diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index a06d6a58..2e5fbb1b 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -342,7 +342,41 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x9):  // TargetModeControllerParameters
+    case (0x9):  // IdleModeControllerParameters
+      switch (parameterId) {
+        case 0x0:
+          parameterWrapper->set(targetModeControllerParameters.zeta);
+          break;
+        case 0x1:
+          parameterWrapper->set(targetModeControllerParameters.om);
+          break;
+        case 0x2:
+          parameterWrapper->set(targetModeControllerParameters.omMax);
+          break;
+        case 0x3:
+          parameterWrapper->set(targetModeControllerParameters.qiMin);
+          break;
+        case 0x4:
+          parameterWrapper->set(targetModeControllerParameters.gainNullspace);
+          break;
+        case 0x5:
+          parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
+          break;
+        case 0x6:
+          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+          break;
+        case 0x7:
+          parameterWrapper->set(targetModeControllerParameters.desatOn);
+          break;
+        case 0x8:
+          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          break;
+
+        default:
+          return INVALID_IDENTIFIER_ID;
+      }
+      break;
+    case (0xA):  // TargetModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(targetModeControllerParameters.zeta);
@@ -408,7 +442,61 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xA):  // NadirModeControllerParameters
+    case (0xB):  // GsTargetModeControllerParameters
+      switch (parameterId) {
+        case 0x0:
+          parameterWrapper->set(targetModeControllerParameters.zeta);
+          break;
+        case 0x1:
+          parameterWrapper->set(targetModeControllerParameters.om);
+          break;
+        case 0x2:
+          parameterWrapper->set(targetModeControllerParameters.omMax);
+          break;
+        case 0x3:
+          parameterWrapper->set(targetModeControllerParameters.qiMin);
+          break;
+        case 0x4:
+          parameterWrapper->set(targetModeControllerParameters.gainNullspace);
+          break;
+        case 0x5:
+          parameterWrapper->set(targetModeControllerParameters.desatMomentumRef);
+          break;
+        case 0x6:
+          parameterWrapper->set(targetModeControllerParameters.deSatGainFactor);
+          break;
+        case 0x7:
+          parameterWrapper->set(targetModeControllerParameters.desatOn);
+          break;
+        case 0x8:
+          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
+          break;
+        case 0x9:
+          parameterWrapper->set(targetModeControllerParameters.refDirection);
+          break;
+        case 0xA:
+          parameterWrapper->set(targetModeControllerParameters.refRotRate);
+          break;
+        case 0xB:
+          parameterWrapper->set(targetModeControllerParameters.quatRef);
+          break;
+        case 0xC:
+          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
+          break;
+        case 0xD:
+          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
+          break;
+        case 0xE:
+          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
+          break;
+        case 0xF:
+          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
+          break;
+        default:
+          return INVALID_IDENTIFIER_ID;
+      }
+      break;
+    case (0xC):  // NadirModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(nadirModeControllerParameters.zeta);
@@ -450,7 +538,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xB):  // InertialModeControllerParameters
+    case (0xD):  // InertialModeControllerParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(inertialModeControllerParameters.zeta);
@@ -492,7 +580,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xC):  // StrParameters
+    case (0xE):  // StrParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(strParameters.exclusionAngle);
@@ -504,7 +592,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xD):  // GpsParameters
+    case (0xF):  // GpsParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(gpsParameters.timeDiffVelocityMax);
@@ -513,7 +601,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xE):  // SunModelParameters
+    case (0x10):  // SunModelParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(sunModelParameters.domega);
@@ -543,7 +631,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0xF):  // KalmanFilterParameters
+    case (0x11):  // KalmanFilterParameters
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(kalmanFilterParameters.sensorNoiseSTR);
@@ -567,7 +655,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x10):  // MagnetorquesParameter
+    case (0x12):  // MagnetorquesParameter
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(magnetorquesParameter.mtq0orientationMatrix);
@@ -594,7 +682,7 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           return INVALID_IDENTIFIER_ID;
       }
       break;
-    case (0x11):  // DetumbleParameter
+    case (0x13):  // DetumbleParameter
       switch (parameterId) {
         case 0x0:
           parameterWrapper->set(detumbleParameter.detumblecounter);