diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 3ace33d9..f93c6dd3 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -33,18 +33,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
     case 0x2:  // InertiaEIVE
       switch (parameterId) {
         case 0x0:
-          parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrix);
-          break;
-        case 0x1:
           parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixDeployed);
           break;
-        case 0x2:
+        case 0x1:
           parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixUndeployed);
           break;
-        case 0x3:
+        case 0x2:
           parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel1);
           break;
-        case 0x4:
+        case 0x3:
           parameterWrapper->setMatrix(inertiaEIVE.inertiaMatrixPanel3);
           break;
         default:
@@ -107,6 +104,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0x11:
           parameterWrapper->setVector(mgmHandlingParameters.mgm4variance);
           break;
+        case 0x12:
+          parameterWrapper->set(mgmHandlingParameters.mgmDerivativeFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -260,6 +260,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0xA:
           parameterWrapper->set(gyrHandlingParameters.preferAdis);
           break;
+        case 0xB:
+          parameterWrapper->set(gyrHandlingParameters.gyrFilterWeight);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
@@ -339,21 +342,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(safeModeControllerParameters.k_parallelNonMekf);
           break;
         case 0x6:
-          parameterWrapper->set(safeModeControllerParameters.k_rateDamping);
-          break;
-        case 0x7:
-          parameterWrapper->set(safeModeControllerParameters.sunMagAngleMin);
-          break;
-        case 0x8:
           parameterWrapper->setVector(safeModeControllerParameters.sunTargetDirLeop);
           break;
-        case 0x9:
+        case 0x7:
           parameterWrapper->setVector(safeModeControllerParameters.sunTargetDir);
           break;
-        case 0xA:
+        case 0x8:
           parameterWrapper->set(safeModeControllerParameters.satRateRef);
           break;
-        case 0xB:
+        case 0x9:
+          parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
+          break;
+        case 0xA:
           parameterWrapper->set(safeModeControllerParameters.angleStartSpin);
           break;
         default:
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index bf442fa9..9f7e960e 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -22,9 +22,6 @@ class AcsParameters : public HasParametersIF {
   } onBoardParams;
 
   struct InertiaEIVE {
-    double inertiaMatrix[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
-                                  {-0.0001821456, 0.1701302, 0.0004748963},
-                                  {-0.0050135, 0.0004748963, 0.08374296}};  // 19.11.2021
     // Possible inertia matrices
     double inertiaMatrixDeployed[3][3] = {{0.1539829, -0.0001821456, -0.0050135},
                                           {-0.0001821456, 0.1701302, 0.0004748963},
@@ -780,7 +777,7 @@ class AcsParameters : public HasParametersIF {
                               pow(3.0e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(4.3e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
-    uint8_t preferAdis = true;
+    uint8_t preferAdis = false;
     float gyrFilterWeight = 0.6;
   } gyrHandlingParameters;
 
@@ -821,16 +818,14 @@ class AcsParameters : public HasParametersIF {
     double k_alignNonMekf = 4.0e-4;
     double k_parallelNonMekf = 7.0e-5;
 
-    double k_rateDamping = 0;
-
-    double sunMagAngleMin = 5 * M_PI / 180;
-
     double sunTargetDirLeop[3] = {0, sqrt(.5), sqrt(.5)};
     double sunTargetDir[3] = {0, 0, 1};
 
     double satRateRef = 0;
 
     float angleStartSpin = 20 * M_PI / 180;
+
+    uint8_t dampingDuringEclipse = true;
   } safeModeControllerParameters;
 
   struct PointingLawParameters {