diff --git a/CHANGELOG.md b/CHANGELOG.md
index d7df147d..67fea724 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -22,6 +22,8 @@ will consitute of a breaking change warranting a new major release:
 
 - Small fix for transition failure handling of the MPSoC when the `START_MPSOC` action command
   to the supervisor fails.
+- Fixed inits of arrays within the `MEKF` not being zeros.
+- Corrected sigma of STR for `MEKF`.
 
 # [v8.0.0] 2024-05-13
 
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index dfb99c2c..4ed80e83 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -941,7 +941,7 @@ class AcsParameters : public HasParametersIF {
   } sunModelParameters;
 
   struct KalmanFilterParameters {
-    double sensorNoiseStr = 0.1 * DEG2RAD;
+    double sensorNoiseStr = 0.0028 * DEG2RAD;
     double sensorNoiseSus = 8. * DEG2RAD;
     double sensorNoiseMgm = 4. * DEG2RAD;
     double sensorNoiseGyr = 0.1 * DEG2RAD;
diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index b66f0531..fc61ca0e 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -114,12 +114,13 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+  double measSensMatrix[matrixDimensionFactor][6] = {},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor];
+  std::memset(kalmanGain, 0, sizeof(kalmanGain));
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -342,10 +343,11 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         residualCov[6][matrixDimensionFactor] = {{0}},
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {};
+  double residualCov[6][matrixDimensionFactor], measSensMatrixTransposed[6][matrixDimensionFactor];
+  std::memset(residualCov, 0, sizeof(residualCov));
+  std::memset(measSensMatrixTransposed, 0, sizeof(measSensMatrixTransposed));
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -382,8 +384,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
-  double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
+  double stateVecErr[6] = {0, 0, 0, 0, 0, 0}, plantOutputDiff[matrixDimensionFactor] = {};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);
diff --git a/tmtc b/tmtc
index 8419a4ed..9a06c64d 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 8419a4edd773eb0eedba912f4678a5e28567e3ed
+Subproject commit 9a06c64dfac3f4283c2d5af72a9c095f4726480b