diff --git a/mission/controller/acs/Navigation.cpp b/mission/controller/acs/Navigation.cpp
index 59803f0f..c6310302 100644
--- a/mission/controller/acs/Navigation.cpp
+++ b/mission/controller/acs/Navigation.cpp
@@ -14,37 +14,37 @@ Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilt
 
 Navigation::~Navigation() {}
 
-void Navigation::useMekf(ACS::SensorValues *sensorValues,
-                         acsctrl::GyrDataProcessed *gyrDataProcessed,
-                         acsctrl::MgmDataProcessed *mgmDataProcessed,
-                         acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-                         ReturnValue_t *mekfValid) {
-  double quatJB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
+ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
+                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                  acsctrl::SusDataProcessed *susDataProcessed,
+                                  acsctrl::MekfData *mekfData) {
+  double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
-  bool quatJBValid = sensorValues->strSet.caliQx.isValid() &&
+  bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
                      sensorValues->strSet.caliQy.isValid() &&
                      sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
 
   if (kalmanInit) {
-    *mekfValid = multiplicativeKalmanFilter.mekfEst(
-        quatJB, quatJBValid, gyrDataProcessed->gyrVecTot.value,
+    return multiplicativeKalmanFilter.mekfEst(
+        quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
         gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
         mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
         susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
         susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
-        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime,
-        mekfData);  // VALIDS FOR QUAT AND RATE ??
+        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
   } else {
-    multiplicativeKalmanFilter.init(
+    ReturnValue_t result;
+    result = multiplicativeKalmanFilter.init(
         mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
         susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
         susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
         mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
     kalmanInit = true;
-    *mekfValid = returnvalue::OK;
-
-    //		Maybe we need feedback from kalmanfilter to identify if there was a problem with the
-    // init of kalman filter 		where does this class know from that kalman filter was not
-    // initialized ?
+    return result;
   }
 }
+
+void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
+  multiplicativeKalmanFilter.reset(mekfData);
+}
diff --git a/mission/controller/acs/Navigation.h b/mission/controller/acs/Navigation.h
index 2474cb67..e054bfbf 100644
--- a/mission/controller/acs/Navigation.h
+++ b/mission/controller/acs/Navigation.h
@@ -1,10 +1,3 @@
-/*
- * Navigation.h
- *
- *  Created on: 19 Apr 2022
- *      Author: Robin Marquardt
- */
-
 #ifndef NAVIGATION_H_
 #define NAVIGATION_H_
 
@@ -16,14 +9,14 @@
 
 class Navigation {
  public:
-  Navigation(AcsParameters *acsParameters_);  // Input mode ?
+  Navigation(AcsParameters *acsParameters_);
   virtual ~Navigation();
 
-  void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
-               acsctrl::MgmDataProcessed *mgmDataProcessed,
-               acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-               ReturnValue_t *mekfValid);
-  void processSensorData();
+  ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
+                        acsctrl::GyrDataProcessed *gyrDataProcessed,
+                        acsctrl::MgmDataProcessed *mgmDataProcessed,
+                        acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData);
+  void resetMekf(acsctrl::MekfData *mekfData);
 
  protected:
  private: