diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 383fd1b1..6c22e91a 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -176,6 +176,7 @@ void AcsController::performSafe() {
   acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
       mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
       gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
+      fusedRotRateData.rotRateOrthogonal.isValid(), fusedRotRateData.rotRateTotal.isValid(),
       acsParameters.safeModeControllerParameters.useMekf,
       acsParameters.safeModeControllerParameters.useGyr,
       acsParameters.safeModeControllerParameters.dampingDuringEclipse);
@@ -194,8 +195,9 @@ void AcsController::performSafe() {
       safeCtrlFailureCounter = 0;
       break;
     case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
-      safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
-                       susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
+      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateParallel.value,
+                          fusedRotRateData.rotRateOrthogonal.value,
+                          susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
@@ -206,6 +208,13 @@ void AcsController::performSafe() {
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
+                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
+                                     errAng);
+      safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
+      break;
     case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
       errAng = NAN;
       safeCtrlFailureFlag = false;
diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index e37d8c3d..4f98543c 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -9,22 +9,22 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter
 
 SafeCtrl::~SafeCtrl() {}
 
-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                                 const bool satRotRateValid, const bool sunDirValid,
-                                                 const uint8_t mekfEnabled,
-                                                 const uint8_t gyrEnabled,
-                                                 const uint8_t dampingEnabled) {
+acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
+    const bool sunDirValid, const bool fusedRateSplitValid, const bool fusedRateTotalValid,
+    const uint8_t mekfEnabled, const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
   if (not magFieldValid) {
     return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
   } else if (mekfEnabled and mekfValid) {
     return acs::SafeModeStrategy::SAFECTRL_MEKF;
   } else if (gyrEnabled and satRotRateValid and sunDirValid) {
     return acs::SafeModeStrategy::SAFECTRL_GYR;
-  } else if (not gyrEnabled and sunDirValid) {
+  } else if (not gyrEnabled and sunDirValid and fusedRateSplitValid) {
     return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
   } else if (gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
     return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
-  } else if (not gyrEnabled and dampingEnabled and satRotRateValid and not sunDirValid) {
+  } else if (not gyrEnabled and dampingEnabled and satRotRateValid and fusedRateTotalValid and
+             not sunDirValid) {
     return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
   } else if (not dampingEnabled and satRotRateValid and not sunDirValid) {
     return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h
index d5ca4dca..fbe401ef 100644
--- a/mission/controller/acs/control/SafeCtrl.h
+++ b/mission/controller/acs/control/SafeCtrl.h
@@ -14,8 +14,9 @@ class SafeCtrl {
 
   acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
                                          const bool satRotRateValid, const bool sunDirValid,
-                                         const uint8_t mekfEnabled, const uint8_t gyrEnabled,
-                                         const uint8_t dampingEnabled);
+                                         const bool fusedRateSplitValid,
+                                         const bool fusedRateTotalValid, const uint8_t mekfEnabled,
+                                         const uint8_t gyrEnabled, const uint8_t dampingEnabled);
 
   void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                 const double *quatBI, const double *sunDirRefB, double *magMomB,