diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index ff8be5ad..3f369ced 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -335,12 +335,13 @@ void AcsController::performPointingCtrl() {
       break;
 
     case acs::PTG_INERTIAL:
-      guidance.targetQuatPtgInertial(targetQuat, refSatRate);
-      std::memcpy(quatRef, acsParameters.inertialModeControllerParameters.quatRef,
+      std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
                   4 * sizeof(double));
-      guidance.comparePtg(targetQuat, &mekfData, quatRef, refSatRate, quatErrorComplete, quatError,
-                          deltaRate);
-      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, quatError, deltaRate,
+      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
+                          targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
+                          acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
+      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(
           &acsParameters.inertialModeControllerParameters, &(sensorValues.rw1Set.currSpeed.value),
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 4f30e636..1c5dca92 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -412,13 +412,6 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
   targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
 }
 
-void Guidance::targetQuatPtgInertial(double targetQuat[4], double refSatRate[3]) {
-  std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
-              4 * sizeof(double));
-  std::memcpy(refSatRate, acsParameters.inertialModeControllerParameters.refRotRate,
-              3 * sizeof(double));
-}
-
 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
                           double targetSatRotRate[3], double refQuat[4], double refSatRotRate[3],
                           double errorQuat[4], double errorSatRotRate[3], double errorAngle) {
diff --git a/mission/controller/acs/Guidance.h b/mission/controller/acs/Guidance.h
index 7306d4f6..e5560379 100644
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@@ -32,10 +32,6 @@ class Guidance {
   void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
                                    double targetQuat[4], double refSatRate[3]);
 
-  // Function to get the target quaternion and refence rotation rate from parameters for inertial
-  // pointing
-  void targetQuatPtgInertial(double targetQuat[4], double targetSatRotRate[3]);
-
   // @note: Calculates the error quaternion between the current orientation and the target
   // quaternion, considering a reference quaternion. Additionally the difference between the  actual
   // and a desired satellite rotational rate is calculated, again considering a reference rotational