diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 1a47076f..d75a7b96 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -409,10 +409,30 @@ void AcsController::performPointingCtrl() {
     commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                      cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                      acsParameters.rwHandlingParameters.rampTime);
+    return;
   } else {
     ptgCtrlLostCounter = 0;
   }
 
+  double quatBI[4] = {0, 0, 0, 0}, rotRateB[3] = {0, 0, 0};
+  switch (ptgCtrlStrat) {
+    case acs::ControlModeStrategy::PTGCTRL_MEKF:
+      std::memcpy(quatBI, attitudeEstimationData.quatMekf.value, sizeof(quatBI));
+      std::memcpy(rotRateB, attitudeEstimationData.satRotRateMekf.value, sizeof(rotRateB));
+      break;
+    case acs::ControlModeStrategy::PTGCTRL_STR:
+      quatBI[0] = sensorValues.strSet.caliQx.value;
+      quatBI[1] = sensorValues.strSet.caliQy.value;
+      quatBI[2] = sensorValues.strSet.caliQz.value;
+      quatBI[3] = sensorValues.strSet.caliQw.value;
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
+      break;
+    case acs::ControlModeStrategy::PTGCTRL_QUEST:
+      std::memcpy(quatBI, attitudeEstimationData.quatQuest.value, sizeof(quatBI));
+      std::memcpy(rotRateB, fusedRotRateData.rotRateTotal.value, sizeof(rotRateB));
+      break;
+  }
+
   uint8_t enableAntiStiction = true;
   double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
   ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
@@ -439,9 +459,8 @@ void AcsController::performPointingCtrl() {
     case acs::PTG_IDLE:
       guidance.targetQuatPtgSun(timeDelta, susDataProcessed.sunIjkModel.value, targetQuat,
                                 targetSatRotRate);
-      guidance.comparePtg(attitudeEstimationData.quatMekf.value,
-                          attitudeEstimationData.satRotRateMekf.value, targetQuat, targetSatRotRate,
-                          errorQuat, errorSatRotRate, errorAngle);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.idleModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(&acsParameters.idleModeControllerParameters,
@@ -452,9 +471,9 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), attitudeEstimationData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.idleModeControllerParameters.enableAntiStiction;
       break;
 
@@ -462,8 +481,7 @@ void AcsController::performPointingCtrl() {
       guidance.targetQuatPtgThreeAxes(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                       gpsDataProcessed.gpsVelocity.value, targetQuat,
                                       targetSatRotRate);
-      guidance.comparePtg(attitudeEstimationData.quatMekf.value,
-                          attitudeEstimationData.satRotRateMekf.value, targetQuat, targetSatRotRate,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
                           acsParameters.targetModeControllerParameters.quatRef,
                           acsParameters.targetModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
@@ -477,18 +495,17 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), attitudeEstimationData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.targetModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_TARGET_GS:
       guidance.targetQuatPtgGs(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
-      guidance.comparePtg(attitudeEstimationData.quatMekf.value,
-                          attitudeEstimationData.satRotRateMekf.value, targetQuat, targetSatRotRate,
-                          errorQuat, errorSatRotRate, errorAngle);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate, errorQuat,
+                          errorSatRotRate, errorAngle);
       ptgCtrl.ptgLaw(&acsParameters.gsTargetModeControllerParameters, errorQuat, errorSatRotRate,
                      *rwPseudoInv, torquePtgRws);
       ptgCtrl.ptgNullspace(&acsParameters.gsTargetModeControllerParameters,
@@ -499,9 +516,9 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), attitudeEstimationData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.gsTargetModeControllerParameters.enableAntiStiction;
       break;
 
@@ -509,8 +526,7 @@ void AcsController::performPointingCtrl() {
       guidance.targetQuatPtgNadirThreeAxes(
           timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
           gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate);
-      guidance.comparePtg(attitudeEstimationData.quatMekf.value,
-                          attitudeEstimationData.satRotRateMekf.value, targetQuat, targetSatRotRate,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
                           acsParameters.nadirModeControllerParameters.quatRef,
                           acsParameters.nadirModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
@@ -524,17 +540,16 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), attitudeEstimationData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.nadirModeControllerParameters.enableAntiStiction;
       break;
 
     case acs::PTG_INERTIAL:
       std::memcpy(targetQuat, acsParameters.inertialModeControllerParameters.tgtQuat,
                   sizeof(targetQuat));
-      guidance.comparePtg(attitudeEstimationData.quatMekf.value,
-                          attitudeEstimationData.satRotRateMekf.value, targetQuat, targetSatRotRate,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
                           acsParameters.inertialModeControllerParameters.quatRef,
                           acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
                           errorSatRotRate, errorAngle);
@@ -548,9 +563,9 @@ void AcsController::performPointingCtrl() {
       actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
       ptgCtrl.ptgDesaturation(
           &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), attitudeEstimationData.satRotRateMekf.value,
-          sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
-          sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, mgtDpDes);
+          mgmDataProcessed.mgmVecTot.isValid(), rotRateB, sensorValues.rw1Set.currSpeed.value,
+          sensorValues.rw2Set.currSpeed.value, sensorValues.rw3Set.currSpeed.value,
+          sensorValues.rw4Set.currSpeed.value, mgtDpDes);
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
     default: