diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 0d0f03ef..f750aac0 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -235,12 +235,20 @@ void AcsController::performSafe() {
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
   // detumble check and switch
-  if (mekfData.satRotRateMekf.isValid() && acsParameters.safeModeControllerParameters.useMekf &&
-      VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
-          acsParameters.detumbleParameter.omegaDetumbleStart) {
-    detumbleCounter++;
-  } else if (gyrDataProcessed.gyrVecTot.isValid() &&
-             VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
+  if (acsParameters.safeModeControllerParameters.useMekf) {
+    if (mekfData.satRotRateMekf.isValid() and
+        VectorOperations<double>::norm(mekfData.satRotRateMekf.value, 3) >
+            acsParameters.detumbleParameter.omegaDetumbleStart) {
+      detumbleCounter++;
+    }
+  } else if (acsParameters.safeModeControllerParameters.useGyr) {
+    if (gyrDataProcessed.gyrVecTot.isValid() and
+        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
+            acsParameters.detumbleParameter.omegaDetumbleStart) {
+      detumbleCounter++;
+    }
+  } else if (fusedRotRateData.rotRateTotal.isValid() and
+             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
                  acsParameters.detumbleParameter.omegaDetumbleStart) {
     detumbleCounter++;
   } else if (detumbleCounter > 0) {