+    // dampingCoeff: column 24
+    {
+        char tmp[64]; strncpy(tmp, fields[24], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[46] = atof(trimField(tmp));
+    }
+
+    // useFixedTopology: column 25
+    {
+        char tmp[64]; strncpy(tmp, fields[25], sizeof(tmp) - 1); tmp[sizeof(tmp)-1] = '\0';
+        params[47] = atof(trimField(tmp));
+    }
+
     printf("Loaded scenario: domain [%g,%g,%g] to [%g,%g,%g]\n",
            params[32], params[33], params[34], params[35], params[36], params[37]);
     return 1;
diff --git a/aerpaw/impl/controller_impl.h b/aerpaw/impl/controller_impl.h
index 948ea20..a43f0fd 100644
--- a/aerpaw/impl/controller_impl.h
+++ b/aerpaw/impl/controller_impl.h
@@ -30,7 +30,10 @@ int loadTargets(const char* filename, double* targets, int maxClients);
 //   38-39 objectivePos
 //   40-43 objectiveVar (2x2 col-major)
 //   44    sensorPerformanceMinimum
-#define NUM_SCENARIO_PARAMS 45
+//   45    useDoubleIntegrator  (0=single-integrator, 1=double-integrator)
+//   46    dampingCoeff
+//   47    useFixedTopology     (0=dynamic lesser-neighbor, 1=fixed)
+#define NUM_SCENARIO_PARAMS 48
 #define MAX_CLIENTS_PER_PARAM 4
 // Maximum number of obstacles (upper bound for pre-allocated arrays).
 #define MAX_OBSTACLES 8
diff --git a/aerpaw/results/resultsAnalysis.m b/aerpaw/results/resultsAnalysis.m
index ec58317..0d425d2 100644
--- a/aerpaw/results/resultsAnalysis.m
+++ b/aerpaw/results/resultsAnalysis.m
@@ -4,7 +4,7 @@ resultsPath = fullfile(matlab.project.rootProject().RootFolder, "sandbox", "two_
 % Plot GPS logged data and scenario information (domain, objective, obstacles)
 seaToGroundLevel = 110; % measured approximately from USGS national map viewer
 plotWholeFlight = true; % do not attempt to automatically trim initial and final positioning and landing from flight plot (buggy)
-% [fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
+[fGlobe, G] = plotGpsLogs(resultsPath, seaToGroundLevel, true);
 
 % Plot radio statistics
 [fRadio, R] = plotRadioLogs(resultsPath);