diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 7643edaa..6b821a08 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -433,22 +433,18 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
 }
 
 void AcsController::updateActuatorCmdData(const int16_t *mtqTargetDipole) {
-  double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
-  int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
-  updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
+  updateActuatorCmdData(RW_OFF_TORQUE, RW_OFF_SPEED, mtqTargetDipole);
 }
 
 void AcsController::updateActuatorCmdData(const double *rwTargetTorque,
                                           const int32_t *rwTargetSpeed,
                                           const int16_t *mtqTargetDipole) {
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
-      actuatorCmdData.setValidity(true, true);
-    }
+  PoolReadGuard pg(&actuatorCmdData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTargetTorque, 4 * sizeof(double));
+    std::memcpy(actuatorCmdData.rwTargetSpeed.value, rwTargetSpeed, 4 * sizeof(int32_t));
+    std::memcpy(actuatorCmdData.mtqTargetDipole.value, mtqTargetDipole, 3 * sizeof(int16_t));
+    actuatorCmdData.setValidity(true, true);
   }
 }
 
@@ -466,28 +462,22 @@ void AcsController::updateCtrlValData(double errAng) {
 }
 
 void AcsController::updateCtrlValData(const double *tgtQuat, const double *errQuat, double errAng) {
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
-      std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.setValidity(true, true);
-    }
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, tgtQuat, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, errQuat, 4 * sizeof(double));
+    ctrlValData.errAng.value = errAng;
+    ctrlValData.setValidity(true, true);
   }
 }
 
 void AcsController::disableCtrlValData() {
-  double unitQuat[4] = {0, 0, 0, 1};
-  double errAng = 0;
-  {
-    PoolReadGuard pg(&ctrlValData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
-      std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
-      ctrlValData.errAng.value = errAng;
-      ctrlValData.setValidity(false, true);
-    }
+  PoolReadGuard pg(&ctrlValData);
+  if (pg.getReadResult() == returnvalue::OK) {
+    std::memcpy(ctrlValData.tgtQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    std::memcpy(ctrlValData.errQuat.value, UNIT_QUAT, 4 * sizeof(double));
+    ctrlValData.errAng.value = 0;
+    ctrlValData.setValidity(false, true);
   }
 }
 
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index eaf80a23..1b57a32a 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -41,6 +41,8 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
  private:
   static constexpr double UNIT_QUAT[4] = {0, 0, 0, 1};
+  static constexpr double RW_OFF_TORQUE[4] = {0.0, 0.0, 0.0, 0.0};
+  static constexpr int32_t RW_OFF_SPEED[4] = {0, 0, 0, 0};
 
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;