@@ -0,0 +51,4 @@
+    double beta = VectorOperations<double>::dot(helperSum, kSumVec);
+    double gamma = std::sqrt(std::pow(alpha, 2) + std::pow(beta, 2));
+
+    // I don't even know what this is supposed to be

@@ -0,0 +6,4 @@
+
+AttitudeEstimation::~AttitudeEstimation() {}
+
+void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,

@@ -0,0 +11,4 @@
+                               acsctrl::AttitudeEstimationData *attitudeEstimation) {
+  if (susData->susVecTot.isValid() and susData->sunIjkModel.isValid() and
+      mgmData->mgmVecTot.value and mgmData->magIgrfModel.isValid()) {
+    // Normalize Data

@@ -10,0 +73,4 @@
+void FusedRotationEstimation::estimateFusedRotationRateStr(
+    ACS::SensorValues *sensorValues, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if ((sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and

@@ -10,0 +136,4 @@
+void FusedRotationEstimation::estimateFusedRotationRateQuest(
+    acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if (attitudeEstimationData->quatQuest.isValid()) {

@@ -499,3 +498,1 @@
-  bool rw2valid = (sensorValues->rw2Set.state.value && sensorValues->rw2Set.state.isValid());
-  bool rw3valid = (sensorValues->rw3Set.state.value && sensorValues->rw3Set.state.isValid());
-  bool rw4valid = (sensorValues->rw4Set.state.value && sensorValues->rw4Set.state.isValid());
+  bool rw1valid = (sensorValues->rw1Set.state.value and sensorValues->rw1Set.state.isValid());