diff --git a/fsfw b/fsfw
index 90f3f8ef..7d4e7784 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 90f3f8ef1f67dc6d07c242b68bc59c805bb407dd
+Subproject commit 7d4e77843b64e812e537e2abd1213c632b6eeb48
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index f11198eb..4f7727f2 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -102,12 +102,9 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta,
       acsParameters->gsTargetModeControllerParameters.altitudeTgt, posGroundStationF);
 
   // target direction in the ECI frame
-  double posSatI[3] = {3808618.68633079, -1163140.41530084, 5612341.3560814},
-         posGroundStationI[3] = {3737093.20736689, -1967773.50625331, 4763980.76688758},
-         groundStationDirI[3] = {0, 0, 0};
-  // CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
-  // CoordinateTransformations::positionEcfToEci(posGroundStationF, posGroundStationI,
-  // &timeAbsolute);
+  double posSatI[3] = {0, 0, 0}, posGroundStationI[3] = {0, 0, 0}, groundStationDirI[3] = {0, 0, 0};
+  CoordinateTransformations::positionEcfToEci(posSatF, posSatI, &timeAbsolute);
+  CoordinateTransformations::positionEcfToEci(posGroundStationF, posGroundStationI, &timeAbsolute);
   VectorOperations<double>::subtract(posGroundStationI, posSatI, groundStationDirI, 3);
 
   // negative x-axis aligned with target direction
@@ -241,10 +238,6 @@ void Guidance::targetRotationRate(const double timeDelta, double quatIX[4], doub
 }
 
 void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4]) {
-  sif::debug << "xAxisIX = [" << xAxisIX[0] << " " << xAxisIX[1] << " " << xAxisIX[2] << "]"
-             << std::endl;
-  sif::debug << "quatIX = [" << quatIX[3] << " " << quatIX[0] << " " << quatIX[1] << " "
-             << quatIX[2] << "]" << std::endl;
   if ((VectorOperations<double>::norm(quatIXprev, 4) == 0) or
       (VectorOperations<double>::norm(xAxisIXprev, 3) == 0)) {
     return;
@@ -255,14 +248,12 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
   QuaternionOperations::inverse(quatIXprev, quatXprevI);
   QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
   QuaternionOperations::normalize(quatXprevX);
-  double phiMax = acsParameters->gsTargetModeControllerParameters.omMax * 1;
-  // acsParameters->onBoardParams.sampleTime;
+  double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
+                  acsParameters->onBoardParams.sampleTime;
   if (2 * std::acos(quatXprevX[3]) < phiMax) {
     return;
   }
 
-  sif::debug << "Reduced Quaternion Rotation Required" << std::endl;
-
   // x-axis always needs full rotation
   double phiX = 0, phiXvec[3] = {0, 0, 0};
   phiX = std::acos(VectorOperations<double>::dot(xAxisIXprev, xAxisIX));