diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 24018ad9..7fe33814 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -872,8 +872,8 @@ class AcsParameters /*: public HasParametersIF*/ {
 
   struct SunModelParameters {
     float domega = 36000.771;
-    float omega_0 = 282.94 * M_PI / 180.;  // RAAN plus argument of perigee
-    float m_0 = 357.5256;                  // coefficients for mean anomaly
+    float omega_0 = 280.46 * M_PI / 180.; //282.94 * M_PI / 180.;  // RAAN plus argument of perigee
+    float m_0 = 357.5277; //357.5256;                  // coefficients for mean anomaly
     float dm = 35999.049;                  // coefficients for mean anomaly
     float e = 23.4392911 * M_PI / 180.;    // angle of earth's rotation axis
     float e1 = 0.74508 * M_PI / 180.;
@@ -886,10 +886,10 @@ class AcsParameters /*: public HasParametersIF*/ {
     double sensorNoiseSTR = 0.1 * M_PI / 180;
     double sensorNoiseSS = 8 * M_PI / 180;
     double sensorNoiseMAG = 4 * M_PI / 180;
-    double sensorNoiseRMU[3];
+    double sensorNoiseGYR = 0.1 * M_PI / 180;
 
-    double sensorNoiseArwRmu;  // Angular Random Walk
-    double sensorNoiseBsRMU;   // Bias Stability
+    double sensorNoiseArwGYR = 3*0.0043*M_PI / sqrt(10) / 180;  // Angular Random Walk
+    double sensorNoiseBsGYR = 3 * M_PI / 180 / 3600;   // Bias Stability
   } kalmanFilterParameters;
 
   struct MagnetorquesParameter {
diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index 5f7facd2..3d97c880 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -51,7 +51,7 @@ void MultiplicativeKalmanFilter::init(const double *magneticField_, const bool *
 		sigmaSun = kalmanFilterParameters->sensorNoiseSS;
 		sigmaMag = kalmanFilterParameters->sensorNoiseMAG;
 
-		sigmaGyro = 0.1*3.141/180; // acs parameters
+		sigmaGyro = kalmanFilterParameters->sensorNoiseGYR;
 
 		double normMagB[3] = {0,0,0}, normSunB[3] = {0,0,0},
 				normMagJ[3] = {0,0,0}, normSunJ[3] = {0,0,0};
@@ -980,10 +980,8 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
 
 
 		 /* ----------- PROPAGATION ----------*/
-		//double sigmaU = kalmanFilterParameters->sensorNoiseBsRMU;
-		//double sigmaV = kalmanFilterParameters->sensorNoiseArwRmu;
-		double sigmaU = 3*3.141/180/3600;
-		double sigmaV = 3*0.0043*3.141/sqrt(10)/180;
+		double sigmaU = kalmanFilterParameters->sensorNoiseBsGYR;
+		double sigmaV = kalmanFilterParameters->sensorNoiseArwGYR;
 
 		double discTimeMatrix[6][6] = {{-1,0,0,0,0,0},{0,-1,0,0,0,0},{0,0,-1,0,0,0},
 		{0,0,0,1,0,0},{0,0,0,0,1,0},{0,0,0,0,0,1}};