diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index 3641e41e..ef21f7fc 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -8,8 +8,8 @@ void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
                                  const double sunDirI[3], const double posSatF[4],
                                  double targetQuat[4], double targetSatRotRate[3]) {
   // positive z-Axis of EIVE in direction of sun
-  double zAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(sunDirI, zAxisXI, 3);
+  double zAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(sunDirI, zAxisIX, 3);
 
   // determine helper vector to point x-Axis and therefore the STR away from Earth
   double helperXI[3] = {0, 0, 0}, posSatI[3] = {0, 0, 0};
@@ -17,20 +17,20 @@ void Guidance::targetQuatPtgIdle(timeval timeAbsolute, const double timeDelta,
   VectorOperations<double>::normalize(posSatI, helperXI, 3);
 
   // construct y-axis from helper vector and z-axis
-  double yAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxisXI, helperXI, yAxisXI);
-  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
+  double yAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisIX, helperXI, yAxisIX);
+  VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
 
   // x-axis completes RHS
-  double xAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(yAxisXI, zAxisXI, xAxisXI);
-  VectorOperations<double>::normalize(xAxisXI, xAxisXI, 3);
+  double xAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::cross(yAxisIX, zAxisIX, xAxisIX);
+  VectorOperations<double>::normalize(xAxisIX, xAxisIX, 3);
 
   // join transformation matrix
-  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
-                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
-                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
-  QuaternionOperations::fromDcm(dcmXI, targetQuat);
+  double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
+                        {xAxisIX[1], yAxisIX[1], zAxisIX[1]},
+                        {xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
+  QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
   // calculate of reference rotation rate
   targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
@@ -59,8 +59,8 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
 
   // x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(targetDirI, xAxisXI, 3);
+  double xAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(targetDirI, xAxisIX, 3);
 
   // transform velocity into inertial frame
   double velSatI[3] = {0, 0, 0};
@@ -73,18 +73,18 @@ void Guidance::targetQuatPtgTarget(timeval timeAbsolute, const double timeDelta,
 
   // y-axis of satellite in orbit plane so that z-axis is parallel to long side of picture
   // resolution
-  double yAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(orbitalNormalI, xAxisXI, yAxisXI);
-  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
+  double yAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::cross(orbitalNormalI, xAxisIX, yAxisIX);
+  VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
 
   // z-axis completes RHS
-  double zAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(xAxisXI, yAxisXI, zAxisXI);
+  double zAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::cross(xAxisIX, yAxisIX, zAxisIX);
 
   // join transformation matrix
-  double dcmIX[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
-                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
-                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
+  double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
+                        {xAxisIX[1], yAxisIX[1], zAxisIX[1]},
+                        {xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
   QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
   targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
@@ -111,32 +111,32 @@ void Guidance::targetQuatPtgGs(timeval timeAbsolute, const double timeDelta, dou
 
   // negative x-axis aligned with target direction
   // this aligns with the camera, E- and S-band antennas
-  double xAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(groundStationDirI, xAxisXI, 3);
-  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
+  double xAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(groundStationDirI, xAxisIX, 3);
+  VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
 
   // get sun vector model in ECI
   VectorOperations<double>::normalize(sunDirI, sunDirI, 3);
 
   // calculate z-axis as projection of sun vector into plane defined by x-axis as normal vector
   // z = sPerpenticular =  s - sParallel = s - (x*s)/norm(x)^2 * x
-  double xDotS = VectorOperations<double>::dot(xAxisXI, sunDirI);
-  xDotS /= pow(VectorOperations<double>::norm(xAxisXI, 3), 2);
-  double sunParallel[3], zAxisXI[3];
-  VectorOperations<double>::mulScalar(xAxisXI, xDotS, sunParallel, 3);
-  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisXI, 3);
-  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
+  double xDotS = VectorOperations<double>::dot(xAxisIX, sunDirI);
+  xDotS /= pow(VectorOperations<double>::norm(xAxisIX, 3), 2);
+  double sunParallel[3], zAxisIX[3];
+  VectorOperations<double>::mulScalar(xAxisIX, xDotS, sunParallel, 3);
+  VectorOperations<double>::subtract(sunDirI, sunParallel, zAxisIX, 3);
+  VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
 
   // y-axis completes RHS
-  double yAxisXI[3];
-  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
-  VectorOperations<double>::normalize(yAxisXI, yAxisXI, 3);
+  double yAxisIX[3];
+  VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
+  VectorOperations<double>::normalize(yAxisIX, yAxisIX, 3);
 
   // join transformation matrix
-  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
-                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
-                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
-  QuaternionOperations::fromDcm(dcmXI, targetQuat);
+  double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
+                        {xAxisIX[1], yAxisIX[1], zAxisIX[1]},
+                        {xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
+  QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
   targetRotationRate(timeDelta, targetQuat, targetSatRotRate);
 }
@@ -153,26 +153,26 @@ void Guidance::targetQuatPtgNadir(timeval timeAbsolute, const double timeDelta,
 
   // negative x-axis aligned with position vector
   // this aligns with the camera, E- and S-band antennas
-  double xAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(posSatI, xAxisXI, 3);
-  VectorOperations<double>::mulScalar(xAxisXI, -1, xAxisXI, 3);
+  double xAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(posSatI, xAxisIX, 3);
+  VectorOperations<double>::mulScalar(xAxisIX, -1, xAxisIX, 3);
 
   // make z-Axis parallel to major part of camera resolution
-  double zAxisXI[3] = {0, 0, 0};
+  double zAxisIX[3] = {0, 0, 0};
   double velSatI[3] = {0, 0, 0};
   CoordinateTransformations::velocityEcfToEci(velSatE, posSatE, velSatI, &timeAbsolute);
-  VectorOperations<double>::cross(xAxisXI, velSatI, zAxisXI);
-  VectorOperations<double>::normalize(zAxisXI, zAxisXI, 3);
+  VectorOperations<double>::cross(xAxisIX, velSatI, zAxisIX);
+  VectorOperations<double>::normalize(zAxisIX, zAxisIX, 3);
 
   // y-Axis completes RHS
-  double yAxisXI[3] = {0, 0, 0};
-  VectorOperations<double>::cross(zAxisXI, xAxisXI, yAxisXI);
+  double yAxisIX[3] = {0, 0, 0};
+  VectorOperations<double>::cross(zAxisIX, xAxisIX, yAxisIX);
 
   // join transformation matrix
-  double dcmXI[3][3] = {{xAxisXI[0], yAxisXI[0], zAxisXI[0]},
-                        {xAxisXI[1], yAxisXI[1], zAxisXI[1]},
-                        {xAxisXI[2], yAxisXI[2], zAxisXI[2]}};
-  QuaternionOperations::fromDcm(dcmXI, targetQuat);
+  double dcmIX[3][3] = {{xAxisIX[0], yAxisIX[0], zAxisIX[0]},
+                        {xAxisIX[1], yAxisIX[1], zAxisIX[1]},
+                        {xAxisIX[2], yAxisIX[2], zAxisIX[2]}};
+  QuaternionOperations::fromDcm(dcmIX, targetQuat);
 
   targetRotationRate(timeDelta, targetQuat, refSatRate);
 }