2023-12-06 17:44:23 +01:00
47 changed files with 1099 additions and 488 deletions
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@ -16,6 +16,31 @@ will consitute of a breaking change warranting a new major release:

 # [unreleased]

+# [v7.5.0] 2023-12-06
+
+- `eive-tmtc` v5.12.0
+
+## Changed
+
+- ACS-Board default side changed to B-Side
+- The TLE uploaded now gets stored in a file on the filesystem. It will always be stored on
+  the current active SD Card. After a reboot, the TLE will be read from the filesystem.
+  A filesystem change via `prefSD` on bootup, can lead to the TLE not being read, even
+  though it is there.
+- Added action cmd to read the currently stored TLE.
+- Both the `AcsController` and the `PwrController` now use the monotonic clock to calculate
+  the time difference.
+- `ACS Controller` now has the function `performAttitudeControl` which is called prior to passing
+  on to the relevant mode functions. It handles all telemetry relevant functions, which were
+  always called, regardless of the mode.
+ 
+## Added
+
+- Higher ACS modes can now be entered without a running `MEKF`. Higher modes will collect their
+  quaternion and rotational rate depending on the available sources.
+- `QUEST` attitude estimation was added to the `AcsController`.
+- The fused rotational rate can now be estimated from `QUEST` and the `STR`.
+
 # [v7.4.1] 2023-12-06

 ## Fixed
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -10,8 +10,8 @@
 cmake_minimum_required(VERSION 3.13)

 set(OBSW_VERSION_MAJOR 7)
-set(OBSW_VERSION_MINOR 4)
-set(OBSW_VERSION_REVISION 1)
+set(OBSW_VERSION_MINOR 5)
+set(OBSW_VERSION_REVISION 0)

 # set(CMAKE_VERBOSE TRUE)

--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 317 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
 * @details
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateEvents.h"

@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -514,11 +515,13 @@ const char *translateEvents(Event event) {
    case (11205):
      return MEKF_AUTOMATIC_RESET_STRING;
    case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
    case (11207):
      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
    case (11208):
      return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 175 translations.
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateObjects.h"

--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@ -175,7 +175,7 @@ void ObjectFactory::produce(void* args) {
  createScexComponents(q7s::UART_SCEX_DEV, pwrSwitcher, *SdCardManager::instance(), false,
                       power::Switches::PDU1_CH5_SOLAR_CELL_EXP_5V);
 #endif
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
  HeaterHandler* heaterHandler;
  createHeaterComponents(gpioComIF, pwrSwitcher, healthTable, heaterHandler);
  createThermalController(*heaterHandler, true);
--- a/bsp_q7s/fmObjectFactory.cpp
+++ b/bsp_q7s/fmObjectFactory.cpp
@ -130,6 +130,6 @@ void ObjectFactory::produce(void* args) {

  createMiscComponents();
  createThermalController(*heaterHandler, false);
-  createAcsController(true, enableHkSets);
+  createAcsController(true, enableHkSets, *SdCardManager::instance());
  satsystem::init(false);
 }
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit b28174db249cb33b541f665270fd6af14c382351
+Subproject commit 7105e199c650303ac1a48e75aebc44182630931e
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
-11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
+11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
+11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
--- a/generators/bsp_hosted_returnvalues.csv
+++ b/generators/bsp_hosted_returnvalues.csv
@ -509,6 +509,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x67a3;SADPL_SwitchingDeplSa1Failed;No description;163;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x67a4;SADPL_SwitchingDeplSa2Failed;No description;164;SA_DEPL_HANDLER;mission/SolarArrayDeploymentHandler.h
 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
+0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
+0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@ -93,9 +93,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 11203;0x2bc3;MEKF_INVALID_INFO;INFO;MEKF was not able to compute a solution. P1: MEKF state on exit;mission/acs/defs.h
 11204;0x2bc4;MEKF_RECOVERY;INFO;MEKF is able to compute a solution again.;mission/acs/defs.h
 11205;0x2bc5;MEKF_AUTOMATIC_RESET;INFO;MEKF performed an automatic reset after detection of nonfinite values.;mission/acs/defs.h
-11206;0x2bc6;MEKF_INVALID_MODE_VIOLATION;HIGH;MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.;mission/acs/defs.h
+11206;0x2bc6;PTG_CTRL_NO_ATTITUDE_INFORMATION;HIGH;For a prolonged time, no attitude information was available for the Pointing Controller. Falling back to Safe Mode.;mission/acs/defs.h
 11207;0x2bc7;SAFE_MODE_CONTROLLER_FAILURE;HIGH;The ACS safe mode controller was not able to compute a solution and has failed. P1: Missing information about magnetic field, P2: Missing information about rotational rate;mission/acs/defs.h
 11208;0x2bc8;TLE_TOO_OLD;INFO;The TLE for the SGP4 Propagator has become too old.;mission/acs/defs.h
+11209;0x2bc9;TLE_FILE_READ_FAILED;LOW;The TLE could not be read from the filesystem.;mission/acs/defs.h
 11300;0x2c24;SWITCH_CMD_SENT;INFO;Indicates that a FSFW object requested setting a switch P1: 1 if on was requested, 0 for off | P2: Switch Index;mission/power/defs.h
 11301;0x2c25;SWITCH_HAS_CHANGED;INFO;Indicated that a switch state has changed P1: New switch state, 1 for on, 0 for off | P2: Switch Index;mission/power/defs.h
 11302;0x2c26;SWITCHING_Q7S_DENIED;MEDIUM;No description;mission/power/defs.h
--- a/generators/bsp_q7s_returnvalues.csv
+++ b/generators/bsp_q7s_returnvalues.csv
@ -593,6 +593,8 @@ Full ID (hex); Name; Description; Unique ID; Subsytem Name; File Path
 0x69c0;SPVRTVIF_BufTooSmall;No description;192;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x69c1;SPVRTVIF_NoReplyTimeout;No description;193;SUPV_RETURN_VALUES_IF;linux/payload/plocSupvDefs.h
 0x6a00;ACSCTRL_FileDeletionFailed;File deletion failed and at least one file is still existent.;0;ACS_CTRL;mission/controller/AcsController.h
+0x6a01;ACSCTRL_WriteFileFailed;Writing the TLE to the file has failed.;1;ACS_CTRL;mission/controller/AcsController.h
+0x6a02;ACSCTRL_ReadFileFailed;Reading the TLE to the file has failed.;2;ACS_CTRL;mission/controller/AcsController.h
 0x6b02;ACSMEKF_MekfUninitialized;No description;2;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b03;ACSMEKF_MekfNoGyrData;No description;3;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
 0x6b04;ACSMEKF_MekfNoModelVectors;No description;4;ACS_MEKF;mission/controller/acs/MultiplicativeKalmanFilter.h
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 317 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
 * @details
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateEvents.h"

@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -514,11 +515,13 @@ const char *translateEvents(Event event) {
    case (11205):
      return MEKF_AUTOMATIC_RESET_STRING;
    case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
    case (11207):
      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
    case (11208):
      return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 179 translations.
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateObjects.h"

--- a/linux/ObjectFactory.cpp
+++ b/linux/ObjectFactory.cpp
@ -331,8 +331,9 @@ void ObjectFactory::createScexComponents(std::string uartDev, PowerSwitchIF* pwr
  scexHandler->connectModeTreeParent(satsystem::payload::SUBSYSTEM);
 }

-AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets) {
-  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets);
+AcsController* ObjectFactory::createAcsController(bool connectSubsystem, bool enableHkSets,
+                                                  SdCardMountedIF& mountedIF) {
+  auto acsCtrl = new AcsController(objects::ACS_CONTROLLER, enableHkSets, mountedIF);
  if (connectSubsystem) {
    acsCtrl->connectModeTreeParent(satsystem::acs::ACS_SUBSYSTEM);
  }
--- a/linux/ObjectFactory.h
+++ b/linux/ObjectFactory.h
@ -31,7 +31,8 @@ void createScexComponents(std::string uartDev, PowerSwitchIF* pwrSwitcher,

 void gpioChecker(ReturnValue_t result, std::string output);

-AcsController* createAcsController(bool connectSubsystem, bool enableHkSets);
+AcsController* createAcsController(bool connectSubsystem, bool enableHkSets,
+                                   SdCardMountedIF& mountedIF);
 PowerController* createPowerController(bool connectSubsystem, bool enableHkSets);

 }  // namespace ObjectFactory
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 317 translations.
+ * @brief    Auto-generated event translation file. Contains 318 translations.
 * @details
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateEvents.h"

@ -99,9 +99,10 @@ const char *MULTIPLE_RW_INVALID_STRING = "MULTIPLE_RW_INVALID";
 const char *MEKF_INVALID_INFO_STRING = "MEKF_INVALID_INFO";
 const char *MEKF_RECOVERY_STRING = "MEKF_RECOVERY";
 const char *MEKF_AUTOMATIC_RESET_STRING = "MEKF_AUTOMATIC_RESET";
-const char *MEKF_INVALID_MODE_VIOLATION_STRING = "MEKF_INVALID_MODE_VIOLATION";
+const char *PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING = "PTG_CTRL_NO_ATTITUDE_INFORMATION";
 const char *SAFE_MODE_CONTROLLER_FAILURE_STRING = "SAFE_MODE_CONTROLLER_FAILURE";
 const char *TLE_TOO_OLD_STRING = "TLE_TOO_OLD";
+const char *TLE_FILE_READ_FAILED_STRING = "TLE_FILE_READ_FAILED";
 const char *SWITCH_CMD_SENT_STRING = "SWITCH_CMD_SENT";
 const char *SWITCH_HAS_CHANGED_STRING = "SWITCH_HAS_CHANGED";
 const char *SWITCHING_Q7S_DENIED_STRING = "SWITCHING_Q7S_DENIED";
@ -514,11 +515,13 @@ const char *translateEvents(Event event) {
    case (11205):
      return MEKF_AUTOMATIC_RESET_STRING;
    case (11206):
-      return MEKF_INVALID_MODE_VIOLATION_STRING;
+      return PTG_CTRL_NO_ATTITUDE_INFORMATION_STRING;
    case (11207):
      return SAFE_MODE_CONTROLLER_FAILURE_STRING;
    case (11208):
      return TLE_TOO_OLD_STRING;
+    case (11209):
+      return TLE_FILE_READ_FAILED_STRING;
    case (11300):
      return SWITCH_CMD_SENT_STRING;
    case (11301):
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@ -2,7 +2,7 @@
 * @brief  Auto-generated object translation file.
 * @details
 * Contains 179 translations.
- * Generated on: 2023-11-29 15:14:46
+ * Generated on: 2023-12-06 17:19:38
 */
 #include "translateObjects.h"

--- a/mission/acs/defs.h
+++ b/mission/acs/defs.h
@ -22,10 +22,10 @@ enum AcsMode : Mode_t {

 enum SafeSubmode : Submode_t { DEFAULT = 0, DETUMBLE = 1 };

-enum SafeModeStrategy : uint8_t {
-  SAFECTRL_OFF = 0,
-  SAFECTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
-  SAFECTRL_NO_SENSORS_FOR_CONTROL = 2,
+enum ControlModeStrategy : uint8_t {
+  CTRL_OFF = 0,
+  CTRL_NO_MAG_FIELD_FOR_CONTROL = 1,
+  CTRL_NO_SENSORS_FOR_CONTROL = 2,
  // OBSW version <= v6.1.0
  LEGACY_SAFECTRL_ACTIVE_MEKF = 10,
  LEGACY_SAFECTRL_WITHOUT_MEKF = 11,
@ -40,14 +40,28 @@ enum SafeModeStrategy : uint8_t {
  SAFECTRL_ECLIPSE_IDELING = 19,
  SAFECTRL_DETUMBLE_FULL = 20,
  SAFECTRL_DETUMBLE_DETERIORATED = 21,
+  // Added in vNext
+  PTGCTRL_MEKF = 100,
+  PTGCTRL_STR = 101,
+  PTGCTRL_QUEST = 102,
 };
-
-enum GpsSource : uint8_t {
+namespace gps {
+enum Source : uint8_t {
  NONE,
  GPS,
  GPS_EXTRAPOLATED,
  SPG4,
 };
+}
+
+namespace rotrate {
+enum Source : uint8_t {
+  NONE,
+  SUSMGM,
+  QUEST,
+  STR,
+};
+}

 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
@ -64,15 +78,17 @@ static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
 static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
 //! [EXPORT] : [COMMENT] MEKF performed an automatic reset after detection of nonfinite values.
 static constexpr Event MEKF_AUTOMATIC_RESET = MAKE_EVENT(5, severity::INFO);
-//! [EXPORT] : [COMMENT] MEKF was not able to compute a solution during any pointing ACS mode for a
-//! prolonged time.
-static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(6, severity::HIGH);
+//! [EXPORT] : [COMMENT] For a prolonged time, no attitude information was available for the
+//! Pointing Controller. Falling back to Safe Mode.
+static constexpr Event PTG_CTRL_NO_ATTITUDE_INFORMATION = MAKE_EVENT(6, severity::HIGH);
 //! [EXPORT] : [COMMENT] The ACS safe mode controller was not able to compute a solution and has
 //! failed.
 //! P1: Missing information about magnetic field, P2: Missing information about rotational rate
 static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(7, severity::HIGH);
 //! [EXPORT] : [COMMENT] The TLE for the SGP4 Propagator has become too old.
 static constexpr Event TLE_TOO_OLD = MAKE_EVENT(8, severity::INFO);
+//! [EXPORT] : [COMMENT] The TLE could not be read from the filesystem.
+static constexpr Event TLE_FILE_READ_FAILED = MAKE_EVENT(9, severity::LOW);

 extern const char* getModeStr(AcsMode mode);

--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@ -1,12 +1,10 @@
 #include "AcsController.h"

-#include <fsfw/datapool/PoolReadGuard.h>
-#include <mission/acs/defs.h>
-#include <mission/config/torquer.h>
-
-AcsController::AcsController(object_id_t objectId, bool enableHkSets)
+AcsController::AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF &sdcMan)
    : ExtendedControllerBase(objectId),
      enableHkSets(enableHkSets),
+      sdcMan(sdcMan),
+      attitudeEstimation(&acsParameters),
      fusedRotationEstimation(&acsParameters),
      guidance(&acsParameters),
      safeCtrl(&acsParameters),
@ -19,11 +17,11 @@ AcsController::AcsController(object_id_t objectId, bool enableHkSets)
      gyrDataRaw(this),
      gyrDataProcessed(this),
      gpsDataProcessed(this),
-      mekfData(this),
+      attitudeEstimationData(this),
      ctrlValData(this),
      actuatorCmdData(this),
      fusedRotRateData(this),
-      tleData(this) {}
+      fusedRotRateSourcesData(this) {}

 ReturnValue_t AcsController::initialize() {
  ReturnValue_t result = parameterHelper.initialize();
@ -56,7 +54,7 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
      return HasActionsIF::EXECUTION_FINISHED;
    }
    case RESET_MEKF: {
-      navigation.resetMekf(&mekfData);
+      navigation.resetMekf(&attitudeEstimationData);
      return HasActionsIF::EXECUTION_FINISHED;
    }
    case RESTORE_MEKF_NONFINITE_RECOVERY: {
@ -67,22 +65,27 @@ ReturnValue_t AcsController::executeAction(ActionId_t actionId, MessageQueueId_t
      if (size != 69 * 2) {
        return INVALID_PARAMETERS;
      }
-      ReturnValue_t result = navigation.updateTle(data, data + 69);
+      ReturnValue_t result = updateTle(data, data + 69, false);
      if (result != returnvalue::OK) {
-        PoolReadGuard pg(&tleData);
-        navigation.updateTle(tleData.line1.value, tleData.line2.value);
        return result;
      }
-      {
-        PoolReadGuard pg(&tleData);
-        if (pg.getReadResult() == returnvalue::OK) {
-          std::memcpy(tleData.line1.value, data, 69);
-          std::memcpy(tleData.line2.value, data + 69, 69);
-          tleData.setValidity(true, true);
-        }
+      result = writeTleToFs(data);
+      if (result != returnvalue::OK) {
+        return result;
      }
      return HasActionsIF::EXECUTION_FINISHED;
    }
+    case (READ_TLE): {
+      uint8_t tle[69 * 2] = {};
+      uint8_t line2[69] = {};
+      ReturnValue_t result = readTleFromFs(tle, line2);
+      if (result != returnvalue::OK) {
+        return result;
+      }
+      std::memcpy(tle + 69, line2, 69);
+      actionHelper.reportData(commandedBy, actionId, tle, 69 * 2);
+      return EXECUTION_FINISHED;
+    }
    default: {
      return HasActionsIF::INVALID_ACTION_ID;
    }
@ -130,12 +133,68 @@ void AcsController::performControlOperation() {
    }
    case InternalState::INITIAL_DELAY: {
      if (initialCountdown.hasTimedOut()) {
+        uint8_t line1[69] = {};
+        uint8_t line2[69] = {};
+        readTleFromFs(line1, line2);
+        updateTle(line1, line2, true);
        internalState = InternalState::READY;
      }
      return;
    }
    case InternalState::READY: {
      if (mode != MODE_OFF) {
+        performAttitudeControl();
+      }
+      break;
+    }
+    default:
+      break;
+  }
+}
+
+void AcsController::performAttitudeControl() {
+  Clock::getClock_timeval(&timeAbsolute);
+  Clock::getClockMonotonic(&timeRelative);
+
+  if (timeRelative.tv_sec != 0 and oldTimeRelative.tv_sec != 0) {
+    timeDelta = timevalOperations::toDouble(timeRelative - oldTimeRelative);
+  }
+  oldTimeRelative = timeRelative;
+
+  ReturnValue_t result = navigation.useSpg4(timeAbsolute, &gpsDataProcessed);
+  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
+    triggerEvent(acs::TLE_TOO_OLD);
+    tleTooOldFlag = true;
+  } else if (result != Sgp4Propagator::TLE_TOO_OLD) {
+    tleTooOldFlag = false;
+  }
+
+  sensorProcessing.process(timeAbsolute, timeDelta, &sensorValues, &mgmDataProcessed,
+                           &susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
+  attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
+  fusedRotationEstimation.estimateFusedRotationRate(
+      &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
+      &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
+  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
+                              &susDataProcessed, &attitudeEstimationData, &acsParameters);
+
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO,
+                   static_cast<uint32_t>(attitudeEstimationData.mekfStatus.value));
+      mekfInvalidFlag = true;
+    }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
+      navigation.resetMekf(&attitudeEstimationData);
+      mekfLost = true;
+    }
+  } else if (mekfInvalidFlag) {
+    triggerEvent(acs::MEKF_RECOVERY);
+    mekfInvalidFlag = false;
+  }
+
  switch (mode) {
    case acs::SAFE:
      switch (submode) {
@ -155,73 +214,36 @@ void AcsController::performControlOperation() {
      performPointingCtrl();
      break;
  }
-      }
-      break;
-    }
-    default:
-      break;
-  }
 }

 void AcsController::performSafe() {
-  timeval now;
-  Clock::getClock_timeval(&now);
-
-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
-  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
-    triggerEvent(acs::TLE_TOO_OLD);
-    tleTooOldFlag = true;
-  } else if (result != Sgp4Propagator::TLE_TOO_OLD) {
-    tleTooOldFlag = false;
-  }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
-                                                        &gyrDataProcessed, &fusedRotRateData);
-  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
-      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-    if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-      mekfInvalidFlag = true;
-    }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
-      mekfLost = true;
-    }
-  } else if (mekfInvalidFlag) {
-    triggerEvent(acs::MEKF_RECOVERY);
-    mekfInvalidFlag = false;
-  }
-
  // get desired satellite rate, sun direction to align to and inertia
  double sunTargetDir[3] = {0, 0, 0};
  guidance.getTargetParamsSafe(sunTargetDir);

  double magMomMtq[3] = {0, 0, 0}, errAng = 0.0;
-  acs::SafeModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
+  acs::ControlModeStrategy safeCtrlStrat = safeCtrl.safeCtrlStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag,
      gyrDataProcessed.gyrVecTot.isValid(), susDataProcessed.susVecTot.isValid(),
      fusedRotRateData.rotRateTotal.isValid(), acsParameters.safeModeControllerParameters.useMekf,
      acsParameters.safeModeControllerParameters.useGyr,
      acsParameters.safeModeControllerParameters.dampingDuringEclipse);
  switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_MEKF):
-      safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value, mekfData.satRotRateMekf.value,
-                        susDataProcessed.sunIjkModel.value, mekfData.quatMekf.value, sunTargetDir,
-                        magMomMtq, errAng);
+    case (acs::ControlModeStrategy::SAFECTRL_MEKF):
+      safeCtrl.safeMekf(mgmDataProcessed.mgmVecTot.value,
+                        attitudeEstimationData.satRotRateMekf.value,
+                        susDataProcessed.sunIjkModel.value, attitudeEstimationData.quatMekf.value,
+                        sunTargetDir, magMomMtq, errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_GYR):
+    case (acs::ControlModeStrategy::SAFECTRL_GYR):
      safeCtrl.safeGyr(mgmDataProcessed.mgmVecTot.value, gyrDataProcessed.gyrVecTot.value,
                       susDataProcessed.susVecTot.value, sunTargetDir, magMomMtq, errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_SUSMGM):
+    case (acs::ControlModeStrategy::SAFECTRL_SUSMGM):
      safeCtrl.safeSusMgm(mgmDataProcessed.mgmVecTot.value, fusedRotRateData.rotRateTotal.value,
                          fusedRotRateData.rotRateParallel.value,
                          fusedRotRateData.rotRateOrthogonal.value,
@ -229,29 +251,29 @@ void AcsController::performSafe() {
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR):
      safeCtrl.safeRateDampingGyr(mgmDataProcessed.mgmVecTot.value,
                                  gyrDataProcessed.gyrVecTot.value, sunTargetDir, magMomMtq,
                                  errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM):
      safeCtrl.safeRateDampingSusMgm(mgmDataProcessed.mgmVecTot.value,
                                     fusedRotRateData.rotRateTotal.value, sunTargetDir, magMomMtq,
                                     errAng);
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING):
+    case (acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING):
      errAng = NAN;
      safeCtrlFailureFlag = false;
      safeCtrlFailureCounter = 0;
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL):
      safeCtrlFailure(1, 0);
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL):
      safeCtrlFailure(0, 1);
      break;
    default:
@ -264,8 +286,8 @@ void AcsController::performSafe() {

  // detumble check and switch
  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
+    if (attitudeEstimationData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
            acsParameters.detumbleParameter.omegaDetumbleStart) {
      detumbleCounter++;
    }
@ -296,55 +318,24 @@ void AcsController::performSafe() {
 }

 void AcsController::performDetumble() {
-  timeval now;
-  Clock::getClock_timeval(&now);
-
-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
-  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
-    triggerEvent(acs::TLE_TOO_OLD);
-    tleTooOldFlag = true;
-  } else {
-    tleTooOldFlag = false;
-  }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
-                                                        &gyrDataProcessed, &fusedRotRateData);
-  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
-      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-    if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-      mekfInvalidFlag = true;
-    }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
-      mekfLost = true;
-    }
-  } else if (mekfInvalidFlag) {
-    triggerEvent(acs::MEKF_RECOVERY);
-    mekfInvalidFlag = false;
-  }
-  acs::SafeModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
+  acs::ControlModeStrategy safeCtrlStrat = detumble.detumbleStrategy(
      mgmDataProcessed.mgmVecTot.isValid(), gyrDataProcessed.gyrVecTot.isValid(),
      mgmDataProcessed.mgmVecTotDerivative.isValid(),
      acsParameters.detumbleParameter.useFullDetumbleLaw);
  double magMomMtq[3] = {0, 0, 0};
  switch (safeCtrlStrat) {
-    case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL):
+    case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL):
      detumble.bDotLawFull(gyrDataProcessed.gyrVecTot.value, mgmDataProcessed.mgmVecTot.value,
                           magMomMtq, acsParameters.detumbleParameter.gainFull);
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
+    case (acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED):
      detumble.bDotLaw(mgmDataProcessed.mgmVecTotDerivative.value, mgmDataProcessed.mgmVecTot.value,
                       magMomMtq, acsParameters.detumbleParameter.gainBdot);
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL):
      safeCtrlFailure(1, 0);
      break;
-    case (acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL):
+    case (acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL):
      safeCtrlFailure(0, 1);
      break;
    default:
@ -356,8 +347,8 @@ void AcsController::performDetumble() {
                           acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);

  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (mekfData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) <
+    if (attitudeEstimationData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) <
            acsParameters.detumbleParameter.omegaDetumbleEnd) {
      detumbleCounter++;
    }
@ -389,51 +380,71 @@ void AcsController::performDetumble() {
 }

 void AcsController::performPointingCtrl() {
-  timeval now;
-  Clock::getClock_timeval(&now);
+  bool strValid = (sensorValues.strSet.caliQw.isValid() and sensorValues.strSet.caliQx.isValid() and
+                   sensorValues.strSet.caliQy.isValid() and sensorValues.strSet.caliQz.isValid());
+  uint8_t useMekf = false;
+  switch (mode) {
+    case acs::PTG_IDLE:
+      useMekf = acsParameters.idleModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_TARGET:
+      useMekf = acsParameters.targetModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_TARGET_GS:
+      useMekf = acsParameters.gsTargetModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_NADIR:
+      useMekf = acsParameters.nadirModeControllerParameters.useMekf;
+      break;
+    case acs::PTG_INERTIAL:
+      useMekf = acsParameters.inertialModeControllerParameters.useMekf;
+      break;
+  }
+  acs::ControlModeStrategy ptgCtrlStrat = ptgCtrl.pointingCtrlStrategy(
+      mgmDataProcessed.mgmVecTot.isValid(), not mekfInvalidFlag, strValid,
+      attitudeEstimationData.quatQuest.isValid(), fusedRotRateData.rotRateTotal.isValid(),
+      fusedRotRateData.rotRateSource.isValid(), useMekf);

-  ReturnValue_t result = navigation.useSpg4(now, &gpsDataProcessed);
-  if (result == Sgp4Propagator::TLE_TOO_OLD and not tleTooOldFlag) {
-    triggerEvent(acs::TLE_TOO_OLD);
-    tleTooOldFlag = true;
-  } else {
-    tleTooOldFlag = false;
-  }
-  sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
-                           &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
-  result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
-                              &susDataProcessed, &mekfData, &acsParameters);
-  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
-      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-    mekfInvalidCounter++;
-    if (not mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-      mekfInvalidFlag = true;
-    }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
-      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-      navigation.resetMekf(&mekfData);
-      mekfLost = true;
-    }
-    if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
-      // Trigger this so STR FDIR can set the device faulty.
-      EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0, 0);
-      mekfInvalidCounter = 0;
+  if (ptgCtrlStrat == acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL) {
+    ptgCtrlLostCounter++;
+    if (ptgCtrlLostCounter > acsParameters.onBoardParams.ptgCtrlLostTimer) {
+      triggerEvent(acs::PTG_CTRL_NO_ATTITUDE_INFORMATION);
+      ptgCtrlLostCounter = 0;
    }
    commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration, cmdSpeedRws[0],
                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
                     acsParameters.rwHandlingParameters.rampTime);
    return;
  } else {
-    if (mekfInvalidFlag) {
-      triggerEvent(acs::MEKF_RECOVERY);
-      mekfInvalidFlag = false;
+    ptgCtrlLostCounter = 0;
  }
-    mekfInvalidCounter = 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;
+    default:
+      sif::error << "AcsController: Invalid pointing mode strategy for performDetumble"
+                 << std::endl;
+      break;
  }
+
  uint8_t enableAntiStiction = true;
  double rwPseudoInv[4][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
+  ReturnValue_t result = guidance.getDistributionMatrixRw(&sensorValues, *rwPseudoInv);
  if (result == returnvalue::FAILED) {
    if (multipleRwUnavailableCounter >=
        acsParameters.rwHandlingParameters.multipleRwInvalidTimeout) {
@ -455,10 +466,10 @@ void AcsController::performPointingCtrl() {

  switch (mode) {
    case acs::PTG_IDLE:
-      guidance.targetQuatPtgSun(now, susDataProcessed.sunIjkModel.value, targetQuat,
+      guidance.targetQuatPtgSun(timeDelta, susDataProcessed.sunIjkModel.value, targetQuat,
                                targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.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,
@ -469,18 +480,18 @@ void AcsController::performPointingCtrl() {
      actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
      ptgCtrl.ptgDesaturation(
          &acsParameters.idleModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.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;

    case acs::PTG_TARGET:
-      guidance.targetQuatPtgThreeAxes(now, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgThreeAxes(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                                      gpsDataProcessed.gpsVelocity.value, targetQuat,
                                      targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.targetModeControllerParameters.quatRef,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.targetModeControllerParameters.quatRef,
                          acsParameters.targetModeControllerParameters.refRotRate, errorQuat,
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.targetModeControllerParameters, errorQuat, errorSatRotRate,
@ -493,17 +504,17 @@ void AcsController::performPointingCtrl() {
      actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
      ptgCtrl.ptgDesaturation(
          &acsParameters.targetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.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(now, gpsDataProcessed.gpsPosition.value,
+      guidance.targetQuatPtgGs(timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
                               susDataProcessed.sunIjkModel.value, targetQuat, targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.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,
@ -514,18 +525,18 @@ void AcsController::performPointingCtrl() {
      actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
      ptgCtrl.ptgDesaturation(
          &acsParameters.gsTargetModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.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;

    case acs::PTG_NADIR:
-      guidance.targetQuatPtgNadirThreeAxes(now, gpsDataProcessed.gpsPosition.value,
-                                           gpsDataProcessed.gpsVelocity.value, targetQuat,
-                                           targetSatRotRate);
-      guidance.comparePtg(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.nadirModeControllerParameters.quatRef,
+      guidance.targetQuatPtgNadirThreeAxes(
+          timeAbsolute, timeDelta, gpsDataProcessed.gpsPosition.value,
+          gpsDataProcessed.gpsVelocity.value, targetQuat, targetSatRotRate);
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.nadirModeControllerParameters.quatRef,
                          acsParameters.nadirModeControllerParameters.refRotRate, errorQuat,
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.nadirModeControllerParameters, errorQuat, errorSatRotRate,
@ -538,17 +549,17 @@ void AcsController::performPointingCtrl() {
      actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
      ptgCtrl.ptgDesaturation(
          &acsParameters.nadirModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.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(mekfData.quatMekf.value, mekfData.satRotRateMekf.value, targetQuat,
-                          targetSatRotRate, acsParameters.inertialModeControllerParameters.quatRef,
+      guidance.comparePtg(quatBI, rotRateB, targetQuat, targetSatRotRate,
+                          acsParameters.inertialModeControllerParameters.quatRef,
                          acsParameters.inertialModeControllerParameters.refRotRate, errorQuat,
                          errorSatRotRate, errorAngle);
      ptgCtrl.ptgLaw(&acsParameters.inertialModeControllerParameters, errorQuat, errorSatRotRate,
@ -561,9 +572,9 @@ void AcsController::performPointingCtrl() {
      actuatorCmd.scalingTorqueRws(torqueRws, acsParameters.rwHandlingParameters.maxTrq);
      ptgCtrl.ptgDesaturation(
          &acsParameters.inertialModeControllerParameters, mgmDataProcessed.mgmVecTot.value,
-          mgmDataProcessed.mgmVecTot.isValid(), mekfData.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:
@ -702,7 +713,7 @@ void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQu
    std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
    ctrlValData.errAng.value = errAng;
    std::memcpy(ctrlValData.tgtRotRate.value, tgtRotRate, 3 * sizeof(double));
-    ctrlValData.safeStrat.value = acs::SafeModeStrategy::SAFECTRL_OFF;
+    ctrlValData.safeStrat.value = acs::ControlModeStrategy::CTRL_OFF;
    ctrlValData.setValidity(true, true);
  }
 }
@ -779,11 +790,12 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::GPS_VELOCITY, &gpsVelocity);
  localDataPoolMap.emplace(acsctrl::PoolIds::SOURCE, &gpsSource);
  poolManager.subscribeForRegularPeriodicPacket({gpsDataProcessed.getSid(), enableHkSets, 30.0});
-  // MEKF
+  // Attitude Estimation
  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_MEKF, &quatMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::SAT_ROT_RATE_MEKF, &satRotRateMekf);
  localDataPoolMap.emplace(acsctrl::PoolIds::MEKF_STATUS, &mekfStatus);
-  poolManager.subscribeForDiagPeriodicPacket({mekfData.getSid(), enableHkSets, 10.0});
+  localDataPoolMap.emplace(acsctrl::PoolIds::QUAT_QUEST, &quatQuest);
+  poolManager.subscribeForDiagPeriodicPacket({attitudeEstimationData.getSid(), enableHkSets, 10.0});
  // Ctrl Values
  localDataPoolMap.emplace(acsctrl::PoolIds::SAFE_STRAT, &safeStrat);
  localDataPoolMap.emplace(acsctrl::PoolIds::TGT_QUAT, &tgtQuat);
@ -800,10 +812,15 @@ ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localD
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL, &rotRateOrthogonal);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL, &rotRateParallel);
  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL, &rotRateTotal);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_SOURCE, &rotRateSource);
  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateData.getSid(), enableHkSets, 10.0});
-  // TLE Data
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_1, &line1);
-  localDataPoolMap.emplace(acsctrl::PoolIds::TLE_LINE_2, &line2);
+  // Fused Rot Rate Sources
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_ORTHOGONAL_SUSMGM, &rotRateOrthogonalSusMgm);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_PARALLEL_SUSMGM, &rotRateParallelSusMgm);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_SUSMGM, &rotRateTotalSusMgm);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_QUEST, &rotRateTotalQuest);
+  localDataPoolMap.emplace(acsctrl::PoolIds::ROT_RATE_TOTAL_STR, &rotRateTotalStr);
+  poolManager.subscribeForRegularPeriodicPacket({fusedRotRateSourcesData.getSid(), false, 10.0});
  return returnvalue::OK;
 }

@ -824,13 +841,15 @@ LocalPoolDataSetBase *AcsController::getDataSetHandle(sid_t sid) {
    case acsctrl::GPS_PROCESSED_DATA:
      return &gpsDataProcessed;
    case acsctrl::MEKF_DATA:
-      return &mekfData;
+      return &attitudeEstimationData;
    case acsctrl::CTRL_VAL_DATA:
      return &ctrlValData;
    case acsctrl::ACTUATOR_CMD_DATA:
      return &actuatorCmdData;
    case acsctrl::FUSED_ROTATION_RATE_DATA:
      return &fusedRotRateData;
+    case acsctrl::FUSED_ROTATION_RATE_SOURCES_DATA:
+      return &fusedRotRateSourcesData;
    default:
      return nullptr;
  }
@ -1031,6 +1050,67 @@ void AcsController::copySusData() {
  }
 }

+ReturnValue_t AcsController::updateTle(const uint8_t *line1, const uint8_t *line2, bool fromFile) {
+  ReturnValue_t result = navigation.updateTle(line1, line2);
+  if (result != returnvalue::OK) {
+    if (not fromFile) {
+      uint8_t fileLine1[69] = {};
+      uint8_t fileLine2[69] = {};
+      readTleFromFs(fileLine1, fileLine2);
+      navigation.updateTle(fileLine1, fileLine2);
+    }
+    return result;
+  }
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::writeTleToFs(const uint8_t *tle) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  // Clear existing TLE from file
+  std::ofstream tleFile(path.c_str(), std::ofstream::out | std::ofstream::trunc);
+  if (tleFile.is_open()) {
+    tleFile.write(reinterpret_cast<const char *>(tle), 69);
+    tleFile << "\n";
+    tleFile.write(reinterpret_cast<const char *>(tle + 69), 69);
+  } else {
+    return WRITE_FILE_FAILED;
+  }
+  tleFile.close();
+  return returnvalue::OK;
+}
+
+ReturnValue_t AcsController::readTleFromFs(uint8_t *line1, uint8_t *line2) {
+  auto mntPrefix = sdcMan.getCurrentMountPrefix();
+  if (mntPrefix == nullptr or !sdcMan.isSdCardUsable(std::nullopt)) {
+    return returnvalue::FAILED;
+  }
+  std::string path = mntPrefix + TLE_FILE;
+  std::error_code e;
+  if (std::filesystem::exists(path, e)) {
+    // Read existing TLE from file
+    std::fstream tleFile = std::fstream(path.c_str(), std::fstream::in);
+    if (tleFile.is_open()) {
+      std::string tleLine1, tleLine2;
+      getline(tleFile, tleLine1);
+      std::memcpy(line1, tleLine1.c_str(), 69);
+      getline(tleFile, tleLine2);
+      std::memcpy(line2, tleLine2.c_str(), 69);
+    } else {
+      triggerEvent(acs::TLE_FILE_READ_FAILED);
+      return READ_FILE_FAILED;
+    }
+    tleFile.close();
+  } else {
+    triggerEvent(acs::TLE_FILE_READ_FAILED);
+    return READ_FILE_FAILED;
+  }
+  return returnvalue::OK;
+}
+
 void AcsController::copyGyrData() {
  {
    PoolReadGuard pg(&sensorValues.gyr0AdisSet);
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@ -4,16 +4,20 @@
 #include <eive/objects.h>
 #include <fsfw/controller/ExtendedControllerBase.h>
 #include <fsfw/coordinates/Sgp4Propagator.h>
+#include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <fsfw/health/HealthTable.h>
 #include <fsfw/parameters/ParameterHelper.h>
 #include <fsfw/parameters/ReceivesParameterMessagesIF.h>
 #include <fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h>
 #include <fsfw_hal/devicehandlers/MgmRM3100Handler.h>
+#include <mission/acs/defs.h>
 #include <mission/acs/imtqHelpers.h>
 #include <mission/acs/rwHelpers.h>
 #include <mission/acs/susMax1227Helpers.h>
+#include <mission/config/torquer.h>
 #include <mission/controller/acs/ActuatorCmd.h>
+#include <mission/controller/acs/AttitudeEstimation.h>
 #include <mission/controller/acs/FusedRotationEstimation.h>
 #include <mission/controller/acs/Guidance.h>
 #include <mission/controller/acs/MultiplicativeKalmanFilter.h>
@ -23,13 +27,18 @@
 #include <mission/controller/acs/control/PtgCtrl.h>
 #include <mission/controller/acs/control/SafeCtrl.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+#include <mission/memory/SdCardMountedIF.h>
 #include <mission/utility/trace.h>

+#include <filesystem>
+#include <fstream>
+#include <optional>
+
 class AcsController : public ExtendedControllerBase, public ReceivesParameterMessagesIF {
 public:
  static constexpr dur_millis_t INIT_DELAY = 500;

-  AcsController(object_id_t objectId, bool enableHkSets);
+  AcsController(object_id_t objectId, bool enableHkSets, SdCardMountedIF& sdcMan);

  MessageQueueId_t getCommandQueue() const;
  ReturnValue_t getParameter(uint8_t domainId, uint8_t parameterId,
@ -37,6 +46,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
                             uint16_t startAtIndex) override;

 protected:
+  void performAttitudeControl();
  void performSafe();
  void performDetumble();
  void performPointingCtrl();
@ -49,8 +59,16 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes

  bool enableHkSets = false;

+  SdCardMountedIF& sdcMan;
+
+  timeval timeAbsolute;
+  timeval timeRelative;
+  double timeDelta = 0.0;
+  timeval oldTimeRelative;
+
  AcsParameters acsParameters;
  SensorProcessing sensorProcessing;
+  AttitudeEstimation attitudeEstimation;
  FusedRotationEstimation fusedRotationEstimation;
  Navigation navigation;
  ActuatorCmd actuatorCmd;
@ -66,7 +84,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  uint8_t detumbleCounter = 0;
  uint8_t multipleRwUnavailableCounter = 0;
  bool mekfInvalidFlag = false;
-  uint16_t mekfInvalidCounter = 0;
+  uint16_t ptgCtrlLostCounter = 0;
  bool safeCtrlFailureFlag = false;
  uint8_t safeCtrlFailureCounter = 0;
  uint8_t resetMekfCount = 0;
@ -87,10 +105,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  static const DeviceCommandId_t RESET_MEKF = 0x1;
  static const DeviceCommandId_t RESTORE_MEKF_NONFINITE_RECOVERY = 0x2;
  static const DeviceCommandId_t UPDATE_TLE = 0x3;
+  static const DeviceCommandId_t READ_TLE = 0x4;

  static const uint8_t INTERFACE_ID = CLASS_ID::ACS_CTRL;
  //! [EXPORT] : [COMMENT] File deletion failed and at least one file is still existent.
  static constexpr ReturnValue_t FILE_DELETION_FAILED = MAKE_RETURN_CODE(0);
+  //! [EXPORT] : [COMMENT] Writing the TLE to the file has failed.
+  static constexpr ReturnValue_t WRITE_FILE_FAILED = MAKE_RETURN_CODE(1);
+  //! [EXPORT] : [COMMENT] Reading the TLE to the file has failed.
+  static constexpr ReturnValue_t READ_FILE_FAILED = MAKE_RETURN_CODE(2);

  ReturnValue_t initialize() override;
  ReturnValue_t handleCommandMessage(CommandMessage* message) override;
@ -125,6 +148,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  void updateCtrlValData(const double* tgtQuat, const double* errQuat, double errAng,
                         const double* tgtRotRate);

+  ReturnValue_t updateTle(const uint8_t* line1, const uint8_t* line2, bool fromFile);
+  ReturnValue_t writeTleToFs(const uint8_t* tle);
+  ReturnValue_t readTleFromFs(uint8_t* line1, uint8_t* line2);
+
+  const std::string TLE_FILE = "/conf/tle.txt";
+
  /* ACS Sensor Values */
  ACS::SensorValues sensorValues;

@ -212,11 +241,12 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  PoolEntry<double> gpsVelocity = PoolEntry<double>(3);
  PoolEntry<uint8_t> gpsSource = PoolEntry<uint8_t>();

-  // MEKF
-  acsctrl::MekfData mekfData;
+  // Attitude Estimation
+  acsctrl::AttitudeEstimationData attitudeEstimationData;
  PoolEntry<double> quatMekf = PoolEntry<double>(4);
  PoolEntry<double> satRotRateMekf = PoolEntry<double>(3);
  PoolEntry<uint8_t> mekfStatus = PoolEntry<uint8_t>();
+  PoolEntry<double> quatQuest = PoolEntry<double>(4);

  // Ctrl Values
  acsctrl::CtrlValData ctrlValData;
@ -237,11 +267,15 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
  PoolEntry<double> rotRateOrthogonal = PoolEntry<double>(3);
  PoolEntry<double> rotRateParallel = PoolEntry<double>(3);
  PoolEntry<double> rotRateTotal = PoolEntry<double>(3);
+  PoolEntry<uint8_t> rotRateSource = PoolEntry<uint8_t>();

-  // TLE Dataset
-  acsctrl::TleData tleData;
-  PoolEntry<uint8_t> line1 = PoolEntry<uint8_t>(69);
-  PoolEntry<uint8_t> line2 = PoolEntry<uint8_t>(69);
+  // Fused Rot Rate Sources
+  acsctrl::FusedRotRateSourcesData fusedRotRateSourcesData;
+  PoolEntry<double> rotRateOrthogonalSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateParallelSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalSusMgm = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalQuest = PoolEntry<double>(3);
+  PoolEntry<double> rotRateTotalStr = PoolEntry<double>(3);

  // Initial delay to make sure all pool variables have been initialized their owners
  Countdown initialCountdown = Countdown(INIT_DELAY);
--- a/mission/controller/PowerController.cpp
+++ b/mission/controller/PowerController.cpp
@ -157,7 +157,12 @@ ReturnValue_t PowerController::checkModeCommand(Mode_t mode, Submode_t submode,

 void PowerController::calculateStateOfCharge() {
  // get time
-  Clock::getClock_timeval(&now);
+  Clock::getClockMonotonic(&now);
+  double timeDelta = 0.0;
+  if (now.tv_sec != 0 and oldTime.tv_sec != 0) {
+    timeDelta = timevalOperations::toDouble(now - oldTime);
+  }
+  oldTime = now;

  // update EPS HK values
  ReturnValue_t result = updateEpsData();
@ -173,8 +178,6 @@ void PowerController::calculateStateOfCharge() {
        pwrCtrlCoreHk.setValidity(false, true);
      }
    }
-    // store time for next run
-    oldTime = now;
    return;
  }

@ -195,12 +198,10 @@ void PowerController::calculateStateOfCharge() {
        pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
      }
    }
-    // store time for next run
-    oldTime = now;
    return;
  }

-  result = calculateCoulombCounterCharge();
+  result = calculateCoulombCounterCharge(timeDelta);
  if (result != returnvalue::OK) {
    // notifying events have already been triggered
    {
@ -215,8 +216,6 @@ void PowerController::calculateStateOfCharge() {
        pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
      }
    }
-    // store time for next run
-    oldTime = now;
    return;
  }

@ -231,8 +230,6 @@ void PowerController::calculateStateOfCharge() {
      pwrCtrlCoreHk.setValidity(true, true);
    }
  }
-  // store time for next run
-  oldTime = now;
 }

 void PowerController::watchStateOfCharge() {
@ -285,12 +282,14 @@ ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
  return returnvalue::OK;
 }

-ReturnValue_t PowerController::calculateCoulombCounterCharge() {
-  double timeDiff = timevalOperations::toDouble(now - oldTime);
-  if (timeDiff > maxAllowedTimeDiff) {
+ReturnValue_t PowerController::calculateCoulombCounterCharge(double timeDelta) {
+  if (timeDelta == 0.0) {
+    return returnvalue::FAILED;
+  }
+  if (timeDelta > maxAllowedTimeDiff) {
    // should not be a permanent state so no spam protection required
-    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDiff * 10));
-    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDiff
+    triggerEvent(power::TIMEDELTA_OUT_OF_BOUNDS, static_cast<uint32_t>(timeDelta * 10));
+    sif::error << "Power Controller::Time delta too large for Coulomb Counter: " << timeDelta
               << std::endl;
    return returnvalue::FAILED;
  }
@ -298,7 +297,7 @@ ReturnValue_t PowerController::calculateCoulombCounterCharge() {
    coulombCounterCharge = openCircuitVoltageCharge;
  } else {
    coulombCounterCharge =
-        coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDiff * SECONDS_TO_HOURS;
+        coulombCounterCharge + iBat * CONVERT_FROM_MILLI * timeDelta * SECONDS_TO_HOURS;
    if (coulombCounterCharge >= coulombCounterChargeUpperThreshold) {
      coulombCounterCharge = coulombCounterChargeUpperThreshold;
    }
--- a/mission/controller/PowerController.h
+++ b/mission/controller/PowerController.h
@ -45,7 +45,7 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
  void calculateStateOfCharge();
  void watchStateOfCharge();
  ReturnValue_t calculateOpenCircuitVoltageCharge();
-  ReturnValue_t calculateCoulombCounterCharge();
+  ReturnValue_t calculateCoulombCounterCharge(double timeDelta);
  ReturnValue_t updateEpsData();
  float charge2stateOfCharge(float capacity, bool coulombCounter);
  ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx, bool paramCmd);
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@ -24,11 +24,20 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(onBoardParams.sampleTime);
          break;
        case 0x1:
-          parameterWrapper->set(onBoardParams.mekfViolationTimer);
+          parameterWrapper->set(onBoardParams.ptgCtrlLostTimer);
          break;
        case 0x2:
          parameterWrapper->set(onBoardParams.fusedRateSafeDuringEclipse);
          break;
+        case 0x3:
+          parameterWrapper->set(onBoardParams.fusedRateFromStr);
+          break;
+        case 0x4:
+          parameterWrapper->set(onBoardParams.fusedRateFromQuest);
+          break;
+        case 0x5:
+          parameterWrapper->set(onBoardParams.questFilterWeight);
+          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
@ -425,6 +434,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
        case 0x9:
          parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
          break;
+        case 0xA:
+          parameterWrapper->set(idleModeControllerParameters.useMekf);
+          break;
        default:
          return INVALID_IDENTIFIER_ID;
      }
@ -462,36 +474,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
          break;
        case 0xA:
-          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
+          parameterWrapper->set(targetModeControllerParameters.useMekf);
          break;
        case 0xB:
-          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(targetModeControllerParameters.refDirection);
          break;
        case 0xC:
-          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
+          parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
          break;
        case 0xD:
-          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(targetModeControllerParameters.quatRef);
          break;
        case 0xE:
-          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
          break;
        case 0xF:
-          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
          break;
        case 0x10:
-          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
+          parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
          break;
        case 0x11:
-          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
+          parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
          break;
        case 0x12:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
+          parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
          break;
        case 0x13:
-          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
          break;
        case 0x14:
+          parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
+          break;
+        case 0x15:
          parameterWrapper->set(targetModeControllerParameters.blindRotRate);
          break;
        default:
@ -531,18 +546,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
          break;
        case 0xA:
-          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
+          parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
          break;
        case 0xB:
-          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
+          parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
          break;
        case 0xC:
-          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
          break;
        case 0xD:
-          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
          break;
        case 0xE:
+          parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
+          break;
+        case 0xF:
          parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
          break;
        default:
@ -582,15 +600,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
          break;
        case 0xA:
-          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
+          parameterWrapper->set(nadirModeControllerParameters.useMekf);
          break;
        case 0xB:
-          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
+          parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
          break;
        case 0xC:
-          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
          break;
        case 0xD:
+          parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
+          break;
+        case 0xE:
          parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
          break;
        default:
@ -630,12 +651,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
          parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
          break;
        case 0xA:
-          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
+          parameterWrapper->set(inertialModeControllerParameters.useMekf);
          break;
        case 0xB:
-          parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
+          parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
          break;
        case 0xC:
+          parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
+          break;
+        case 0xD:
          parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
          break;
        default:
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@ -18,8 +18,11 @@ class AcsParameters : public HasParametersIF {

  struct OnBoardParams {
    double sampleTime = 0.4;  // [s]
-    uint16_t mekfViolationTimer = 750;
+    uint16_t ptgCtrlLostTimer = 750;
    uint8_t fusedRateSafeDuringEclipse = true;
+    uint8_t fusedRateFromStr = false;
+    uint8_t fusedRateFromQuest = false;
+    double questFilterWeight = 0.0;
  } onBoardParams;

  struct InertiaEIVE {
@ -75,9 +78,9 @@ class AcsParameters : public HasParametersIF {
                                       {-0.007534, 1.253879, 0.006812},
                                       {-0.037072, 0.006812, 1.313158}};

-    float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
-    float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
-    float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
+    double mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
+    double mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
+    double mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
    float mgmVectorFilterWeight = 0.85;
    float mgmDerivativeFilterWeight = 0.99;
    uint8_t useMgm4 = false;
@ -787,10 +790,10 @@ class AcsParameters : public HasParametersIF {

    /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
     * assumed to be equal for the same class of sensors */
-    float gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+    double gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(4.6e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
                               pow(6.1e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
-    float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
+    double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
    uint8_t preferAdis = false;
    float gyrFilterWeight = 0.6;
  } gyrHandlingParameters;
@ -861,6 +864,7 @@ class AcsParameters : public HasParametersIF {
    double deSatGainFactor = 1000;
    uint8_t desatOn = true;
    uint8_t enableAntiStiction = true;
+    uint8_t useMekf = false;
  } pointingLawParameters;

  struct IdleModeControllerParameters : PointingLawParameters {
--- a/mission/controller/acs/AttitudeEstimation.cpp
+++ b/mission/controller/acs/AttitudeEstimation.cpp
@ -0,0 +1,111 @@
+#include "AttitudeEstimation.h"
+
+AttitudeEstimation::AttitudeEstimation(AcsParameters *acsParameters_) {
+  acsParameters = acsParameters_;
+}
+
+AttitudeEstimation::~AttitudeEstimation() {}
+
+void AttitudeEstimation::quest(acsctrl::SusDataProcessed *susData,
+                               acsctrl::MgmDataProcessed *mgmData,
+                               acsctrl::AttitudeEstimationData *attitudeEstimation) {
+  if (not(susData->susVecTot.isValid() and susData->sunIjkModel.isValid() and
+          mgmData->mgmVecTot.value and mgmData->magIgrfModel.isValid())) {
+    {
+      PoolReadGuard pg{attitudeEstimation};
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(attitudeEstimation->quatQuest.value, ZERO_VEC4, 4 * sizeof(double));
+        attitudeEstimation->quatQuest.setValid(false);
+      }
+    }
+    return;
+  }
+
+  // Normalize Data
+  double normMgmB[3] = {0, 0, 0}, normMgmI[3] = {0, 0, 0}, normSusB[3] = {0, 0, 0},
+         normSusI[3] = {0, 0, 0};
+  VectorOperations<double>::normalize(susData->susVecTot.value, normMgmB, 3);
+  VectorOperations<double>::normalize(susData->sunIjkModel.value, normMgmI, 3);
+  VectorOperations<double>::normalize(mgmData->mgmVecTot.value, normSusB, 3);
+  VectorOperations<double>::normalize(mgmData->magIgrfModel.value, normSusI, 3);
+
+  // Create Helper Vectors
+  double normHelperB[3] = {0, 0, 0}, normHelperI[3] = {0, 0, 0}, helperCross[3] = {0, 0, 0},
+         helperSum[3] = {0, 0, 0};
+  VectorOperations<double>::cross(normSusB, normMgmB, normHelperB);
+  VectorOperations<double>::cross(normSusI, normMgmI, normHelperI);
+  VectorOperations<double>::normalize(normHelperB, normHelperB, 3);
+  VectorOperations<double>::normalize(normHelperI, normHelperI, 3);
+  VectorOperations<double>::cross(normHelperB, normHelperI, helperCross);
+  VectorOperations<double>::add(normHelperB, normHelperI, helperSum, 3);
+
+  // Sensor Weights
+  double kSus = 0, kMgm = 0;
+  kSus = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseSS, -2);
+  kMgm = std::pow(acsParameters->kalmanFilterParameters.sensorNoiseMAG, -2);
+
+  // Weighted Vectors
+  double weightedSusB[3] = {0, 0, 0}, weightedMgmB[3] = {0, 0, 0}, kSusVec[3] = {0, 0, 0},
+         kMgmVec[3] = {0, 0, 0}, kSumVec[3] = {0, 0, 0};
+  VectorOperations<double>::mulScalar(normSusB, kSus, weightedSusB, 3);
+  VectorOperations<double>::mulScalar(normMgmB, kMgm, weightedMgmB, 3);
+  VectorOperations<double>::cross(weightedSusB, normSusI, kSusVec);
+  VectorOperations<double>::cross(weightedMgmB, normMgmI, kMgmVec);
+  VectorOperations<double>::add(kSusVec, kMgmVec, kSumVec, 3);
+
+  // Some weird Angles
+  double alpha = (1 + VectorOperations<double>::dot(normHelperB, normHelperI)) *
+                     (VectorOperations<double>::dot(weightedSusB, normSusI) +
+                      VectorOperations<double>::dot(weightedMgmB, normMgmI)) +
+                 VectorOperations<double>::dot(helperCross, kSumVec);
+  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
+  double constPlus =
+      1. / (2 * std::sqrt(gamma * (gamma + alpha) *
+                          (1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
+  double constMinus =
+      1. / (2 * std::sqrt(gamma * (gamma - alpha) *
+                          (1 + VectorOperations<double>::dot(normHelperB, normHelperI))));
+
+  // Calculate Quaternion
+  double qBI[4] = {0, 0, 0, 0}, qRotVecTot[3] = {0, 0, 0}, qRotVecPt0[3] = {0, 0, 0},
+         qRotVecPt1[3] = {0, 0, 0};
+  if (alpha >= 0) {
+    // Scalar Part
+    qBI[3] = (gamma + alpha) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
+    // Rotational Vector Part
+    VectorOperations<double>::mulScalar(helperCross, gamma + alpha, qRotVecPt0, 3);
+    VectorOperations<double>::add(normHelperB, normHelperI, qRotVecPt1, 3);
+    VectorOperations<double>::mulScalar(qRotVecPt1, beta, qRotVecPt1, 3);
+    VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
+    std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
+
+    VectorOperations<double>::mulScalar(qBI, constPlus, qBI, 3);
+    QuaternionOperations::normalize(qBI, qBI);
+  } else {
+    // Scalar Part
+    qBI[3] = (beta) * (1 + VectorOperations<double>::dot(normHelperB, normHelperI));
+    // Rotational Vector Part
+    VectorOperations<double>::mulScalar(helperCross, beta, qRotVecPt0, 3);
+    VectorOperations<double>::add(normHelperB, normHelperI, qRotVecPt1, 3);
+    VectorOperations<double>::mulScalar(qRotVecPt1, gamma - alpha, qRotVecPt1, 3);
+    VectorOperations<double>::add(qRotVecPt0, qRotVecPt1, qRotVecTot, 3);
+    std::memcpy(qBI, qRotVecTot, sizeof(qRotVecTot));
+
+    VectorOperations<double>::mulScalar(qBI, constMinus, qBI, 3);
+    QuaternionOperations::normalize(qBI, qBI);
+  }
+  // Low Pass
+  if (VectorOperations<double>::norm(qOld, 4) != 0.0) {
+    QuaternionOperations::slerp(qBI, qOld, acsParameters->onBoardParams.questFilterWeight, qBI);
+  }
+  {
+    PoolReadGuard pg{attitudeEstimation};
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(attitudeEstimation->quatQuest.value, qBI, 4 * sizeof(double));
+      attitudeEstimation->quatQuest.setValid(true);
+    }
+  }
+}
--- a/mission/controller/acs/AttitudeEstimation.h
+++ b/mission/controller/acs/AttitudeEstimation.h
@ -0,0 +1,31 @@
+#ifndef MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
+#define MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_
+
+#include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
+#include <fsfw/globalfunctions/math/VectorOperations.h>
+#include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
+
+#include <cmath>
+#include <iostream>
+
+class AttitudeEstimation {
+ public:
+  AttitudeEstimation(AcsParameters *acsParameters_);
+  virtual ~AttitudeEstimation();
+  ;
+
+  void quest(acsctrl::SusDataProcessed *susData, acsctrl::MgmDataProcessed *mgmData,
+             acsctrl::AttitudeEstimationData *attitudeEstimation);
+
+ protected:
+ private:
+  AcsParameters *acsParameters;
+
+  double qOld[4] = {0, 0, 0, 0};
+
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};
+};
+
+#endif /* MISSION_CONTROLLER_ACS_ATTITUDEESTIMATION_H_ */
--- a/mission/controller/acs/CMakeLists.txt
+++ b/mission/controller/acs/CMakeLists.txt
@ -2,6 +2,7 @@ target_sources(
  ${LIB_EIVE_MISSION}
  PRIVATE AcsParameters.cpp
          ActuatorCmd.cpp
+          AttitudeEstimation.cpp
          FusedRotationEstimation.cpp
          Guidance.cpp
          Igrf13Model.cpp
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@ -4,19 +4,220 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
  acsParameters = acsParameters_;
 }

-void FusedRotationEstimation::estimateFusedRotationRateSafe(
+void FusedRotationEstimation::estimateFusedRotationRate(
    acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
-    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+    acsctrl::GyrDataProcessed *gyrDataProcessed, ACS::SensorValues *sensorValues,
+    acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
+    acsctrl::FusedRotRateData *fusedRotRateData) {
+  estimateFusedRotationRateStr(sensorValues, timeDelta, fusedRotRateSourcesData);
+  estimateFusedRotationRateQuest(attitudeEstimationData, timeDelta, fusedRotRateSourcesData);
+  estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
+                                  fusedRotRateSourcesData);
+
+  if (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
+      acsParameters->onBoardParams.fusedRateFromStr) {
+    PoolReadGuard pg(fusedRotRateData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
+                  fusedRotRateSourcesData->rotRateTotalStr.value, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotal.setValid(true);
+      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
+      fusedRotRateData->rotRateSource.setValid(true);
+    }
+  } else if (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
+             acsParameters->onBoardParams.fusedRateFromQuest) {
+    PoolReadGuard pg(fusedRotRateData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateOrthogonal.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->rotRateParallel.setValid(false);
+      std::memcpy(fusedRotRateData->rotRateTotal.value,
+                  fusedRotRateSourcesData->rotRateTotalQuest.value, 3 * sizeof(double));
+      fusedRotRateData->rotRateTotal.setValid(true);
+      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::QUEST;
+      fusedRotRateData->rotRateSource.setValid(true);
+    }
+  } else if (fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) {
+    std::memcpy(fusedRotRateData->rotRateOrthogonal.value,
+                fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateOrthogonal.setValid(
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateParallel.value,
+                fusedRotRateSourcesData->rotRateParallelSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateParallel.setValid(
+        fusedRotRateSourcesData->rotRateParallelSusMgm.isValid());
+    std::memcpy(fusedRotRateData->rotRateTotal.value,
+                fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3 * sizeof(double));
+    fusedRotRateData->rotRateTotal.setValid(true);
+    fusedRotRateData->rotRateSource.value = acs::rotrate::Source::SUSMGM;
+    fusedRotRateData->rotRateSource.setValid(true);
+  } else {
+    PoolReadGuard pg(fusedRotRateData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC3, 3 * sizeof(double));
+      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateData->setValidity(false, true);
+      fusedRotRateData->rotRateSource.value = acs::rotrate::Source::NONE;
+      fusedRotRateData->rotRateSource.setValid(true);
+    }
+  }
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateStr(
+    ACS::SensorValues *sensorValues, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if (not(sensorValues->strSet.caliQw.isValid() and sensorValues->strSet.caliQx.isValid() and
+          sensorValues->strSet.caliQy.isValid() and sensorValues->strSet.caliQz.isValid())) {
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
+      }
+    }
+    std::memcpy(quatOldStr, ZERO_VEC4, sizeof(quatOldStr));
+    return;
+  }
+
+  double quatNew[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
+                       sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
+  if (VectorOperations<double>::norm(quatOldStr, 4) != 0 and timeDelta != 0) {
+    double quatOldInv[4] = {0, 0, 0, 0};
+    double quatDelta[4] = {0, 0, 0, 0};
+
+    QuaternionOperations::inverse(quatOldStr, quatOldInv);
+    QuaternionOperations::multiply(quatNew, quatOldInv, quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 4) != 0.0) {
+      QuaternionOperations::normalize(quatDelta);
+    }
+
+    double rotVec[3] = {0, 0, 0};
+    double angle = QuaternionOperations::getAngle(quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 3) == 0.0) {
+      {
+        PoolReadGuard pg(fusedRotRateSourcesData);
+        if (pg.getReadResult() == returnvalue::OK) {
+          std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3,
+                      3 * sizeof(double));
+          fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
+        }
+      }
+      std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+      return;
+    }
+    VectorOperations<double>::normalize(quatDelta, rotVec, 3);
+    VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, rotVec, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalStr.setValid(true);
+      }
+    }
+    std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+    return;
+  }
+  {
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalStr.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalStr.setValid(false);
+    }
+  }
+  std::memcpy(quatOldStr, quatNew, sizeof(quatOldStr));
+  return;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateQuest(
+    acsctrl::AttitudeEstimationData *attitudeEstimationData, const double timeDelta,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
+  if (not attitudeEstimationData->quatQuest.isValid()) {
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
+      }
+    }
+    std::memcpy(quatOldQuest, ZERO_VEC4, sizeof(quatOldQuest));
+  }
+
+  if (VectorOperations<double>::norm(quatOldQuest, 4) != 0 and timeDelta != 0) {
+    double quatOldInv[4] = {0, 0, 0, 0};
+    double quatDelta[4] = {0, 0, 0, 0};
+
+    QuaternionOperations::inverse(quatOldQuest, quatOldInv);
+    QuaternionOperations::multiply(attitudeEstimationData->quatQuest.value, quatOldInv, quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 4) != 0.0) {
+      QuaternionOperations::normalize(quatDelta);
+    }
+
+    double rotVec[3] = {0, 0, 0};
+    double angle = QuaternionOperations::getAngle(quatDelta);
+    if (VectorOperations<double>::norm(quatDelta, 3) == 0.0) {
+      {
+        PoolReadGuard pg(fusedRotRateSourcesData);
+        if (pg.getReadResult() == returnvalue::OK) {
+          std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3,
+                      3 * sizeof(double));
+          fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
+        }
+      }
+      std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+      return;
+    }
+    VectorOperations<double>::normalize(quatDelta, rotVec, 3);
+    VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotVec, 3);
+    {
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, rotVec, 3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalQuest.setValid(true);
+      }
+    }
+    std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+    return;
+  }
+  {
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalQuest.value, ZERO_VEC3, 3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalQuest.setValid(false);
+    }
+  }
+  std::memcpy(quatOldQuest, attitudeEstimationData->quatQuest.value, sizeof(quatOldQuest));
+  return;
+}
+
+void FusedRotationEstimation::estimateFusedRotationRateSusMgm(
+    acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MgmDataProcessed *mgmDataProcessed,
+    acsctrl::GyrDataProcessed *gyrDataProcessed,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
  if ((not mgmDataProcessed->mgmVecTot.isValid() and not susDataProcessed->susVecTot.isValid() and
-       not fusedRotRateData->rotRateTotal.isValid()) or
+       not fusedRotRateSourcesData->rotRateTotalSusMgm.isValid()) or
      (not susDataProcessed->susVecTotDerivative.isValid() and
       not mgmDataProcessed->mgmVecTotDerivative.isValid())) {
    {
-      PoolReadGuard pg(fusedRotRateData);
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
-      fusedRotRateData->setValidity(false, true);
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
+      }
    }
    // store for calculation of angular acceleration
    if (gyrDataProcessed->gyrVecTot.isValid()) {
@ -25,7 +226,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
    return;
  }
  if (not susDataProcessed->susVecTot.isValid()) {
-    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
    // store for calculation of angular acceleration
    if (gyrDataProcessed->gyrVecTot.isValid()) {
      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
@ -49,7 +250,7 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
    VectorOperations<double>::mulScalar(susDataProcessed->susVecTot.value, omegaParallel,
                                        fusedRotRateParallel, 3);
  } else {
-    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateData);
+    estimateFusedRotationRateEclipse(gyrDataProcessed, fusedRotRateSourcesData);
    // store for calculation of angular acceleration
    if (gyrDataProcessed->gyrVecTot.isValid()) {
      std::memcpy(rotRateOldB, gyrDataProcessed->gyrVecTot.value, 3 * sizeof(double));
@ -71,12 +272,18 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
  VectorOperations<double>::add(fusedRotRateParallel, fusedRotRateOrthogonal, fusedRotRateTotal);

  {
-    PoolReadGuard pg(fusedRotRateData);
-    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, fusedRotRateOrthogonal,
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, fusedRotRateOrthogonal,
                  3 * sizeof(double));
-    std::memcpy(fusedRotRateData->rotRateParallel.value, fusedRotRateParallel, 3 * sizeof(double));
-    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
-    fusedRotRateData->setValidity(true, true);
+      fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(true);
+      std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, fusedRotRateParallel,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(true);
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
+    }
  }

  // store for calculation of angular acceleration
@ -86,31 +293,44 @@ void FusedRotationEstimation::estimateFusedRotationRateSafe(
 }

 void FusedRotationEstimation::estimateFusedRotationRateEclipse(
-    acsctrl::GyrDataProcessed *gyrDataProcessed, acsctrl::FusedRotRateData *fusedRotRateData) {
+    acsctrl::GyrDataProcessed *gyrDataProcessed,
+    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData) {
  if (not acsParameters->onBoardParams.fusedRateSafeDuringEclipse or
      not gyrDataProcessed->gyrVecTot.isValid() or
-      VectorOperations<double>::norm(fusedRotRateData->rotRateTotal.value, 3) == 0) {
+      VectorOperations<double>::norm(fusedRotRateSourcesData->rotRateTotalSusMgm.value, 3) == 0) {
    {
-      PoolReadGuard pg(fusedRotRateData);
-      std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-      std::memcpy(fusedRotRateData->rotRateTotal.value, ZERO_VEC, 3 * sizeof(double));
-      fusedRotRateData->setValidity(false, true);
+      PoolReadGuard pg(fusedRotRateSourcesData);
+      if (pg.getReadResult() == returnvalue::OK) {
+        std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+        std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, ZERO_VEC3,
+                    3 * sizeof(double));
+        fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(false);
+      }
    }
    return;
  }
  double angAccelB[3] = {0, 0, 0};
  VectorOperations<double>::subtract(gyrDataProcessed->gyrVecTot.value, rotRateOldB, angAccelB, 3);
  double fusedRotRateTotal[3] = {0, 0, 0};
-  VectorOperations<double>::add(fusedRotRateData->rotRateTotal.value, angAccelB, fusedRotRateTotal,
-                                3);
+  VectorOperations<double>::add(fusedRotRateSourcesData->rotRateTotalSusMgm.value, angAccelB,
+                                fusedRotRateTotal, 3);
  {
-    PoolReadGuard pg(fusedRotRateData);
-    std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC, 3 * sizeof(double));
-    fusedRotRateData->rotRateOrthogonal.setValid(false);
-    std::memcpy(fusedRotRateData->rotRateParallel.value, ZERO_VEC, 3 * sizeof(double));
-    fusedRotRateData->rotRateParallel.setValid(false);
-    std::memcpy(fusedRotRateData->rotRateTotal.value, fusedRotRateTotal, 3 * sizeof(double));
-    fusedRotRateData->rotRateTotal.setValid(true);
+    PoolReadGuard pg(fusedRotRateSourcesData);
+    if (pg.getReadResult() == returnvalue::OK) {
+      std::memcpy(fusedRotRateSourcesData->rotRateOrthogonalSusMgm.value, ZERO_VEC3,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateOrthogonalSusMgm.setValid(false);
+      std::memcpy(fusedRotRateSourcesData->rotRateParallelSusMgm.value, ZERO_VEC3,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateParallelSusMgm.setValid(false);
+      std::memcpy(fusedRotRateSourcesData->rotRateTotalSusMgm.value, fusedRotRateTotal,
+                  3 * sizeof(double));
+      fusedRotRateSourcesData->rotRateTotalSusMgm.setValid(true);
+    }
  }
 }
--- a/mission/controller/acs/FusedRotationEstimation.h
+++ b/mission/controller/acs/FusedRotationEstimation.h
@ -2,28 +2,46 @@
 #define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_

 #include <fsfw/datapool/PoolReadGuard.h>
+#include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
 #include <mission/controller/acs/AcsParameters.h>
+#include <mission/controller/acs/SensorValues.h>
 #include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>

 class FusedRotationEstimation {
 public:
  FusedRotationEstimation(AcsParameters *acsParameters_);

-  void estimateFusedRotationRateSafe(acsctrl::SusDataProcessed *susDataProcessed,
+  void estimateFusedRotationRate(acsctrl::SusDataProcessed *susDataProcessed,
                                 acsctrl::MgmDataProcessed *mgmDataProcessed,
                                 acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                 ACS::SensorValues *sensorValues,
+                                 acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                                 const double timeDelta,
+                                 acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
                                 acsctrl::FusedRotRateData *fusedRotRateData);

 protected:
 private:
-  static constexpr double ZERO_VEC[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC3[3] = {0, 0, 0};
+  static constexpr double ZERO_VEC4[4] = {0, 0, 0, 0};

  AcsParameters *acsParameters;
+  double quatOldQuest[4] = {0, 0, 0, 0};
+  double quatOldStr[4] = {0, 0, 0, 0};
  double rotRateOldB[3] = {0, 0, 0};

+  void estimateFusedRotationRateSusMgm(acsctrl::SusDataProcessed *susDataProcessed,
+                                       acsctrl::MgmDataProcessed *mgmDataProcessed,
+                                       acsctrl::GyrDataProcessed *gyrDataProcessed,
+                                       acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
  void estimateFusedRotationRateEclipse(acsctrl::GyrDataProcessed *gyrDataProcessed,
-                                        acsctrl::FusedRotRateData *fusedRotRateData);
+                                        acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
+  void estimateFusedRotationRateQuest(acsctrl::AttitudeEstimationData *attitudeEstimationData,
+                                      const double timeDelta,
+                                      acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
+  void estimateFusedRotationRateStr(ACS::SensorValues *sensorValues, const double timeDelta,
+                                    acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData);
 };

 #endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@ -4,21 +4,21 @@
 #include <fsfw/globalfunctions/math/MatrixOperations.h>
 #include <fsfw/globalfunctions/math/QuaternionOperations.h>
 #include <fsfw/globalfunctions/math/VectorOperations.h>
-#include <math.h>
+#include <mission/controller/acs/util/MathOperations.h>

+#include <cmath>
 #include <filesystem>
-
-#include "string.h"
-#include "util/CholeskyDecomposition.h"
-#include "util/MathOperations.h"
+#include <string>

 Guidance::Guidance(AcsParameters *acsParameters_) { acsParameters = acsParameters_; }

 Guidance::~Guidance() {}

-void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3],
-                                       double sunDirI[3], double refDirB[3], double quatBI[4],
-                                       double targetQuat[4], double targetSatRotRate[3]) {
+[[deprecated]] void Guidance::targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3],
+                                                      double velSatE[3], double sunDirI[3],
+                                                      double refDirB[3], double quatBI[4],
+                                                      double targetQuat[4],
+                                                      double targetSatRotRate[3]) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target quaternion to groundstation or given latitude, longitude and altitude
  //-------------------------------------------------------------------------------------
@ -38,7 +38,7 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);

  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -136,8 +136,9 @@ void Guidance::targetQuatPtgSingleAxis(timeval now, double posSatE[3], double ve
  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
 }

-void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                      double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                      double posSatE[3], double velSatE[3], double targetQuat[4],
+                                      double targetSatRotRate[3]) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target quaternion for target pointing
  //-------------------------------------------------------------------------------------
@ -154,7 +155,7 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel
  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);

  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -199,11 +200,12 @@ void Guidance::targetQuatPtgThreeAxes(timeval now, double posSatE[3], double vel
  QuaternionOperations::fromDcm(dcmIX, targetQuat);

  int8_t timeElapsedMax = acsParameters->targetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }

-void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3],
-                               double targetQuat[4], double targetSatRotRate[3]) {
+void Guidance::targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta,
+                               double posSatE[3], double sunDirI[3], double targetQuat[4],
+                               double targetSatRotRate[3]) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target quaternion for ground station pointing
  //-------------------------------------------------------------------------------------
@ -221,7 +223,7 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);

  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -263,10 +265,10 @@ void Guidance::targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3]
  QuaternionOperations::fromDcm(dcmTgt, targetQuat);

  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }

-void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+void Guidance::targetQuatPtgSun(double timeDelta, double sunDirI[3], double targetQuat[4],
                                double targetSatRotRate[3]) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target quaternion to sun
@ -298,10 +300,11 @@ void Guidance::targetQuatPtgSun(timeval now, double sunDirI[3], double targetQua
  //	Calculation of reference rotation rate
  //----------------------------------------------------------------------------
  int8_t timeElapsedMax = acsParameters->gsTargetModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, targetSatRotRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, targetSatRotRate);
 }

-void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+[[deprecated]] void Guidance::targetQuatPtgNadirSingleAxis(const timeval timeAbsolute,
+                                                           double posSatE[3], double quatBI[4],
                                                           double targetQuat[4], double refDirB[3],
                                                           double refSatRate[3]) {
  //-------------------------------------------------------------------------------------
@ -314,7 +317,7 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub
  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);

  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -362,7 +365,8 @@ void Guidance::targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], doub
  QuaternionOperations::multiply(quatIB, targetQuat, targetQuat);
 }

-void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
+void Guidance::targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                           double posSatE[3], double velSatE[3],
                                           double targetQuat[4], double refSatRate[3]) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target quaternion for Nadir pointing
@ -371,7 +375,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
  double dcmEI[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmIE[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
  double dcmEIDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
-  MathOperations<double>::ecfToEciWithNutPre(now, *dcmEI, *dcmEIDot);
+  MathOperations<double>::ecfToEciWithNutPre(timeAbsolute, *dcmEI, *dcmEIDot);
  MathOperations<double>::inverseMatrixDimThree(*dcmEI, *dcmIE);

  double dcmIEDot[3][3] = {{0, 0, 0}, {0, 0, 0}, {0, 0, 0}};
@ -407,7 +411,7 @@ void Guidance::targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], doubl
  QuaternionOperations::fromDcm(dcmTgt, targetQuat);

  int8_t timeElapsedMax = acsParameters->nadirModeControllerParameters.timeElapsedMax;
-  targetRotationRate(timeElapsedMax, now, targetQuat, refSatRate);
+  targetRotationRate(timeElapsedMax, timeDelta, targetQuat, refSatRate);
 }

 void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], double targetQuat[4],
@ -448,23 +452,21 @@ void Guidance::comparePtg(double currentQuat[4], double currentSatRotRate[3], do
  VectorOperations<double>::subtract(currentSatRotRate, targetSatRotRate, errorSatRotRate, 3);
 }

-void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                                  double *refSatRate) {
+void Guidance::targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
+                                  double quatInertialTarget[4], double *refSatRate) {
  //-------------------------------------------------------------------------------------
  //	Calculation of target rotation rate
  //-------------------------------------------------------------------------------------
-  double timeElapsed = now.tv_sec + now.tv_usec * 1e-6 -
-                       (timeSavedQuaternion.tv_sec + timeSavedQuaternion.tv_usec * 1e-6);
  if (VectorOperations<double>::norm(savedQuaternion, 4) == 0) {
    std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
  }
-  if (timeElapsed < timeElapsedMax) {
+  if (timeDelta < timeElapsedMax and timeDelta != 0.0) {
    double q[4] = {0, 0, 0, 0}, qS[4] = {0, 0, 0, 0};
    QuaternionOperations::inverse(quatInertialTarget, q);
    QuaternionOperations::inverse(savedQuaternion, qS);
    double qDiff[4] = {0, 0, 0, 0};
    VectorOperations<double>::subtract(q, qS, qDiff, 4);
-    VectorOperations<double>::mulScalar(qDiff, 1 / timeElapsed, qDiff, 4);
+    VectorOperations<double>::mulScalar(qDiff, 1. / timeDelta, qDiff, 4);

    double tgtQuatVec[3] = {q[0], q[1], q[2]};
    double qDiffVec[3] = {qDiff[0], qDiff[1], qDiff[2]};
@ -488,33 +490,29 @@ void Guidance::targetRotationRate(int8_t timeElapsedMax, timeval now, double qua
    refSatRate[2] = 0;
  }

-  timeSavedQuaternion = now;
-  savedQuaternion[0] = quatInertialTarget[0];
-  savedQuaternion[1] = quatInertialTarget[1];
-  savedQuaternion[2] = quatInertialTarget[2];
-  savedQuaternion[3] = quatInertialTarget[3];
+  std::memcpy(savedQuaternion, quatInertialTarget, sizeof(savedQuaternion));
 }

 ReturnValue_t Guidance::getDistributionMatrixRw(ACS::SensorValues *sensorValues,
                                                double *rwPseudoInv) {
-  bool rw1valid = (sensorValues->rw1Set.state.value && sensorValues->rw1Set.state.isValid());
-  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());
+  bool rw2valid = (sensorValues->rw2Set.state.value and sensorValues->rw2Set.state.isValid());
+  bool rw3valid = (sensorValues->rw3Set.state.value and sensorValues->rw3Set.state.isValid());
+  bool rw4valid = (sensorValues->rw4Set.state.value and sensorValues->rw4Set.state.isValid());

-  if (rw1valid && rw2valid && rw3valid && rw4valid) {
+  if (rw1valid and rw2valid and rw3valid and rw4valid) {
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.pseudoInverse, 12 * sizeof(double));
    return returnvalue::OK;
-  } else if (!rw1valid && rw2valid && rw3valid && rw4valid) {
+  } else if (not rw1valid and rw2valid and rw3valid and rw4valid) {
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without1, 12 * sizeof(double));
    return returnvalue::OK;
-  } else if (rw1valid && !rw2valid && rw3valid && rw4valid) {
+  } else if (rw1valid and not rw2valid and rw3valid and rw4valid) {
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without2, 12 * sizeof(double));
    return returnvalue::OK;
-  } else if (rw1valid && rw2valid && !rw3valid && rw4valid) {
+  } else if (rw1valid and rw2valid and not rw3valid and rw4valid) {
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without3, 12 * sizeof(double));
    return returnvalue::OK;
-  } else if (rw1valid && rw2valid && rw3valid && !rw4valid) {
+  } else if (rw1valid and rw2valid and rw3valid and not rw4valid) {
    std::memcpy(rwPseudoInv, acsParameters->rwMatrices.without4, 12 * sizeof(double));
    return returnvalue::OK;
  } else {
--- a/mission/controller/acs/Guidance.h
+++ b/mission/controller/acs/Guidance.h
@ -17,25 +17,26 @@ class Guidance {

  // Function to get the target quaternion and reference rotation rate from gps position and
  // position of the ground station
-  void targetQuatPtgSingleAxis(timeval now, double posSatE[3], double velSatE[3], double sunDirI[3],
-                               double refDirB[3], double quatBI[4], double targetQuat[4],
-                               double targetSatRotRate[3]);
-  void targetQuatPtgThreeAxes(timeval now, double posSatE[3], double velSatE[3], double quatIX[4],
-                              double targetSatRotRate[3]);
-  void targetQuatPtgGs(timeval now, double posSatE[3], double sunDirI[3], double quatIX[4],
-                       double targetSatRotRate[3]);
+  void targetQuatPtgSingleAxis(const timeval timeAbsolute, double posSatE[3], double velSatE[3],
+                               double sunDirI[3], double refDirB[3], double quatBI[4],
+                               double targetQuat[4], double targetSatRotRate[3]);
+  void targetQuatPtgThreeAxes(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                              double velSatE[3], double quatIX[4], double targetSatRotRate[3]);
+  void targetQuatPtgGs(const timeval timeAbsolute, const double timeDelta, double posSatE[3],
+                       double sunDirI[3], double quatIX[4], double targetSatRotRate[3]);

  // Function to get the target quaternion and reference rotation rate for sun pointing after ground
  // station
-  void targetQuatPtgSun(timeval now, double sunDirI[3], double targetQuat[4],
+  void targetQuatPtgSun(const double timeDelta, double sunDirI[3], double targetQuat[4],
                        double targetSatRotRate[3]);

  // Function to get the target quaternion and refence rotation rate from gps position for Nadir
  // pointing
-  void targetQuatPtgNadirSingleAxis(timeval now, double posSatE[3], double quatBI[4],
+  void targetQuatPtgNadirSingleAxis(const timeval timeAbsolute, double posSatE[3], double quatBI[4],
                                    double targetQuat[4], double refDirB[3], double refSatRate[3]);
-  void targetQuatPtgNadirThreeAxes(timeval now, double posSatE[3], double velSatE[3],
-                                   double targetQuat[4], double refSatRate[3]);
+  void targetQuatPtgNadirThreeAxes(const timeval timeAbsolute, const double timeDelta,
+                                   double posSatE[3], double velSatE[3], double targetQuat[4],
+                                   double refSatRate[3]);

  // @note: Calculates the error quaternion between the current orientation and the target
  // quaternion, considering a reference quaternion. Additionally the difference between the actual
@ -48,8 +49,8 @@ class Guidance {
                  double targetSatRotRate[3], double errorQuat[4], double errorSatRotRate[3],
                  double &errorAngle);

-  void targetRotationRate(int8_t timeElapsedMax, timeval now, double quatInertialTarget[4],
-                          double *targetSatRotRate);
+  void targetRotationRate(const int8_t timeElapsedMax, const double timeDelta,
+                          double quatInertialTarget[4], double *targetSatRotRate);

  // @note: will give back the pseudoinverse matrix for the reaction wheel depending on the valid
  // reation wheel 	maybe can be done in "commanding.h"
@ -59,7 +60,6 @@ class Guidance {
  const AcsParameters *acsParameters;

  bool strBlindAvoidFlag = false;
-  timeval timeSavedQuaternion;
  double savedQuaternion[4] = {0, 0, 0, 0};
  double omegaRefSaved[3] = {0, 0, 0};

--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@ -19,7 +19,7 @@ MultiplicativeKalmanFilter::~MultiplicativeKalmanFilter() {}
 ReturnValue_t MultiplicativeKalmanFilter::init(
    const double *magneticField_, const bool validMagField_, const double *sunDir_,
    const bool validSS, const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-    const bool validMagModel, acsctrl::MekfData *mekfData,
+    const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
    AcsParameters *acsParameters) {  // valids for "model measurements"?
  // check for valid mag/sun
  if (validMagField_ && validSS && validSSModel && validMagModel) {
@ -191,7 +191,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
    const double *quaternionSTR, const bool validSTR_, const double *rateGYRs_,
    const bool validGYRs_, const double *magneticField_, const bool validMagField_,
    const double *sunDir_, const bool validSS, const double *sunDirJ, const bool validSSModel,
-    const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData,
+    const double *magFieldJ, const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
    AcsParameters *acsParameters) {
  // Check for GYR Measurements
  int MDF = 0;  // Matrix Dimension Factor
@ -1090,7 +1090,7 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
  return MEKF_RUNNING;
 }

-ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
+ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::AttitudeEstimationData *mekfData) {
  double resetQuaternion[4] = {0, 0, 0, 1};
  double resetCovarianceMatrix[6][6] = {{0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0},
                                        {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}};
@ -1100,7 +1100,7 @@ ReturnValue_t MultiplicativeKalmanFilter::reset(acsctrl::MekfData *mekfData) {
  return MEKF_UNINITIALIZED;
 }

-void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mekfData,
+void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData,
                                                          MekfStatus mekfStatus) {
  {
    PoolReadGuard pg(mekfData);
@ -1115,8 +1115,9 @@ void MultiplicativeKalmanFilter::updateDataSetWithoutData(acsctrl::MekfData *mek
  }
 }

-void MultiplicativeKalmanFilter::updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus,
-                                               double quat[4], double satRotRate[3]) {
+void MultiplicativeKalmanFilter::updateDataSet(acsctrl::AttitudeEstimationData *mekfData,
+                                               MekfStatus mekfStatus, double quat[4],
+                                               double satRotRate[3]) {
  {
    PoolReadGuard pg(mekfData);
    if (pg.getReadResult() == returnvalue::OK) {
--- a/mission/controller/acs/MultiplicativeKalmanFilter.h
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.h
@ -21,7 +21,7 @@ class MultiplicativeKalmanFilter {
  MultiplicativeKalmanFilter();
  virtual ~MultiplicativeKalmanFilter();

-  ReturnValue_t reset(acsctrl::MekfData *mekfData);
+  ReturnValue_t reset(acsctrl::AttitudeEstimationData *mekfData);

  /* @brief: init() - This function initializes the Kalman Filter and will provide the first
   * quaternion through the QUEST algorithm
@ -32,8 +32,8 @@ class MultiplicativeKalmanFilter {
   */
  ReturnValue_t init(const double *magneticField_, const bool validMagField_, const double *sunDir_,
                     const bool validSS, const double *sunDirJ, const bool validSSModel,
-                     const double *magFieldJ, const bool validMagModel, acsctrl::MekfData *mekfData,
-                     AcsParameters *acsParameters);
+                     const double *magFieldJ, const bool validMagModel,
+                     acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);

  /* @brief:  mekfEst() - This function calculates the quaternion and gyro bias of the Kalman Filter
   * for the current step after the initalization
@ -53,7 +53,7 @@ class MultiplicativeKalmanFilter {
                        const bool validGYRs_, const double *magneticField_,
                        const bool validMagField_, const double *sunDir_, const bool validSS,
                        const double *sunDirJ, const bool validSSModel, const double *magFieldJ,
-                        const bool validMagModel, acsctrl::MekfData *mekfData,
+                        const bool validMagModel, acsctrl::AttitudeEstimationData *mekfData,
                        AcsParameters *acsParameters);

  enum MekfStatus : uint8_t {
@ -99,9 +99,9 @@ class MultiplicativeKalmanFilter {
  double biasGYR[3]; /*Between measured and estimated sat Rate*/
                     /*Parameter INIT*/
  /*Functions*/
-  void updateDataSetWithoutData(acsctrl::MekfData *mekfData, MekfStatus mekfStatus);
-  void updateDataSet(acsctrl::MekfData *mekfData, MekfStatus mekfStatus, double quat[4],
-                     double satRotRate[3]);
+  void updateDataSetWithoutData(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus);
+  void updateDataSet(acsctrl::AttitudeEstimationData *mekfData, MekfStatus mekfStatus,
+                     double quat[4], double satRotRate[3]);
 };

 #endif /* ACS_MULTIPLICATIVEKALMANFILTER_H_ */
--- a/mission/controller/acs/Navigation.cpp
+++ b/mission/controller/acs/Navigation.cpp
@ -16,7 +16,8 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
                                  acsctrl::SusDataProcessed *susDataProcessed,
-                                  acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
+                                  acsctrl::AttitudeEstimationData *mekfData,
+                                  AcsParameters *acsParameters) {
  double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                      sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
  bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
@ -41,7 +42,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
  }
 }

-void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
+void Navigation::resetMekf(acsctrl::AttitudeEstimationData *mekfData) {
  mekfStatus = multiplicativeKalmanFilter.reset(mekfData);
 }

@ -54,7 +55,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
    {
      PoolReadGuard pg(gpsDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {
-        gpsDataProcessed->source = acs::GpsSource::SPG4;
+        gpsDataProcessed->source = acs::gps::Source::SPG4;
        gpsDataProcessed->source.setValid(true);
        std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
        gpsDataProcessed->gpsPosition.setValid(true);
@ -66,7 +67,7 @@ ReturnValue_t Navigation::useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDat
    {
      PoolReadGuard pg(gpsDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {
-        gpsDataProcessed->source = acs::GpsSource::NONE;
+        gpsDataProcessed->source = acs::gps::Source::NONE;
        gpsDataProcessed->source.setValid(true);
        std::memcpy(gpsDataProcessed->gpsPosition.value, position, 3 * sizeof(double));
        gpsDataProcessed->gpsPosition.setValid(false);
--- a/mission/controller/acs/Navigation.h
+++ b/mission/controller/acs/Navigation.h
@ -17,9 +17,9 @@ class Navigation {
  ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
                        acsctrl::GyrDataProcessed *gyrDataProcessed,
                        acsctrl::MgmDataProcessed *mgmDataProcessed,
-                        acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
-                        AcsParameters *acsParameters);
-  void resetMekf(acsctrl::MekfData *mekfData);
+                        acsctrl::SusDataProcessed *susDataProcessed,
+                        acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
+  void resetMekf(acsctrl::AttitudeEstimationData *mekfData);

  ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
  ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2);
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@ -7,7 +7,7 @@ SensorProcessing::~SensorProcessing() {}
 void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value,
                                  bool mgm1valid, const float *mgm2Value, bool mgm2valid,
                                  const float *mgm3Value, bool mgm3valid, const float *mgm4Value,
-                                  bool mgm4valid, timeval timeOfMgmMeasurement,
+                                  bool mgm4valid, timeval timeAbsolute, double timeDelta,
                                  const AcsParameters::MgmHandlingParameters *mgmParameters,
                                  acsctrl::GpsDataProcessed *gpsDataProcessed,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed) {
@ -15,14 +15,14 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
  // ------------------------------------------------
  double magIgrfModel[3] = {0.0, 0.0, 0.0};
  bool gpsValid = false;
-  if (gpsDataProcessed->source.value != acs::GpsSource::NONE) {
+  if (gpsDataProcessed->source.value != acs::gps::Source::NONE) {
+    // There seems to be a bug here, which causes the model vector to drift until infinity, if the
+    // model class is not initialized new every time. Works for now, but should be investigated.
    Igrf13Model igrf13;
    igrf13.schmidtNormalization();
-    igrf13.updateCoeffGH(timeOfMgmMeasurement);
-    // maybe put a condition here, to only update after a full day, this
-    // class function has around 700 steps to perform
+    igrf13.updateCoeffGH(timeAbsolute);
    igrf13.magFieldComp(gpsDataProcessed->gdLongitude.value, gpsDataProcessed->gcLatitude.value,
-                        gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
+                        gpsDataProcessed->altitude.value, timeAbsolute, magIgrfModel);
    gpsValid = true;
  }
  if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and
@ -129,14 +129,12 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
  //-----------------------Mgm Rate Computation ---------------------------------------------------
  double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
  bool mgmVecTotDerivativeValid = false;
-  double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
-  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0 and
-      VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
+  if (timeDelta > 0 and VectorOperations<double>::norm(savedMgmVecTot, 3) != 0) {
    VectorOperations<double>::subtract(mgmVecTot, savedMgmVecTot, mgmVecTotDerivative, 3);
-    VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDiff, mgmVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(mgmVecTotDerivative, 1. / timeDelta, mgmVecTotDerivative,
+                                        3);
    mgmVecTotDerivativeValid = true;
  }
-  timeOfSavedMagFieldEst = timeOfMgmMeasurement;
  std::memcpy(savedMgmVecTot, mgmVecTot, sizeof(savedMgmVecTot));

  if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
@ -177,11 +175,12 @@ void SensorProcessing::processSus(
    const uint16_t *sus6Value, bool sus6valid, const uint16_t *sus7Value, bool sus7valid,
    const uint16_t *sus8Value, bool sus8valid, const uint16_t *sus9Value, bool sus9valid,
    const uint16_t *sus10Value, bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
-    timeval timeOfSusMeasurement, const AcsParameters::SusHandlingParameters *susParameters,
+    timeval timeAbsolute, double timeDelta,
+    const AcsParameters::SusHandlingParameters *susParameters,
    const AcsParameters::SunModelParameters *sunModelParameters,
    acsctrl::SusDataProcessed *susDataProcessed) {
  /* -------- Sun Model Direction (IJK frame) ------- */
-  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeOfSusMeasurement);
+  double JD2000 = MathOperations<double>::convertUnixToJD2000(timeAbsolute);

  // Julean Centuries
  double sunIjkModel[3] = {0.0, 0.0, 0.0};
@ -354,11 +353,10 @@ void SensorProcessing::processSus(

  double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
  bool susVecTotDerivativeValid = false;
-  double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
-  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0 and
-      VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
+  if (timeDelta > 0 and VectorOperations<double>::norm(savedSusVecTot, 3) != 0) {
    VectorOperations<double>::subtract(susVecTot, savedSusVecTot, susVecTotDerivative, 3);
-    VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDiff, susVecTotDerivative, 3);
+    VectorOperations<double>::mulScalar(susVecTotDerivative, 1. / timeDelta, susVecTotDerivative,
+                                        3);
    susVecTotDerivativeValid = true;
  }
  std::memcpy(savedSusVecTot, susVecTot, sizeof(savedSusVecTot));
@ -367,7 +365,6 @@ void SensorProcessing::processSus(
    lowPassFilter(susVecTotDerivative, susDataProcessed->susVecTotDerivative.value,
                  susParameters->susRateFilterWeight);
  }
-  timeOfSavedSusDirEst = timeOfSusMeasurement;
  {
    PoolReadGuard pg(susDataProcessed);
    if (pg.getReadResult() == returnvalue::OK) {
@ -414,7 +411,7 @@ void SensorProcessing::processGyr(
    const double gyr2axXvalue, bool gyr2axXvalid, const double gyr2axYvalue, bool gyr2axYvalid,
    const double gyr2axZvalue, bool gyr2axZvalid, const double gyr3axXvalue, bool gyr3axXvalid,
    const double gyr3axYvalue, bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
-    timeval timeOfGyrMeasurement, const AcsParameters::GyrHandlingParameters *gyrParameters,
+    const AcsParameters::GyrHandlingParameters *gyrParameters,
    acsctrl::GyrDataProcessed *gyrDataProcessed) {
  bool gyr0valid = (gyr0axXvalid && gyr0axYvalid && gyr0axZvalid);
  bool gyr1valid = (gyr1axXvalid && gyr1axYvalid && gyr1axZvalid);
@ -521,16 +518,16 @@ void SensorProcessing::processGyr(
 }

 void SensorProcessing::processGps(const double gpsLatitude, const double gpsLongitude,
-                                  const double gpsAltitude, const double gpsUnixSeconds,
+                                  const double gpsAltitude, const double timeDelta,
                                  const bool validGps,
                                  const AcsParameters::GpsParameters *gpsParameters,
                                  acsctrl::GpsDataProcessed *gpsDataProcessed) {
  // init variables
  double gdLongitude = 0, gdLatitude = 0, gcLatitude = 0, altitude = 0, posSatE[3] = {0, 0, 0},
         gpsVelocityE[3] = {0, 0, 0};
-  uint8_t gpsSource = acs::GpsSource::NONE;
+  uint8_t gpsSource = acs::gps::Source::NONE;
  // We do not trust the GPS and therefore it shall die here if SPG4 is running
-  if (gpsDataProcessed->source.value == acs::GpsSource::SPG4 and gpsParameters->useSpg4) {
+  if (gpsDataProcessed->source.value == acs::gps::Source::SPG4 and gpsParameters->useSpg4) {
    MathOperations<double>::latLongAltFromCartesian(gpsDataProcessed->gpsPosition.value, gdLatitude,
                                                    gdLongitude, altitude);
    double factor = 1 - pow(ECCENTRICITY_WGS84, 2);
@ -563,21 +560,17 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
    // Calculation of the satellite velocity in earth fixed frame
    double deltaDistance[3] = {0, 0, 0};
    MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE);
-    if (validSavedPosSatE and
-        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and
-        (gpsUnixSeconds - timeOfSavedPosSatE) > 0) {
+    if (validSavedPosSatE and timeDelta < (gpsParameters->timeDiffVelocityMax) and timeDelta > 0) {
      VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
-      double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
-      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);
+      VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDelta, gpsVelocityE, 3);
    }
    savedPosSatE[0] = posSatE[0];
    savedPosSatE[1] = posSatE[1];
    savedPosSatE[2] = posSatE[2];

-    timeOfSavedPosSatE = gpsUnixSeconds;
    validSavedPosSatE = true;

-    gpsSource = acs::GpsSource::GPS;
+    gpsSource = acs::gps::Source::GPS;
  }
  {
    PoolReadGuard pg(gpsDataProcessed);
@ -594,13 +587,15 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
  }
 }

-void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
+void SensorProcessing::process(timeval timeAbsolute, double timeDelta,
+                               ACS::SensorValues *sensorValues,
                               acsctrl::MgmDataProcessed *mgmDataProcessed,
                               acsctrl::SusDataProcessed *susDataProcessed,
                               acsctrl::GyrDataProcessed *gyrDataProcessed,
                               acsctrl::GpsDataProcessed *gpsDataProcessed,
                               const AcsParameters *acsParameters) {
  sensorValues->update();
+
  processGps(
      sensorValues->gpsSet.latitude.value, sensorValues->gpsSet.longitude.value,
      sensorValues->gpsSet.altitude.value, sensorValues->gpsSet.unixSeconds.value,
@ -617,7 +612,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
             sensorValues->mgm3Rm3100Set.fieldStrengths.value,
             sensorValues->mgm3Rm3100Set.fieldStrengths.isValid(),
             sensorValues->imtqMgmSet.mtmRawNt.value, sensorValues->imtqMgmSet.mtmRawNt.isValid(),
-             now, &acsParameters->mgmHandlingParameters, gpsDataProcessed, mgmDataProcessed);
+             timeAbsolute, timeDelta, &acsParameters->mgmHandlingParameters, gpsDataProcessed,
+             mgmDataProcessed);

  processSus(sensorValues->susSets[0].channels.value, sensorValues->susSets[0].channels.isValid(),
             sensorValues->susSets[1].channels.value, sensorValues->susSets[1].channels.isValid(),
@ -631,8 +627,8 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
             sensorValues->susSets[9].channels.value, sensorValues->susSets[9].channels.isValid(),
             sensorValues->susSets[10].channels.value, sensorValues->susSets[10].channels.isValid(),
             sensorValues->susSets[11].channels.value, sensorValues->susSets[11].channels.isValid(),
-             now, &acsParameters->susHandlingParameters, &acsParameters->sunModelParameters,
-             susDataProcessed);
+             timeAbsolute, timeDelta, &acsParameters->susHandlingParameters,
+             &acsParameters->sunModelParameters, susDataProcessed);

  processGyr(
      sensorValues->gyr0AdisSet.angVelocX.value, sensorValues->gyr0AdisSet.angVelocX.isValid(),
@ -646,7 +642,7 @@ void SensorProcessing::process(timeval now, ACS::SensorValues *sensorValues,
      sensorValues->gyr2AdisSet.angVelocZ.value, sensorValues->gyr2AdisSet.angVelocZ.isValid(),
      sensorValues->gyr3L3gSet.angVelocX.value, sensorValues->gyr3L3gSet.angVelocX.isValid(),
      sensorValues->gyr3L3gSet.angVelocY.value, sensorValues->gyr3L3gSet.angVelocY.isValid(),
-      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(), now,
+      sensorValues->gyr3L3gSet.angVelocZ.value, sensorValues->gyr3L3gSet.angVelocZ.isValid(),
      &acsParameters->gyrHandlingParameters, gyrDataProcessed);
 }

--- a/mission/controller/acs/SensorProcessing.h
+++ b/mission/controller/acs/SensorProcessing.h
@ -24,22 +24,21 @@ class SensorProcessing {
  SensorProcessing();
  virtual ~SensorProcessing();

-  void process(timeval now, ACS::SensorValues *sensorValues,
+  void process(timeval timeAbsolute, double timeDelta, ACS::SensorValues *sensorValues,
               acsctrl::MgmDataProcessed *mgmDataProcessed,
               acsctrl::SusDataProcessed *susDataProcessed,
               acsctrl::GyrDataProcessed *gyrDataProcessed,
-               acsctrl::GpsDataProcessed *gpsDataProcessed,
-               const AcsParameters *acsParameters);  // Will call protected functions
+               acsctrl::GpsDataProcessed *gpsDataProcessed, const AcsParameters *acsParameters);
+
 private:
  static constexpr float ZERO_VEC_F[3] = {0, 0, 0};
  static constexpr double ZERO_VEC_D[3] = {0, 0, 0};
  static constexpr double ECCENTRICITY_WGS84 = 0.0818195;

 protected:
-  // short description needed for every function
  void processMgm(const float *mgm0Value, bool mgm0valid, const float *mgm1Value, bool mgm1valid,
                  const float *mgm2Value, bool mgm2valid, const float *mgm3Value, bool mgm3valid,
-                  const float *mgm4Value, bool mgm4valid, timeval timeOfMgmMeasurement,
+                  const float *mgm4Value, bool mgm4valid, timeval timeAbsolute, double timeDelta,
                  const AcsParameters::MgmHandlingParameters *mgmParameters,
                  acsctrl::GpsDataProcessed *gpsDataProcessed,
                  acsctrl::MgmDataProcessed *mgmDataProcessed);
@ -52,7 +51,7 @@ class SensorProcessing {
                  bool sus7valid, const uint16_t *sus8Value, bool sus8valid,
                  const uint16_t *sus9Value, bool sus9valid, const uint16_t *sus10Value,
                  bool sus10valid, const uint16_t *sus11Value, bool sus11valid,
-                  timeval timeOfSusMeasurement,
+                  timeval timeAbsolute, double timeDelta,
                  const AcsParameters::SusHandlingParameters *susParameters,
                  const AcsParameters::SunModelParameters *sunModelParameters,
                  acsctrl::SusDataProcessed *susDataProcessed);
@ -65,7 +64,6 @@ class SensorProcessing {
                  bool gyr2axYvalid, const double gyr2axZvalue, bool gyr2axZvalid,
                  const double gyr3axXvalue, bool gyr3axXvalid, const double gyr3axYvalue,
                  bool gyr3axYvalid, const double gyr3axZvalue, bool gyr3axZvalid,
-                  timeval timeOfGyrMeasurement,
                  const AcsParameters::GyrHandlingParameters *gyrParameters,
                  acsctrl::GyrDataProcessed *gyrDataProcessed);

@ -77,13 +75,9 @@ class SensorProcessing {
  void lowPassFilter(double *newValue, double *oldValue, const double weight);

  double savedMgmVecTot[3] = {0.0, 0.0, 0.0};
-  timeval timeOfSavedMagFieldEst;
  double savedSusVecTot[3] = {0.0, 0.0, 0.0};
-  timeval timeOfSavedSusDirEst;
-  bool validMagField = false;

  double savedPosSatE[3] = {0.0, 0.0, 0.0};
-  double timeOfSavedPosSatE = 0.0;
  bool validSavedPosSatE = false;

  SusConverter susConverter;
--- a/mission/controller/acs/control/Detumble.cpp
+++ b/mission/controller/acs/control/Detumble.cpp
@ -7,18 +7,18 @@ Detumble::Detumble() {}

 Detumble::~Detumble() {}

-acs::SafeModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
+acs::ControlModeStrategy Detumble::detumbleStrategy(const bool magFieldValid,
                                                    const bool satRotRateValid,
                                                    const bool magFieldRateValid,
                                                    const bool useFullDetumbleLaw) {
  if (not magFieldValid) {
-    return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
  } else if (satRotRateValid and useFullDetumbleLaw) {
-    return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_FULL;
+    return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_FULL;
  } else if (magFieldRateValid) {
-    return acs::SafeModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
+    return acs::ControlModeStrategy::SAFECTRL_DETUMBLE_DETERIORATED;
  } else {
-    return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
  }
 }

--- a/mission/controller/acs/control/Detumble.h
+++ b/mission/controller/acs/control/Detumble.h
@ -11,7 +11,7 @@ class Detumble {
  Detumble();
  virtual ~Detumble();

-  acs::SafeModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
+  acs::ControlModeStrategy detumbleStrategy(const bool magFieldValid, const bool satRotRateValid,
                                            const bool magFieldRateValid,
                                            const bool useFullDetumbleLaw);

--- a/mission/controller/acs/control/PtgCtrl.cpp
+++ b/mission/controller/acs/control/PtgCtrl.cpp
@ -10,6 +10,22 @@ PtgCtrl::PtgCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameters_

 PtgCtrl::~PtgCtrl() {}

+acs::ControlModeStrategy PtgCtrl::pointingCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool strValid, const bool questValid,
+    const bool fusedRateValid, const uint8_t rotRateSource, const uint8_t mekfEnabled) {
+  if (not magFieldValid) {
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
+  } else if (mekfEnabled and mekfValid) {
+    return acs::ControlModeStrategy::PTGCTRL_MEKF;
+  } else if (strValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
+    return acs::ControlModeStrategy::PTGCTRL_STR;
+  } else if (questValid and fusedRateValid and rotRateSource > acs::rotrate::Source::SUSMGM) {
+    return acs::ControlModeStrategy::PTGCTRL_QUEST;
+  } else {
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
+  }
+}
+
 void PtgCtrl::ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters,
                     const double *errorQuat, const double *deltaRate, const double *rwPseudoInv,
                     double *torqueRws) {
--- a/mission/controller/acs/control/PtgCtrl.h
+++ b/mission/controller/acs/control/PtgCtrl.h
@ -2,6 +2,7 @@
 #define PTGCTRL_H_

 #include <math.h>
+#include <mission/acs/defs.h>
 #include <mission/controller/acs/AcsParameters.h>
 #include <mission/controller/acs/SensorValues.h>
 #include <stdio.h>
@ -9,7 +10,7 @@
 class PtgCtrl {
  /*
   * @brief: This class handles the pointing control mechanism. Calculation of an commanded
-   * torque for the reaction wheels, and magnetic Field strength for magnetorques for desaturation
+   * torque for the reaction wheels, and magnetic Field strength for magnetorquer for desaturation
   *
   * @note: A description of the used algorithms can be found in
   * https://eive-cloud.irs.uni-stuttgart.de/index.php/apps/files/?dir=/EIVE_Studenten/Marquardt_Robin&openfile=896110
@ -21,6 +22,12 @@ class PtgCtrl {
  PtgCtrl(AcsParameters *acsParameters_);
  virtual ~PtgCtrl();

+  acs::ControlModeStrategy pointingCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+                                                const bool strValid, const bool questValid,
+                                                const bool fusedRateValid,
+                                                const uint8_t rotRateSource,
+                                                const uint8_t mekfEnabled);
+
  /* @brief: Calculates the needed torque for the pointing control mechanism
   */
  void ptgLaw(AcsParameters::PointingLawParameters *pointingLawParameters, const double *qError,
@ -36,7 +43,7 @@ class PtgCtrl {
                       const int32_t speedRw3, double *mgtDpDes);

  /* @brief: Commands the stiction torque in case wheel speed is to low
-   * 		 torqueCommand  modified torque after antistiction
+   * 		 torqueCommand  modified torque after anti-stiction
   */
  void rwAntistiction(ACS::SensorValues *sensorValues, int32_t *rwCmdSpeed);

--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@ -9,40 +9,38 @@ SafeCtrl::SafeCtrl(AcsParameters *acsParameters_) { acsParameters = acsParameter

 SafeCtrl::~SafeCtrl() {}

-acs::SafeModeStrategy SafeCtrl::safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
-                                                 const bool satRotRateValid, const bool sunDirValid,
-                                                 const bool fusedRateTotalValid,
-                                                 const uint8_t mekfEnabled,
-                                                 const uint8_t gyrEnabled,
-                                                 const uint8_t dampingEnabled) {
+acs::ControlModeStrategy SafeCtrl::safeCtrlStrategy(
+    const bool magFieldValid, const bool mekfValid, const bool satRotRateValid,
+    const bool sunDirValid, const bool fusedRateTotalValid, const uint8_t mekfEnabled,
+    const uint8_t gyrEnabled, const uint8_t dampingEnabled) {
  if (not magFieldValid) {
-    return acs::SafeModeStrategy::SAFECTRL_NO_MAG_FIELD_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_MAG_FIELD_FOR_CONTROL;
  } else if (mekfEnabled and mekfValid) {
-    return acs::SafeModeStrategy::SAFECTRL_MEKF;
+    return acs::ControlModeStrategy::SAFECTRL_MEKF;
  } else if (sunDirValid) {
    if (gyrEnabled and satRotRateValid) {
-      return acs::SafeModeStrategy::SAFECTRL_GYR;
+      return acs::ControlModeStrategy::SAFECTRL_GYR;
    } else if (not gyrEnabled and fusedRateTotalValid) {
-      return acs::SafeModeStrategy::SAFECTRL_SUSMGM;
+      return acs::ControlModeStrategy::SAFECTRL_SUSMGM;
    } else {
-      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
    }
  } else if (not sunDirValid) {
    if (dampingEnabled) {
      if (gyrEnabled and satRotRateValid) {
-        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
+        return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_GYR;
      } else if (not gyrEnabled and satRotRateValid and fusedRateTotalValid) {
-        return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
+        return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_DAMPING_SUSMGM;
      } else {
-        return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+        return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
      }
    } else if (not dampingEnabled and satRotRateValid) {
-      return acs::SafeModeStrategy::SAFECTRL_ECLIPSE_IDELING;
+      return acs::ControlModeStrategy::SAFECTRL_ECLIPSE_IDELING;
    } else {
-      return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+      return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
    }
  } else {
-    return acs::SafeModeStrategy::SAFECTRL_NO_SENSORS_FOR_CONTROL;
+    return acs::ControlModeStrategy::CTRL_NO_SENSORS_FOR_CONTROL;
  }
 }

--- a/mission/controller/acs/control/SafeCtrl.h
+++ b/mission/controller/acs/control/SafeCtrl.h
@ -12,10 +12,11 @@ class SafeCtrl {
  SafeCtrl(AcsParameters *acsParameters_);
  virtual ~SafeCtrl();

-  acs::SafeModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
+  acs::ControlModeStrategy safeCtrlStrategy(const bool magFieldValid, const bool mekfValid,
                                            const bool satRotRateValid, const bool sunDirValid,
-                                         const bool fusedRateTotalValid, const uint8_t mekfEnabled,
-                                         const uint8_t gyrEnabled, const uint8_t dampingEnabled);
+                                            const bool fusedRateTotalValid,
+                                            const uint8_t mekfEnabled, const uint8_t gyrEnabled,
+                                            const uint8_t dampingEnabled);

  void safeMekf(const double *magFieldB, const double *satRotRateB, const double *sunDirModelI,
                const double *quatBI, const double *sunDirRefB, double *magMomB,
--- a/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
+++ b/mission/controller/controllerdefinitions/AcsCtrlDefinitions.h
@ -20,6 +20,7 @@ enum SetIds : uint32_t {
  CTRL_VAL_DATA,
  ACTUATOR_CMD_DATA,
  FUSED_ROTATION_RATE_DATA,
+  FUSED_ROTATION_RATE_SOURCES_DATA,
  TLE_SET,
 };

@ -96,6 +97,7 @@ enum PoolIds : lp_id_t {
  SAT_ROT_RATE_MEKF,
  QUAT_MEKF,
  MEKF_STATUS,
+  QUAT_QUEST,
  // Ctrl Values
  SAFE_STRAT,
  TGT_QUAT,
@ -110,9 +112,13 @@ enum PoolIds : lp_id_t {
  ROT_RATE_ORTHOGONAL,
  ROT_RATE_PARALLEL,
  ROT_RATE_TOTAL,
-  // TLE
-  TLE_LINE_1,
-  TLE_LINE_2,
+  ROT_RATE_SOURCE,
+  // Fused Rotation Rate Sources
+  ROT_RATE_ORTHOGONAL_SUSMGM,
+  ROT_RATE_PARALLEL_SUSMGM,
+  ROT_RATE_TOTAL_SUSMGM,
+  ROT_RATE_TOTAL_QUEST,
+  ROT_RATE_TOTAL_STR,
 };

 static constexpr uint8_t MGM_SET_RAW_ENTRIES = 6;
@ -122,11 +128,11 @@ 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 = 6;
-static constexpr uint8_t MEKF_SET_ENTRIES = 3;
+static constexpr uint8_t ATTITUDE_ESTIMATION_SET_ENTRIES = 4;
 static constexpr uint8_t CTRL_VAL_SET_ENTRIES = 5;
 static constexpr uint8_t ACT_CMD_SET_ENTRIES = 3;
-static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 3;
-static constexpr uint8_t TLE_SET_ENTRIES = 2;
+static constexpr uint8_t FUSED_ROT_RATE_SET_ENTRIES = 4;
+static constexpr uint8_t FUSED_ROT_RATE_SOURCES_SET_ENTRIES = 5;

 /**
 * @brief   Raw MGM sensor data. Includes the IMTQ sensor data and actuator status.
@ -250,13 +256,14 @@ class GpsDataProcessed : public StaticLocalDataSet<GPS_SET_PROCESSED_ENTRIES> {
 private:
 };

-class MekfData : public StaticLocalDataSet<MEKF_SET_ENTRIES> {
+class AttitudeEstimationData : public StaticLocalDataSet<ATTITUDE_ESTIMATION_SET_ENTRIES> {
 public:
-  MekfData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}
+  AttitudeEstimationData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, MEKF_DATA) {}

  lp_vec_t<double, 4> quatMekf = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);
  lp_vec_t<double, 3> satRotRateMekf = lp_vec_t<double, 3>(sid.objectId, SAT_ROT_RATE_MEKF, this);
  lp_var_t<uint8_t> mekfStatus = lp_var_t<uint8_t>(sid.objectId, MEKF_STATUS, this);
+  lp_vec_t<double, 4> quatQuest = lp_vec_t<double, 4>(sid.objectId, QUAT_MEKF, this);

 private:
 };
@ -295,16 +302,25 @@ class FusedRotRateData : public StaticLocalDataSet<FUSED_ROT_RATE_SET_ENTRIES> {
      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL, this);
  lp_vec_t<double, 3> rotRateParallel = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL, this);
  lp_vec_t<double, 3> rotRateTotal = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL, this);
+  lp_var_t<uint8_t> rotRateSource = lp_var_t<uint8_t>(sid.objectId, ROT_RATE_SOURCE, this);

 private:
 };

-class TleData : public StaticLocalDataSet<TLE_SET_ENTRIES> {
+class FusedRotRateSourcesData : public StaticLocalDataSet<FUSED_ROT_RATE_SOURCES_SET_ENTRIES> {
 public:
-  TleData(HasLocalDataPoolIF* hkOwner) : StaticLocalDataSet(hkOwner, TLE_SET) {}
+  FusedRotRateSourcesData(HasLocalDataPoolIF* hkOwner)
+      : StaticLocalDataSet(hkOwner, FUSED_ROTATION_RATE_SOURCES_DATA) {}

-  lp_vec_t<uint8_t, 69> line1 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
-  lp_vec_t<uint8_t, 69> line2 = lp_vec_t<uint8_t, 69>(sid.objectId, TLE_LINE_1, this);
+  lp_vec_t<double, 3> rotRateOrthogonalSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_ORTHOGONAL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateParallelSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_PARALLEL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateTotalSusMgm =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_SUSMGM, this);
+  lp_vec_t<double, 3> rotRateTotalQuest =
+      lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_QUEST, this);
+  lp_vec_t<double, 3> rotRateTotalStr = lp_vec_t<double, 3>(sid.objectId, ROT_RATE_TOTAL_STR, this);

 private:
 };
--- a/mission/system/acs/StrFdir.cpp
+++ b/mission/system/acs/StrFdir.cpp
@ -6,7 +6,7 @@ StrFdir::StrFdir(object_id_t strObject)
    : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}

 ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
-  if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
+  if (event->getEvent() == acs::PTG_CTRL_NO_ATTITUDE_INFORMATION) {
    setFaulty(event->getEvent());
    return returnvalue::OK;
  }
--- a/mission/system/acs/acsModeTree.cpp
+++ b/mission/system/acs/acsModeTree.cpp
@ -106,7 +106,7 @@ Subsystem& satsystem::acs::init() {
  // Build TARGET PT transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
  check(ACS_SUBSYSTEM.addTable(
@ -161,6 +161,7 @@ void buildOffSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::IMTQ_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::ACS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
+  iht(objects::SUS_BOARD_ASS, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_OFF_TRANS_1.second);
  check(ss.addTable(TableEntry(ACS_TABLE_OFF_TRANS_1.first, &ACS_TABLE_OFF_TRANS_1.second)), ctxc);

@ -199,13 +200,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::SAFE, acs::SafeSubmode::DEFAULT,
      ACS_TABLE_SAFE_TGT.second, true);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TGT.second, true);
  check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);

  // Build SAFE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
  iht(objects::STR_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
  iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
@ -256,13 +257,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TGT.second, true);
  ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);

  // Build IDLE transition 0
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
@ -306,8 +307,8 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
  check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
@ -355,8 +356,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_NADIR, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
@ -408,8 +409,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
  // Build TARGET PT table
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_TARGET_GS, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
  check(ss.addTable(
@ -461,8 +462,10 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
  iht(objects::ACS_CONTROLLER, acs::AcsMode::PTG_INERTIAL, 0,
      ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+      true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::B_SIDE, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second,
+      true);
  iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  iht(objects::STR_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
  check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 74e55b16dcca73023254493d911be3debc36adb2
+Subproject commit f63a834d9acd4506f0dbd7f8e63007f17c063c1d