diff --git a/CHANGELOG.md b/CHANGELOG.md
index b5e570a0..e032c95d 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,12 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- ACS Controller: Correction for size of MEKF dataset and some optimization and possible fixes
+  for actuator control.
+  PR: https://egit.irs.uni-stuttgart.de/eive/eive-obsw/pulls/403
+
 # [v1.31.0]
 
 eive-tmtc: v2.16.0
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 81e5b1ca..6b821a08 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -432,64 +432,52 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
   return returnvalue::OK;
 }
 
-void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
-  double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
-  int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
-  updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
+void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
+  updateActuatorCmdData(RW_OFF_TORQUE, RW_OFF_SPEED, mtqTargetDipole);
 }
 
-void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
-                                          int16_t mtqTargetDipole[3]) {
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
-      actuatorCmdData.setValidity(true, true);
-    }
+void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
+                                          const int32_t *rwTargetSpeed,
+                                          const int16_t *mtqTargetDipole) {
+  PoolReadGuard pg(&actuatorCmdData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
+    std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
+    std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
+    actuatorCmdData.setValidity(true, true);
   }
 }
 
 void AcsController::updateCtrlValData(double errAng) {
-  double unitQuat[4] = {0, 0, 0, 1};
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.tgtQuat.setValid(false);
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.errQuat.setValid(false);
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.errAng.setValid(true);
-      ctrlValData.setValidity(true, false);
-    }
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.tgtQuat.setValid(false);
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errQuat.setValid(false);
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.errAng.setValid(true);
+    ctrlValData.setValidity(true, false);
   }
 }
 
-void AcsController::updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng) {
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
-      std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.setValidity(true, true);
-    }
+void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.setValidity(true, true);
   }
 }
 
 void AcsController::disableCtrlValData() {
-  double unitQuat[4] = {0, 0, 0, 1};
-  double errAng = 0;
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.setValidity(false, true);
-    }
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errAng.value = 0;
+    ctrlValData.setValidity(false, true);
   }
 }
 
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index a36f99ee..1b57a32a 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -40,6 +40,10 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void performPointingCtrl();
 
  private:
+  static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
+  static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
+
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   Navigation navigation;
@@ -84,11 +88,11 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
-  void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
-  void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
-                             int16_t mtqTargetDipole[3]);
+  void updateActuatorCmdData(const int16_t* mtqTargetDipole);
+  void updateActuatorCmdData(const double* rwTargetTorque, const int32_t* rwTargetSpeed,
+                             const int16_t* mtqTargetDipole);
   void updateCtrlValData(double errAng);
-  void updateCtrlValData(double tgtQuat[4], double errQuat[4], double errAng);
+  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng);
   void disableCtrlValData();
 
   /* ACS Sensor Values */
@@ -187,7 +191,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   PoolEntry<double> tgtQuat = PoolEntry<double>(4);
   PoolEntry<double> errQuat = PoolEntry<double>(4);
   PoolEntry<double> errAng = PoolEntry<double>();
-  PoolEntry<double> tgtRotRate = PoolEntry<double>(4);
+  PoolEntry<double> tgtRotRate = PoolEntry<double>(3);
 
   // Actuator CMD
   acsctrl::ActuatorCmdData actuatorCmdData;
diff --git a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
index 0675262c..c3509a04 100644
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@@ -110,7 +110,7 @@ static constexpr uint8_t SUS_SET_PROCESSED_ENTRIES = 15;
 static constexpr uint8_t GYR_SET_RAW_ENTRIES = 4;
 static constexpr uint8_t GYR_SET_PROCESSED_ENTRIES = 5;
 static constexpr uint8_t GPS_SET_PROCESSED_ENTRIES = 4;
-static constexpr uint8_t MEKF_SET_ENTRIES = 2;
+static constexpr uint8_t MEKF_SET_ENTRIES = 3;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 4;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
 
diff --git a/mission/system/objects/ComSubsystem.h b/mission/system/objects/ComSubsystem.h
index 50f34b0d..ca09a434 100644
--- a/mission/system/objects/ComSubsystem.h
+++ b/mission/system/objects/ComSubsystem.h
@@ -17,8 +17,8 @@ class ComSubsystem : public Subsystem, public ReceivesParameterMessagesIF {
    * @param maxNumberOfSequences
    * @param maxNumberOfTables
    * @param transmitterTimeout	Maximum time the transmitter of the syrlinks
-   * 														will be
-   * enabled
+   * 														will
+   * be enabled
    */
   ComSubsystem(object_id_t setObjectId, uint32_t maxNumberOfSequences, uint32_t maxNumberOfTables,
                uint32_t transmitterTimeout);