void integrate_data(data_packet_struct received_data) {
    static double last_flight_time = 0.0;
    static double current_flight_time;
    current_flight_time = received_data.flight_time;
    double integration_delay_seconds = (current_flight_time-last_flight_time);
    last_flight_time = current_flight_time;

    // Altimeter velocity
    fc_data.altimeter_velocity = (received_data.alt - fc_data.altimeter_altitude) / integration_delay_seconds;
    // Altimeter altitude
    fc_data.altimeter_altitude = received_data.alt;

    // Integrate velocity for a new altitude
    fc_data.integration_altitude += fc_data.velocity.z * integration_delay_seconds;
    // Integrate the acceleration for a new velocity
    fc_data.velocity.z += fc_data.accel.z * integration_delay_seconds; 
    // Save the acceleration
    fc_data.accel.z = received_data.accel.z;

    // Subtract gravity from acceleration to get total drag
    fc_data.total_drag = (abs(fc_data.accel.z)-9.81)*0.63;

    fc_data.flight_time = received_data.flight_time;

    

    // Setting petal angle
    if (fc_data.altimeter_altitude > 100) {
        float buff = fc_data.prediction_altitude;
        float coasting_distance = abs(((0.63*fc_data.velocity.z*fc_data.velocity.z)/(2.0*fc_data.total_drag))*log(1+((fc_data.total_drag)/(0.63*9.81))));
        fc_data.prediction_altitude = fc_data.altimeter_altitude + coasting_distance;
        if (fc_data.prediction_altitude >= 1000) {
            fc_data.prediction_altitude = 0;
            fc_data.prediction_altitude_roc = 0;
        } else {
            fc_data.prediction_altitude_roc = (fc_data.prediction_altitude - buff)/integration_delay_seconds;
        }

        if (fc_data.prediction_altitude > TARGET_ALTITUDE) {  // If we are going to go too high
            if (fc_data.petal_angle < 45) {
                fc_data.petal_angle = fc_data.petal_angle + 0.3;
            }
        } else if (fc_data.prediction_altitude < TARGET_ALTITUDE) {
            if (fc_data.petal_angle > 0) {
                fc_data.petal_angle = fc_data.petal_angle - 0.3;
            }
        }
    } else {
        fc_data.prediction_altitude = 0;
        fc_data.prediction_altitude_roc = 0;
    }

}