diff --git a/mission/controller/acs/FusedRotationEstimation.cpp b/mission/controller/acs/FusedRotationEstimation.cpp
index a68418d2..1b2df526 100644
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -7,13 +7,13 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
 void FusedRotationEstimation::estimateFusedRotationRate(
     acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
     acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
-    acsctrl::FusedRotRateData *fusedRotRateData) {
+    const double timeDelta, acsctrl::FusedRotRateData *fusedRotRateData) {
   if (sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
       sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid()) {
     double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                          sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
-    if (VectorOperations<double>::norm(quatOld, 4) != 0) {
-      estimateFusedRotationRateStr(quatNew, fusedRotRateData);
+    if (VectorOperations<double>::norm(quatOld, 4) != 0 and timeDelta != 0) {
+      estimateFusedRotationRateStr(quatNew, timeDelta, fusedRotRateData);
     } else {
       estimateFusedRotationRateSafe(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
                                     fusedRotRateData);
@@ -27,7 +27,39 @@ void FusedRotationEstimation::estimateFusedRotationRate(
 }
 
 void FusedRotationEstimation::estimateFusedRotationRateStr(
-    double *quatNew, acsctrl::FusedRotRateData *fusedRotRateData) {}
+    double *quatNew, const double timeDelta, acsctrl::FusedRotRateData *fusedRotRateData) {
+  double quatOldInv[4] = {0, 0, 0, 0};
+  double quatDelta[4] = {0, 0, 0, 0};
+
+  QuaternionOperations::inverse(quatOld, quatOldInv);
+  QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta);
+  QuaternionOperations::normalize(quatDelta);
+
+  double rotVec[3] = {0, 0, 0};
+  double angle = QuaternionOperations::getAngle(quatDelta);
+  if (angle == 0.0) {
+    {
+      PoolReadGuard pg(fusedRotRateData);
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotal.setValid(true);
+    }
+  }
+  VectorOperations<double>::normalize(quatDelta, rotVec, 3);
+  VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
+  {
+    PoolReadGuard pg(fusedRotRateData);
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(false);
+    std::memcpy(fusedRotRateData->rotRateTotal.value, rotVec, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotal.setValid(true);
+  }
+}
 
 void FusedRotationEstimation::estimateFusedRotationRateSafe(
     acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
diff --git a/mission/controller/acs/FusedRotationEstimation.h b/mission/controller/acs/FusedRotationEstimation.h
index 989f1f7a..490fe126 100644
--- a/mission/controller/acs/FusedRotationEstimation.h
+++ b/mission/controller/acs/FusedRotationEstimation.h
@@ -15,7 +15,7 @@ class FusedRotationEstimation {
   void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
-                                 ACS::SensorValues *sensorValues,
+                                 ACS::SensorValues *sensorValues, const double timeDelta,
                                  acsctrl::FusedRotRateData *fusedRotRateData);
 
   void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
@@ -23,7 +23,8 @@ class FusedRotationEstimation {
                                      acsctrl::GyrDataProcessed *gyrDataProcessed,
                                      acsctrl::FusedRotRateData *fusedRotRateData);
 
-  void estimateFusedRotationRateStr(double *quatNew, acsctrl::FusedRotRateData *fusedRotRateData);
+  void estimateFusedRotationRateStr(double *quatNew, const double timeDelta,
+                                    acsctrl::FusedRotRateData *fusedRotRateData);
 
  protected:
  private: