diff --git a/linux/devices/AcsBoardPolling.cpp b/linux/devices/AcsBoardPolling.cpp
index 6a16d816..a9128242 100644
--- a/linux/devices/AcsBoardPolling.cpp
+++ b/linux/devices/AcsBoardPolling.cpp
@@ -25,7 +25,7 @@ AcsBoardPolling::AcsBoardPolling(object_id_t objectId, SpiComIF& lowLevelComIF,
 
 ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
   while (true) {
-    ipcLock->lockMutex();
+    ipcLock->lockMutex(LOCK_TYPE, LOCK_TIMEOUT);
     state = InternalState::IDLE;
     ipcLock->unlockMutex();
     semaphore->acquire();
@@ -39,7 +39,7 @@ ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
     mgmRm3100Handler(mgm3Rm3100);
     mgmLis3Handler(mgm0Lis3);
     mgmLis3Handler(mgm2Lis3);
-    // To prevent task being not reactivated by tardy tasks
+    // To prevent task being reactivated by tardy tasks
     TaskFactory::delayTask(20);
   }
   return returnvalue::OK;
@@ -173,7 +173,6 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
       return returnvalue::FAILED;
     }
     auto* req = reinterpret_cast<const acs::MgmRm3100Request*>(sendData);
-    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     if (req->mode != mgm.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         mgm.performStartup = true;
@@ -184,45 +183,47 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     }
     return returnvalue::OK;
   };
-  switch (spiCookie->getChipSelectPin()) {
-    case (gpioIds::MGM_0_LIS3_CS): {
-      handleLis3Request(mgm0Lis3);
-      break;
+  {
+    MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+    switch (spiCookie->getChipSelectPin()) {
+      case (gpioIds::MGM_0_LIS3_CS): {
+        handleLis3Request(mgm0Lis3);
+        break;
+      }
+      case (gpioIds::MGM_1_RM3100_CS): {
+        handleRm3100Request(mgm1Rm3100);
+        break;
+      }
+      case (gpioIds::MGM_2_LIS3_CS): {
+        handleLis3Request(mgm2Lis3);
+        break;
+      }
+      case (gpioIds::MGM_3_RM3100_CS): {
+        handleRm3100Request(mgm3Rm3100);
+        break;
+      }
+      case (gpioIds::GYRO_0_ADIS_CS): {
+        handleAdisRequest(gyro0Adis);
+        break;
+      }
+      case (gpioIds::GYRO_2_ADIS_CS): {
+        handleAdisRequest(gyro2Adis);
+        break;
+      }
+      case (gpioIds::GYRO_1_L3G_CS): {
+        handleL3gRequest(gyro1L3g);
+        break;
+      }
+      case (gpioIds::GYRO_3_L3G_CS): {
+        handleL3gRequest(gyro3L3g);
+        break;
+      }
     }
-    case (gpioIds::MGM_1_RM3100_CS): {
-      handleRm3100Request(mgm1Rm3100);
-      break;
-    }
-    case (gpioIds::MGM_2_LIS3_CS): {
-      handleLis3Request(mgm2Lis3);
-      break;
-    }
-    case (gpioIds::MGM_3_RM3100_CS): {
-      handleRm3100Request(mgm3Rm3100);
-      break;
-    }
-    case (gpioIds::GYRO_0_ADIS_CS): {
-      handleAdisRequest(gyro0Adis);
-      break;
-    }
-    case (gpioIds::GYRO_2_ADIS_CS): {
-      handleAdisRequest(gyro2Adis);
-      break;
-    }
-    case (gpioIds::GYRO_1_L3G_CS): {
-      handleL3gRequest(gyro1L3g);
-      break;
-    }
-    case (gpioIds::GYRO_3_L3G_CS): {
-      handleL3gRequest(gyro3L3g);
-      break;
+    if (state == InternalState::IDLE) {
+      state = InternalState::BUSY;
     }
   }
-  MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-  if (state == InternalState::IDLE) {
-    state = InternalState::BUSY;
-    semaphore->release();
-  }
+  semaphore->release();
   return returnvalue::OK;
 }
 
@@ -294,8 +295,8 @@ ReturnValue_t AcsBoardPolling::readReceivedMessage(CookieIF* cookie, uint8_t** b
 
 void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
-  bool gyroPerformStartup;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
+  bool gyroPerformStartup = false;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = l3g.mode;
@@ -440,7 +441,7 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
 
 void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool cdHasTimedOut = false;
   bool mustPerformStartup = false;
   {
@@ -542,7 +543,7 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
@@ -635,7 +636,7 @@ void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
 
 void AcsBoardPolling::mgmRm3100Handler(MgmRm3100& mgm) {
   ReturnValue_t result;
-  acs::SimpleSensorMode mode;
+  acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index e6b45318..23a86551 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -95,11 +95,12 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
   }
 
   // change unit from uT to T
-  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldB, 3);
+  double magFieldBT[3] = {0,0,0};
+  VectorOperations<double>::mulScalar(magFieldB, 1e-6, magFieldBT, 3);
 
   // normalize sunDir and magDir
   double magDirB[3] = {0, 0, 0};
-  VectorOperations<double>::normalize(magFieldB, magDirB, 3);
+  VectorOperations<double>::normalize(magFieldBT, magDirB, 3);
   VectorOperations<double>::normalize(susDirB, susDirB, 3);
 
   // Cosinus angle between sunDir and magDir
@@ -160,8 +161,8 @@ ReturnValue_t SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBVal
   // Magnetic moment
   double magMomB[3] = {0, 0, 0};
   double crossMagFieldTorque[3] = {0, 0, 0};
-  VectorOperations<double>::cross(magFieldB, torqueB, crossMagFieldTorque);
-  double magMomFactor = pow(VectorOperations<double>::norm(magFieldB, 3), 2);
+  VectorOperations<double>::cross(magFieldBT, torqueB, crossMagFieldTorque);
+  double magMomFactor = pow(VectorOperations<double>::norm(magFieldBT, 3), 2);
   VectorOperations<double>::mulScalar(crossMagFieldTorque, 1 / magMomFactor, magMomB, 3);
 
   std::memcpy(outputMagMomB, magMomB, 3 * sizeof(double));