diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 74fce754..2403650c 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -28,6 +28,14 @@ AcsController::AcsController(object_id_t objectId)
       ctrlValData(this),
       actuatorCmdData(this) {}
 
+ReturnValue_t AcsController::initialize() {
+  ReturnValue_t result = parameterHelper.initialize();
+  if (result != returnvalue::OK) {
+    return result;
+  }
+  return ExtendedControllerBase::initialize();
+}
+
 ReturnValue_t AcsController::handleCommandMessage(CommandMessage *message) {
   ReturnValue_t result = actionHelper.handleActionMessage(message);
   if (result == returnvalue::OK) {
@@ -176,20 +184,7 @@ void AcsController::performSafe() {
     triggerEvent(acs::SAFE_RATE_VIOLATION);
   }
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      int32_t zeroVec[4] = {0, 0, 0, 0};
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.mtqTargetDipole.setValid(true);
-      actuatorCmdData.setValidity(true, false);
-    }
-  }
-
+  updateActuatorCmdData(cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
   //                   acsParameters.rwHandlingParameters.rampTime);
@@ -229,19 +224,7 @@ void AcsController::performDetumble() {
     triggerEvent(acs::SAFE_RATE_RECOVERY);
   }
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(double));
-      actuatorCmdData.rwTargetTorque.setValid(false);
-      std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
-      actuatorCmdData.rwTargetSpeed.setValid(false);
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.mtqTargetDipole.setValid(true);
-      actuatorCmdData.setValidity(true, false);
-    }
-  }
-
+  updateActuatorCmdData(nullptr, nullptr, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, 0, 0, 0, 0,
   //                   acsParameters.rwHandlingParameters.rampTime);
@@ -406,16 +389,7 @@ void AcsController::performPointingCtrl() {
   int16_t cmdDipolMtqs[3] = {0, 0, 0};
   actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs);
 
-  {
-    PoolReadGuard pg(&actuatorCmdData);
-    if (pg.getReadResult() == returnvalue::OK) {
-      std::memcpy(actuatorCmdData.rwTargetTorque.value, rwTrqNs, 4 * sizeof(double));
-      std::memcpy(actuatorCmdData.rwTargetSpeed.value, cmdSpeedRws, 4 * sizeof(int32_t));
-      std::memcpy(actuatorCmdData.mtqTargetDipole.value, cmdDipolMtqs, 3 * sizeof(int16_t));
-      actuatorCmdData.setValidity(true, true);
-    }
-  }
-
+  updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
   //                   cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
@@ -451,6 +425,25 @@ ReturnValue_t AcsController::commandActuators(int16_t xDipole, int16_t yDipole,
   return returnvalue::OK;
 }
 
+void AcsController::updateActuatorCmdData(int16_t mtqTargetDipole[3]) {
+  double rwTargetTorque[4] = {0.0, 0.0, 0.0, 0.0};
+  int32_t rwTargetSpeed[4] = {0, 0, 0, 0};
+  updateActuatorCmdData(rwTargetTorque, rwTargetSpeed, mtqTargetDipole);
+}
+
+void AcsController::updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
+                                          int16_t mtqTargetDipole[3]) {
+  {
+    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);
+    }
+  }
+}
+
 ReturnValue_t AcsController::initializeLocalDataPool(localpool::DataPool &localDataPoolMap,
                                                      LocalDataPoolManager &poolManager) {
   // MGM Raw
@@ -796,10 +789,3 @@ void AcsController::copyGyrData() {
   }
 }
 
-ReturnValue_t AcsController::initialize() {
-  ReturnValue_t result = parameterHelper.initialize();
-  if (result != returnvalue::OK) {
-    return result;
-  }
-  return ExtendedControllerBase::initialize();
-}
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index e519d2e8..9bb5c4fd 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -79,6 +79,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   ReturnValue_t commandActuators(int16_t xDipole, int16_t yDipole, int16_t zDipole,
                                  uint16_t dipoleTorqueDuration, int32_t rw1Speed, int32_t rw2Speed,
                                  int32_t rw3Speed, int32_t rw4Speed, uint16_t rampTime);
+  void updateActuatorCmdData(int16_t mtqTargetDipole[3]);
+  void updateActuatorCmdData(double rwTargetTorque[4], int32_t rwTargetSpeed[4],
+                             int16_t mtqTargetDipole[3]);
 
   /* ACS Sensor Values */
   ACS::SensorValues sensorValues;