diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index aa04cbb6..734c6a0c 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -1,10 +1,3 @@
-/*
- * SafeCtrl.cpp
- *
- *  Created on: 19 Apr 2022
- *      Author: Robin Marquardt
- */
-
 #include "SafeCtrl.h"
 
 #include <fsfw/globalfunctions/constants.h>
@@ -15,19 +8,10 @@
 
 #include "../util/MathOperations.h"
 
-SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) {
-  loadAcsParameters(acsParameters_);
-  MatrixOperations<double>::multiplyScalar(*(inertiaEIVE->inertiaMatrix), 10, *gainMatrixInertia, 3,
-                                           3);
-}
+SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }
 
 SafeCtrl::~SafeCtrl() {}
 
-void SafeCtrl::loadAcsParameters(AcsParameters *acsParameters_) {
-  safeModeControllerParameters = &(acsParameters_->safeModeControllerParameters);
-  inertiaEIVE = &(acsParameters_->inertiaEIVE);
-}
-
 ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
                                  double *magFieldModel, bool magFieldModelValid,
                                  double *sunDirModel, bool sunDirModelValid, double *satRateMekf,
@@ -39,8 +23,8 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   }
 
   double kRate = 0, kAlign = 0;
-  kRate = safeModeControllerParameters->k_rate_mekf;
-  kAlign = safeModeControllerParameters->k_align_mekf;
+  kRate = acsParameters->safeModeControllerParameters.k_rate_mekf;
+  kAlign = acsParameters->safeModeControllerParameters.k_align_mekf;
 
   //	Calc sunDirB ,magFieldB with mekf output and model
   double dcmBJ[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@@ -73,6 +57,9 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
 
   VectorOperations<double>::add(torqueRate, torqueAlign, torqueAll, 3);
   //	Adding factor of inertia for axes
+  MatrixOperations<double>::multiplyScalar(*(acsParameters->inertiaEIVE.inertiaMatrix), 10,
+                                           *gainMatrixInertia, 3,
+                                           3);  // why only for mekf one and not for no mekf
   MatrixOperations<double>::multiply(*gainMatrixInertia, torqueAll, torqueCmd, 3, 3, 1);
 
   // MagMom B (orthogonal torque)
@@ -129,7 +116,7 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   /* Only valid if angle between sun direction and magnetic field direction
    * is sufficiently large */
   double angleSunMag = acos(cosAngleSunMag);
-  if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
+  if (angleSunMag < acsParameters->safeModeControllerParameters.sunMagAngleMin) {
     return;
   }
 
@@ -139,8 +126,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
 
   // Torque Align calculation
   double kRateNoMekf = 0, kAlignNoMekf = 0;
-  kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
-  kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;
+  kRateNoMekf = acsParameters->safeModeControllerParameters.k_rate_no_mekf;
+  kAlignNoMekf = acsParameters->safeModeControllerParameters.k_align_no_mekf;
 
   double cosAngleAlignErr = VectorOperations<double>::dot(sunDirRef, susDirB);
   double crossSusSunRef[3] = {0, 0, 0};
@@ -159,8 +146,8 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   // Final torque
   double torqueB[3] = {0, 0, 0}, torqueAlignRate[3] = {0, 0, 0};
   VectorOperations<double>::add(torqueRate, torqueAlign, torqueAlignRate, 3);
-  MatrixOperations<double>::multiply(*(inertiaEIVE->inertiaMatrix), torqueAlignRate, torqueB, 3, 3,
-                                     1);
+  MatrixOperations<double>::multiply(*(acsParameters->inertiaEIVE.inertiaMatrix), torqueAlignRate,
+                                     torqueB, 3, 3, 1);
 
   // Magnetic moment
   double magMomB[3] = {0, 0, 0};
diff --git a/mission/controller/acs/control/SafeCtrl.h b/mission/controller/acs/control/SafeCtrl.h
index 1784f9ca..f14bc464 100644
--- a/mission/controller/acs/control/SafeCtrl.h
+++ b/mission/controller/acs/control/SafeCtrl.h
@@ -17,8 +17,6 @@ class SafeCtrl {
   static const uint8_t INTERFACE_ID = CLASS_ID::ACS_SAFE;
   static const ReturnValue_t SAFECTRL_MEKF_INPUT_INVALID = MAKE_RETURN_CODE(0x01);
 
-  void loadAcsParameters(AcsParameters *acsParameters_);
-
   ReturnValue_t safeMekf(timeval now, double *quatBJ, bool quatBJValid, double *magFieldModel,
                          bool magFieldModelValid, double *sunDirModel, bool sunDirModelValid,
                          double *satRateMekf, bool rateMekfValid, double *sunDirRef,
@@ -30,12 +28,9 @@ class SafeCtrl {
                   bool magRateBValid, double *sunDirRef, double *satRateRef, double *outputAngle,
                   double *outputMagMomB, bool *outputValid);
 
-  void idleSunPointing();  // with reaction wheels
-
  protected:
  private:
-  AcsParameters::SafeModeControllerParameters *safeModeControllerParameters;
-  AcsParameters::InertiaEIVE *inertiaEIVE;
+  AcsParameters *acsParameters;
   double gainMatrixInertia[3][3];
 
   double magFieldBState[3];