diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 98997e2c..88802a46 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -78,13 +78,13 @@ class AcsParameters : public HasParametersIF {
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {
-    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
+    float sus0orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
     float sus1orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM06
     float sus2orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM13
     float sus3orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM14
     float sus4orientationMatrix[3][3] = {{0, -1, 0}, {1, 0, 0}, {0, 0, 1}};    // FM05
     float sus5orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};   // FM02
-    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM10
+    float sus6orientationMatrix[3][3] = {{0, 0, 1}, {1, 0, 0}, {0, 1, 0}};     // FM07
     float sus7orientationMatrix[3][3] = {{0, 0, -1}, {-1, 0, 0}, {0, 1, 0}};   // FM01
     float sus8orientationMatrix[3][3] = {{-1, 0, 0}, {0, 0, -1}, {0, -1, 0}};  // FM03
     float sus9orientationMatrix[3][3] = {{1, 0, 0}, {0, 0, 1}, {0, -1, 0}};    // FM11
@@ -92,61 +92,61 @@ class AcsParameters : public HasParametersIF {
     float sus11orientationMatrix[3][3] = {{1, 0, 0}, {0, -1, 0}, {0, 0, -1}};  // FM08
 
     float sus0coeffAlpha[9][10] = {
-        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
-         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
-         -0.000124096561459262, 0.00040790566176981},
-        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
-         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
-         1.63114413539632e-05, -2.0187452317724e-05},
-        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
-         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
-         -0.000249094601806692, 0.000231466668650876},
-        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
-         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
-         -9.78534772816957e-06, -4.72083745991256e-05},
-        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
-         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
-         0.00010150571088124, -0.000367705461590854},
-        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
-         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
-         6.97244631313601e-05, 2.50519145070895e-05},
-        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
-         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
-         -1.78466217018177e-05, -0.00058976234038192},
-        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
-         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
-         -2.73407888222758e-05, 5.45131881032866e-06},
-        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
-         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
-         -0.000889196131314391, -0.000509766491897672}};
+        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
+         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
+         0.00091428505258307, 0.000259857066722932},
+        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
+         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
+         -1.06065583714065e-05, -1.43899892666699e-05},
+        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
+         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
+         -4.88501228194031e-06, -0.000434861113274231},
+        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
+         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
+         6.09619017310129e-05, 4.23908862836885e-05},
+        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
+         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
+         0.000150795563555828, -0.000279246491927943},
+        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
+         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
+         9.13233708460098e-05, -0.000206717750924323},
+        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
+         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
+         -0.000532190902882765, 9.36018171121253e-05},
+        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
+         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
+         1.02609175615251e-05, -9.64717658954667e-06},
+        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
+         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
+         0.000868163357631254, 0.00120099606910313}};
     float sus0coeffBeta[9][10] = {
-        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
-         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
-         -5.52178824394723e-06, 5.73935295303589e-05},
-        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
-         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
-         -7.58501977656551e-05, -8.79809730730992e-05},
-        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
-         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
-         -0.00020861690864945},
-        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
-         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
-         -6.00508568552101e-05, 0.000101583822589461},
-        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
-         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
-         0.000316835483508523, 0.000151442890664899},
-        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
-         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
-         -9.83662017231755e-05, 1.87078667116619e-05},
-        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
-         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
-         -0.000285438191474895, -5.71327627917386e-05},
-        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
-         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
-         -9.77555098179959e-05, 2.09624089449761e-05},
-        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
-         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
-         0.000141998709314758, 0.000101051304611037}};
+        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
+         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
+         0.000821479971871302, -4.5330528329465e-05},
+        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
+         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
+         -4.04514487800062e-05, -7.6296149087237e-05},
+        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
+         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
+         0.0011723869613426, 0.000122882034141316},
+        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
+         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
+         -5.87601932564404e-05, -3.92033314627704e-05},
+        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
+         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
+         0.000259925974231328, 0.000222437797823852},
+        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
+         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
+         -4.33518182614169e-05, 4.66993119419691e-05},
+        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
+         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
+         0.000401546410974577, -0.000147563886502726},
+        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
+         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
+         -5.3309466243918e-05, 6.20289310356821e-06},
+        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
+         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
+         -0.000186887396585446, 0.00119710704771344}};
     float sus1coeffAlpha[9][10] = {
         {-27.6783250420482, -0.964805032861791, -0.503974297997131, -0.0446471081874084,
          -0.048219538329297, 0.000958491361905381, -0.000290972187162876, -0.000657145721554176,
@@ -428,61 +428,61 @@ class AcsParameters : public HasParametersIF {
          -0.0542697403292778, 0.0285360568428252, 0.000845084580479371, 0.00114184315411245,
          -0.000169538153750085, -0.000336529204350355}};
     float sus6coeffAlpha[9][10] = {
-        {13.0465222152293, 0.0639132159808454, 2.98083557560227, -0.0773202212713293,
-         0.0949075412003712, 0.0503055998355815, -0.00104133434256204, 0.000633099036136146,
-         0.00091428505258307, 0.000259857066722932},
-        {1.66740227859888, 1.55804368674744, 0.209274741749388, 0.0123798418560859,
-         0.00724950517167516, -0.000577445375457582, 8.94374551545955e-05, 6.94513586221567e-05,
-         -1.06065583714065e-05, -1.43899892666699e-05},
-        {8.71610925597519, 1.42112818752419, -0.549859300501301, 0.0374581774684577,
-         0.0617635595955198, 0.0447491072679598, 0.00069998577106559, 0.00101018723225412,
-         -4.88501228194031e-06, -0.000434861113274231},
-        {-2.3555601314395, 1.29430213886389, 0.179499593411187, 0.00440896450927253,
-         0.00352052300927628, 0.00434187143967281, -9.66615195654703e-05, 3.64923075694275e-05,
-         6.09619017310129e-05, 4.23908862836885e-05},
-        {-0.858019663974047, 1.10138705956076, 0.278789852526915, -0.000199798507752607,
-         0.00112092406838628, -0.00177346866231588, 0.000217816070307086, -0.000240713988238257,
-         0.000150795563555828, -0.000279246491927943},
-        {7.93661480471297, 1.33902098855997, -0.64010306493848, -0.00307944184518557,
-         -0.00511421127083497, 0.0204008636376403, -9.50042323904954e-05, 6.01530207062221e-05,
-         9.13233708460098e-05, -0.000206717750924323},
-        {16.2658124154565, 0.191301571705827, 1.02390350838635, 0.0258487436355216,
-         -0.0219752092833362, 0.0236916776412211, -0.000350496453661261, -0.000123849795280597,
-         -0.000532190902882765, 9.36018171121253e-05},
-        {-1.53023612303052, 1.29132951637076, 0.181159073530008, -0.0023490608317645,
-         -0.00370741703297037, -0.000229071300377431, -1.6634455407558e-05, 1.11387154630828e-05,
-         1.02609175615251e-05, -9.64717658954667e-06},
-        {-32.9918791079688, 0.093536793089853, 4.76858627395571, 0.0595845684553358,
-         -0.054845749101257, -0.133247382500001, -0.000688999201915199, 7.67286265747961e-05,
-         0.000868163357631254, 0.00120099606910313}};
+        {10.4400948050067, 1.38202655603079, 0.975299591736672, 0.0172133914423707,
+         -0.0163482459492803, 0.035730152619911, 0.00021725657060767, -0.000181685375645396,
+         -0.000124096561459262, 0.00040790566176981},
+        {6.38281281805793, 1.81388255990089, 0.28679524291736, 0.0218036823758417,
+         0.010516766426651, 0.000446101708841615, 0.00020187044149361, 0.000114957457831415,
+         1.63114413539632e-05, -2.0187452317724e-05},
+        {-29.3049094555, -0.506844002611835, 1.64911970541112, -0.0336282997119334,
+         0.053185806861685, -0.028164943139695, -0.00021098074590512, 0.000643681643489995,
+         -0.000249094601806692, 0.000231466668650876},
+        {-4.76233790255328, 1.1780710601961, -0.194257188545164, 0.00471817228628384,
+         -0.00183773644319332, -0.00570261621182479, -7.99203367291902e-05, 7.75752247926601e-05,
+         -9.78534772816957e-06, -4.72083745991256e-05},
+        {0.692159025649028, 1.11895461388667, 0.341706834956496, 0.000237989648019541,
+         -0.000188322779563912, 0.000227310789253953, 0.000133001646828401, -0.000305810826248463,
+         0.00010150571088124, -0.000367705461590854},
+        {3.38094203317731, 1.24778838596815, 0.067807236112956, -0.00379395536123526,
+         -0.00339180589343601, -0.00188754615986649, -7.52406312245606e-05, 4.58398750278147e-05,
+         6.97244631313601e-05, 2.50519145070895e-05},
+        {-7.10546287716029, 0.459472977452686, -1.12251049944014, 0.0175406972371191,
+         -0.0310525406867782, -0.0531315970690727, -0.000121107664597462, 0.000544665437051928,
+         -1.78466217018177e-05, -0.00058976234038192},
+        {1.60633684055984, 1.1975095485662, 0.180159204664965, -0.00259157601062089,
+         -0.0038106317634397, 0.000956686555225968, 4.28416721502134e-06, 5.84532336259517e-06,
+         -2.73407888222758e-05, 5.45131881032866e-06},
+        {43.3732235586222, 0.528096786861784, -3.41255850703983, -0.0161629934278675,
+         0.0790998053536612, 0.0743822668655928, 0.000237176965460634, -0.000426691336904078,
+         -0.000889196131314391, -0.000509766491897672}};
     float sus6coeffBeta[9][10] = {
-        {12.7380220453847, -0.6087309901836, 2.60957722462363, -0.0415319939920917,
-         0.0444944768824276, 0.0223231464060241, -0.000421503508733887, -9.39560038638717e-05,
-         0.000821479971871302, -4.5330528329465e-05},
-        {1.96846333975847, -0.33921438143463, 1.23957110477613, -0.00948832495296823,
-         0.00107211134687287, -0.00410820045700199, -9.33679611473279e-05, 3.72984782145427e-05,
-         -4.04514487800062e-05, -7.6296149087237e-05},
-        {5.7454444934481, -1.58476383793609, -0.418479494289251, -0.0985177320630941,
-         -0.0862179276808015, 0.0126762052037897, -0.00118207758271301, -0.000190361442918412,
-         0.0011723869613426, 0.000122882034141316},
-        {2.11042287406433, -0.225942746245056, 1.18084080712528, -0.00103013931607172,
-         -0.00675606790663387, -0.00106646109062746, 1.7708839355979e-05, -3.13642668374253e-05,
-         -5.87601932564404e-05, -3.92033314627704e-05},
-        {2.96049248725882, -0.286261455028255, 1.09122556181319, -0.000672369023155898,
-         0.000574446975796023, 0.000120303729680796, 0.000292285799270644, 0.000170497873487264,
-         0.000259925974231328, 0.000222437797823852},
-        {1.65218061201483, -0.19535446105784, 1.39609640918411, 0.000961524354787167,
-         0.00592400381724333, -0.0078500192096718, -7.02791628080906e-07, -2.07197580883822e-05,
-         -4.33518182614169e-05, 4.66993119419691e-05},
-        {-19.56673237415, 1.06558565338761, 0.151160448373445, -0.0252628659378108,
-         0.0281230551050938, -0.0217328869907185, 0.000241309440918385, -0.000116449585258429,
-         0.000401546410974577, -0.000147563886502726},
-        {1.56167171538684, -0.155299366654736, 1.20084049723279, 0.00457348893890231,
-         0.00118888040006052, 0.0029920178735941, -5.583448120596e-05, -2.34496315691865e-05,
-         -5.3309466243918e-05, 6.20289310356821e-06},
-        {1.95050549495182, -2.74909818412705, 3.80268788018641, 0.0629242254381785,
-         0.0581479035315726, -0.111361283351269, -0.00047845777495158, -0.00075354297736741,
-         -0.000186887396585446, 0.00119710704771344}};
+        {1.03872648284911, -0.213507239271552, 1.43193059498181, -0.000972717820830235,
+         -0.00661046096415371, 0.00974284211491888, 2.96098456891215e-05, -8.2933115634257e-05,
+         -5.52178824394723e-06, 5.73935295303589e-05},
+        {3.42242235823356, 0.0848392511283237, 1.24574390342586, 0.00356248195980133,
+         0.00100415659893053, -0.00460120247716139, 3.84891005422427e-05, 2.70236417852327e-05,
+         -7.58501977656551e-05, -8.79809730730992e-05},
+        {14.0092526123741, 1.03126714946215, 1.0611008563785, 0.04076462444523, 0.0114106419194518,
+         0.00746959159048058, 0.000388033225774727, -0.000124645014888926, -0.000296639947532341,
+         -0.00020861690864945},
+        {1.3562422681189, -0.241585615891602, 1.49170424068611, 0.000179184170448335,
+         -0.00712399257616284, 0.0121433526723498, 3.29770580642447e-05, 8.78960210966787e-06,
+         -6.00508568552101e-05, 0.000101583822589461},
+        {-0.718855428908583, -0.344067476078684, 1.12397093701762, 0.000236505431484729,
+         -0.000406441415248947, 0.00032834991502413, 0.000359422093285086, 8.18895560425272e-05,
+         0.000316835483508523, 0.000151442890664899},
+        {-0.268764016434841, -0.275272048639511, 1.26239753050527, -0.000511224336925231,
+         0.0095628568270856, -0.00397960092451418, 1.39587366293607e-05, 1.31409051361129e-05,
+         -9.83662017231755e-05, 1.87078667116619e-05},
+        {27.168106989145, -2.43346872338192, 1.91135512970771, 0.0553180826818016,
+         -0.0481878292619383, 0.0052773235604729, -0.000428011927975304, 0.000528018208222772,
+         -0.000285438191474895, -5.71327627917386e-05},
+        {-0.169494136517622, -0.350851545482921, 1.19922076033643, 0.0101120903675328,
+         -0.00151674465424115, 0.00548694086125656, -0.000108240000970513, 1.57202185024105e-05,
+         -9.77555098179959e-05, 2.09624089449761e-05},
+        {-32.3807957489507, 1.8271436443167, 2.51530814328123, -0.0532334586403461,
+         -0.0355980127727253, -0.0213373892796204, 0.00045506092539885, 0.000545065581027688,
+         0.000141998709314758, 0.000101051304611037}};
     float sus7coeffAlpha[9][10] = {
         {-92.1126183408754, -3.77261746189525, -4.50604668349213, -0.0909560776043523,
          -0.15646903318971, -0.0766293642415356, -0.00059452135473577, -0.00144790037129283,