diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 83088b41..10053da8 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -107,8 +107,6 @@ void AcsController::performControlOperation() {
 }
 
 void AcsController::performSafe() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
@@ -197,8 +195,6 @@ void AcsController::performSafe() {
 }
 
 void AcsController::performDetumble() {
-  ACS::SensorValues sensorValues;
-
   timeval now;
   Clock::getClock_timeval(&now);
 
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index e1e31a2a..0ae4f338 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -38,6 +38,7 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
 
  private:
   AcsParameters acsParameters;
+  ACS::SensorValues sensorValues;
   SensorProcessing sensorProcessing;
   Navigation navigation;
   ActuatorCmd actuatorCmd;
@@ -70,7 +71,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   void announceMode(bool recursive);
 
   /* ACS Datasets */
-  ACS::SensorValues sensorValues;
   IMTQ::DipoleActuationSet dipoleSet = IMTQ::DipoleActuationSet(objects::IMTQ_HANDLER);
   // MGMs
   acsctrl::MgmDataRaw mgmDataRaw;
diff --git a/mission/controller/acs/SensorValues.cpp b/mission/controller/acs/SensorValues.cpp
index 568a9e1c..a963f326 100644
--- a/mission/controller/acs/SensorValues.cpp
+++ b/mission/controller/acs/SensorValues.cpp
@@ -20,13 +20,34 @@ SensorValues::SensorValues() {}
 SensorValues::~SensorValues() {}
 
 ReturnValue_t SensorValues::updateMgm() {
-  ReturnValue_t result;
-  PoolReadGuard pgMgm0(&mgm0Lis3Set), pgMgm1(&mgm1Rm3100Set), pgMgm2(&mgm2Lis3Set),
-      pgMgm3(&mgm3Rm3100Set), pgImtq(&imtqMgmSet);
+  std::vector<ReturnValue_t> results;
 
-  result = (pgMgm0.getReadResult() || pgMgm1.getReadResult() || pgMgm2.getReadResult() ||
-            pgMgm3.getReadResult() || pgImtq.getReadResult());
-  return result;
+  {
+    PoolReadGuard pgMgm0(&mgm0Lis3Set);
+    results.push_back(pgMgm0.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm1Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm2Lis3Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&mgm3Rm3100Set);
+    results.push_back(pgMgm.getReadResult());
+  }
+  {
+    PoolReadGuard pgMgm(&imtqMgmSet);
+    results.push_back(pgMgm.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateSus() {
@@ -53,19 +74,14 @@ ReturnValue_t SensorValues::updateGyr() {
 }
 
 ReturnValue_t SensorValues::updateStr() {
-  ReturnValue_t result;
   PoolReadGuard pgStr(&strSet);
 
-  result = pgStr.getReadResult();
-  return result;
+  return pgStr.getReadResult();
 }
 
 ReturnValue_t SensorValues::updateGps() {
-  ReturnValue_t result;
   PoolReadGuard pgGps(&gpsSet);
-
-  result = pgGps.getReadResult();
-  return result;
+  return pgGps.getReadResult();
 }
 
 ReturnValue_t SensorValues::updateRw() {