diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 8a7ac78c..1a19ff87 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -191,7 +191,7 @@ void AcsController::performSafe() {
       break;
     case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING):
       safeCtrl.safeRateDamping(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
-                               sunTargetDir, magMomMtq, errAng);
+                               sunTargetDir, inertiaEive, magMomMtq, errAng);
       safeCtrlFailureFlag = false;
       safeCtrlFailureCounter = 0;
       break;
diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index ce44dbef..0b732556 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -42,11 +42,11 @@ void SafeCtrl::safeMekf(const double *magFieldB, const double *satRotRateB,
   errorAngle = acos(dotSun);
 
   splitRotationalRate(satRotRateB, sunDirB);
-  calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
-                                acsParameters->safeModeControllerParameters.k_parallelMekf,
-                                acsParameters->safeModeControllerParameters.k_orthoMekf);
+  calculateRotationalRateTorque(
+      sunDirB, sunDirRefB, errorAngle, acsParameters->safeModeControllerParameters.k_parallelMekf,
+      acsParameters->safeModeControllerParameters.k_orthoMekf, inertiaMatrix);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
-                            acsParameters->safeModeControllerParameters.k_alignMekf, inertiaMatrix);
+                            acsParameters->safeModeControllerParameters.k_alignMekf);
 
   // sum of all torques
   for (uint8_t i = 0; i < 3; i++) {
@@ -70,10 +70,10 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
   splitRotationalRate(satRotRateB, sunDirB);
   calculateRotationalRateTorque(sunDirB, sunDirRefB, errorAngle,
                                 acsParameters->safeModeControllerParameters.k_parallelNonMekf,
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
+                                acsParameters->safeModeControllerParameters.k_orthoNonMekf,
+                                inertiaMatrix);
   calculateAngleErrorTorque(sunDirB, sunDirRefB,
-                            acsParameters->safeModeControllerParameters.k_alignNonMekf,
-                            inertiaMatrix);
+                            acsParameters->safeModeControllerParameters.k_alignNonMekf);
 
   // sum of all torques
   for (uint8_t i = 0; i < 3; i++) {
@@ -84,7 +84,8 @@ void SafeCtrl::safeNonMekf(const double *magFieldB, const double *satRotRateB,
 }
 
 void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRateB,
-                               const double *sunDirRefB, double *magMomB, double &errorAngle) {
+                               const double *sunDirRefB, const double inertiaMatrix[3][3],
+                               double *magMomB, double &errorAngle) {
   // convert magFieldB from uT to T
   VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
@@ -94,7 +95,8 @@ void SafeCtrl::safeRateDamping(const double *magFieldB, const double *satRotRate
   splitRotationalRate(satRotRateB, sunDirRefB);
   calculateRotationalRateTorque(sunDirRefB, sunDirRefB, errorAngle,
                                 acsParameters->safeModeControllerParameters.k_parallelNonMekf,
-                                acsParameters->safeModeControllerParameters.k_orthoNonMekf);
+                                acsParameters->safeModeControllerParameters.k_orthoNonMekf,
+                                inertiaMatrix);
 
   // sum of all torques
   double cmdTorque[3] = {0, 0, 0};
@@ -114,21 +116,23 @@ void SafeCtrl::splitRotationalRate(const double *satRotRateB, const double *sunD
 
 void SafeCtrl::calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
                                              double &errorAngle, const double gainParallel,
-                                             const double gainOrtho) {
+                                             const double gainOrtho,
+                                             const double inertiaMatrix[3][3]) {
   // calculate torque for parallel rotational rate
   VectorOperations<double>::mulScalar(satRotRateParallelB, -gainParallel, cmdParallel, 3);
 
   // calculate torque for orthogonal rotational rate
-  VectorOperations<double>::mulScalar(satRotRateOrthogonalB, -gainOrtho, cmdOrtho, 3);
+  double orthoFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
+  MatrixOperations<double>::multiplyScalar(*inertiaMatrix, gainOrtho, *orthoFactor, 3, 3);
+  MatrixOperations<double>::multiply(*orthoFactor, satRotRateOrthogonalB, cmdAlign, 3, 3, 1);
 }
 
 void SafeCtrl::calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
-                                         const double gainAlign, const double inertiaMatrix[3][3]) {
+                                         const double gainAlign) {
   // calculate torque for alignment
-  double crossAlign[3] = {0, 0, 0}, alignFactor[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MatrixOperations<double>::multiplyScalar(*inertiaMatrix, gainAlign, *alignFactor, 3, 3);
+  double crossAlign[3] = {0, 0, 0};
   VectorOperations<double>::cross(sunDirRefB, sunDirB, crossAlign);
-  MatrixOperations<double>::multiply(*alignFactor, crossAlign, cmdAlign, 3, 3, 1);
+  VectorOperations<double>::mulScalar(crossAlign, gainAlign, cmdAlign, 3);
 }
 
 void SafeCtrl::calculateMagneticMoment(double *magMomB) {
diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h
index 108321df..f0ab8a3c 100644
--- a/mission/controller/acs/control/SafeCtrl.h
+++ b/mission/controller/acs/control/SafeCtrl.h
@@ -25,16 +25,16 @@ class SafeCtrl {
                    double &errorAngle);
 
   void safeRateDamping(const double *magFieldB, const double *satRotRateB, const double *sunDirRefB,
-                       double *magMomB, double &errorAngle);
+                       const double inertiaMatrix[3][3], double *magMomB, double &errorAngle);
 
   void splitRotationalRate(const double *satRotRateB, const double *sunDirB);
 
   void calculateRotationalRateTorque(const double *sunDirB, const double *sunDirRefB,
                                      double &errorAngle, const double gainParallel,
-                                     const double gainOrtho);
+                                     const double gainOrtho, const double inertiaMatrix[3][3]);
 
   void calculateAngleErrorTorque(const double *sunDirB, const double *sunDirRefB,
-                                 const double gainAlign, const double inertiaMatrix[3][3]);
+                                 const double gainAlign);
 
   void calculateMagneticMoment(double *magMomB);