diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index d6d2fab6..260b793a 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -8,7 +8,6 @@ AcsController::AcsController(object_id_t objectId)
     : ExtendedControllerBase(objectId),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
-      detumble(&acsParameters),
       ptgCtrl(&acsParameters),
       parameterHelper(this),
       mgmDataRaw(this),
@@ -219,7 +218,8 @@ void AcsController::performDetumble() {
   double magMomMtq[3] = {0, 0, 0};
   detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value,
                    mgmDataProcessed.mgmVecTotDerivative.isValid(), mgmDataProcessed.mgmVecTot.value,
-                   mgmDataProcessed.mgmVecTot.isValid(), magMomMtq);
+                   mgmDataProcessed.mgmVecTot.isValid(), magMomMtq,
+                   acsParameters.detumbleParameter.gainD);
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,
                           *acsParameters.magnetorquerParameter.inverseAlignment,
                           acsParameters.magnetorquerParameter.dipolMax);
diff --git a/mission/controller/acs/control/Detumble.cpp b/mission/controller/acs/control/Detumble.cpp
index 222a0ec2..28cbefbf 100644
--- a/mission/controller/acs/control/Detumble.cpp
+++ b/mission/controller/acs/control/Detumble.cpp
@@ -17,33 +17,27 @@
 
 #include "../util/MathOperations.h"
 
-Detumble::Detumble(AcsParameters *acsParameters_) { loadAcsParameters(acsParameters_); }
+Detumble::Detumble() {}
 
 Detumble::~Detumble() {}
 
-void Detumble::loadAcsParameters(AcsParameters *acsParameters_) {
-  detumbleParameter = &(acsParameters_->detumbleParameter);
-  magnetorquesParameter = &(acsParameters_->magnetorquerParameter);
-}
-
 ReturnValue_t Detumble::bDotLaw(const double *magRate, const bool magRateValid,
-                                const double *magField, const bool magFieldValid, double *magMom) {
+                                const double *magField, const bool magFieldValid, double *magMom,
+                                double gain) {
   if (!magRateValid || !magFieldValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
-  double gain = detumbleParameter->gainD;
   double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
   VectorOperations<double>::mulScalar(magRate, factor, magMom, 3);
   return returnvalue::OK;
 }
 
-ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid,
-                                    double *magMom) {
+ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateValid, double *magMom,
+                                    double dipolMax) {
   if (!magRateValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
 
-  double dipolMax = magnetorquesParameter->dipolMax;
   for (int i = 0; i < 3; i++) {
     magMom[i] = -dipolMax * sign(magRate[i]);
   }
@@ -51,14 +45,16 @@ ReturnValue_t Detumble::bangbangLaw(const double *magRate, const bool magRateVal
   return returnvalue::OK;
 }
 
-ReturnValue_t Detumble::bDotLawGyro(const double *satRate, const bool *satRateValid,
+ReturnValue_t Detumble::bDotLawFull(const double *satRate, const bool *satRateValid,
                                     const double *magField, const bool *magFieldValid,
-                                    double *magMom) {
+                                    double *magMom, double gain) {
   if (!satRateValid || !magFieldValid) {
     return DETUMBLE_NO_SENSORDATA;
   }
-  double gain = detumbleParameter->gainD;
-  double factor = -gain / pow(VectorOperations<double>::norm(magField, 3), 2);
-  VectorOperations<double>::mulScalar(satRate, factor, magMom, 3);
+  double factor = gain / pow(VectorOperations<double>::norm(magField, 3), 2);
+  double magFieldNormed[3] = {0, 0, 0}, crossProduct[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(magField, magFieldNormed, 3);
+  VectorOperations<double>::cross(satRate, magFieldNormed, crossProduct);
+  VectorOperations<double>::mulScalar(crossProduct, factor, magMom, 3);
   return returnvalue::OK;
 }
diff --git a/mission/controller/acs/control/Detumble.h b/mission/controller/acs/control/Detumble.h
index dee82271..2bf3607d 100644
--- a/mission/controller/acs/control/Detumble.h
+++ b/mission/controller/acs/control/Detumble.h
@@ -12,30 +12,22 @@
 
 class Detumble {
  public:
-  Detumble(AcsParameters *acsParameters_);
+  Detumble();
   virtual ~Detumble();
 
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_DETUMBLE;
   static const ReturnValue_t DETUMBLE_NO_SENSORDATA = MAKE_RETURN_CODE(0x01);
 
-  /* @brief: Load AcsParameters for this class
-   * @param: acsParameters_ Pointer to object which defines the ACS configuration parameters
-   */
-  void loadAcsParameters(AcsParameters *acsParameters_);
-
   ReturnValue_t bDotLaw(const double *magRate, const bool magRateValid, const double *magField,
-                        const bool magFieldValid, double *magMom);
+                        const bool magFieldValid, double *magMom, double gain);
 
-  ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom);
+  ReturnValue_t bangbangLaw(const double *magRate, const bool magRateValid, double *magMom,
+                            double dipolMax);
 
-  ReturnValue_t bangbangLaw(const double *magRate, const bool *magRateValid, double *magMom);
-
-  ReturnValue_t bDotLawGyro(const double *satRate, const bool *satRateValid, const double *magField,
-                            const bool *magFieldValid, double *magMom);
+  ReturnValue_t bDotLawFull(const double *satRate, const bool *satRateValid, const double *magField,
+                            const bool *magFieldValid, double *magMom, double gain);
 
  private:
-  AcsParameters::DetumbleParameter *detumbleParameter;
-  AcsParameters::MagnetorquerParameter *magnetorquesParameter;
 };
 
 #endif /*ACS_CONTROL_DETUMBLE_H_*/