diff --git a/CHANGELOG.md b/CHANGELOG.md
index 41ffda2c..3727efef 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -25,6 +25,8 @@ will consitute of a breaking change warranting a new major release:
 
 - Bugfixes for STR mode transitions: Booting to mode ON with submode FIRMWARE now works properly.
   Furthermore, the submode in the NORMAL mode now should be 0 instead of some ON mode submode.
+- Updated GYR bias values to newest measurements. This also corrects the ADIS values to always
+  consit of just one digit.
 
 # [v1.38.0] 2023-03-17
 
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index fca8ed8e..5b185ea4 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -768,10 +768,10 @@ class AcsParameters : public HasParametersIF {
     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}};
 
-    double gyr0bias[3] = {0.06318149743589743, 0.4283235025641024, -0.16383500000000004};
-    double gyr1bias[3] = {-0.12855128205128205, 1.6737307692307695, 1.031724358974359};
-    double gyr2bias[3] = {0.15039212820512823, 0.7094475589743591, -0.22298363589743594};
-    double gyr3bias[3] = {0.0021730769230769217, -0.6655897435897435, 0.034096153846153845};
+    double gyr0bias[3] = {0.0, 0.4, -0.1};
+    double gyr1bias[3] = {0.0956745283018868, 2.0854575471698116, 1.2505990566037737};
+    double gyr2bias[3] = {0.1, 0.7, -0.2};
+    double gyr3bias[3] = {-0.10721698113207549, -0.6111650943396226, 0.1716462264150944};
 
     /* var = sigma^2, 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 */