diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 6c22e91a..0d0f03ef 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -7,10 +7,10 @@
 AcsController::AcsController(object_id_t objectId, bool enableHkSets)
     : ExtendedControllerBase(objectId),
       enableHkSets(enableHkSets),
+      fusedRotationEstimation(&acsParameters),
       guidance(&acsParameters),
       safeCtrl(&acsParameters),
       ptgCtrl(&acsParameters),
-      fusedRotationEstimation(&acsParameters),
       parameterHelper(this),
       mgmDataRaw(this),
       mgmDataProcessed(this),
@@ -208,7 +208,7 @@ void AcsController::performSafe() {
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
       safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
                                      fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
                                      errAng);
diff --git a/mission/controller/acs/FusedRotationEstimation.h b/mission/controller/acs/FusedRotationEstimation.h
index dd538cc6..fa4fda1c 100644
--- a/mission/controller/acs/FusedRotationEstimation.h
+++ b/mission/controller/acs/FusedRotationEstimation.h
@@ -17,11 +17,10 @@ class FusedRotationEstimation {
 
  protected:
  private:
-  double constexpr ZERO_VEC[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC[3] = {0, 0, 0};
 
   AcsParameters *acsParameters;
   double rotRateOldB[3] = {0, 0, 0};
-  // double fusedRateOldB[3] = {0, 0, 0};
 
   void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
                                         acsctrl::FusedRotRateData *fusedRotRateData);