diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 15d4d84f..f5b72252 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -54,6 +54,9 @@ class AcsParameters /*: public HasParametersIF*/ {
                                        {15.67482e-2, -6.958760e-2, 94.50124e-2}};
     float mgm3softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
     float mgm4softIronInverse[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+    float mgm02variance[3] = {1, 1, 1};
+    float mgm13variance[3] = {1, 1, 1};
+    float mgm4variance[3] = {1, 1, 1};
 
   } mgmHandlingParameters;
 
@@ -753,7 +756,12 @@ class AcsParameters /*: public HasParametersIF*/ {
     double gyr1orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
     double gyr2orientationMatrix[3][3] = {{0, 0, -1}, {0, -1, 0}, {-1, 0, 0}};
     double gyr3orientationMatrix[3][3] = {{0, 0, -1}, {0, 1, 0}, {1, 0, 0}};
-    float gyrFusionWeight = 0.93;
+    // var = sqrt(sigma), sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
+    // assumed to be equal for the same class of sensors
+    float gyr02variance[3] = {pow(3.0e-3 * sqrt(2), 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(3.0e-3 * sqrt(2), 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(4.3e-3 * sqrt(2), 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)};
   } gyrHandlingParameters;
 
   struct RwHandlingParameters {