diff --git a/linux/devices/GPSHyperionLinuxController.cpp b/linux/devices/GPSHyperionLinuxController.cpp
index fa1f8f02..63050791 100644
--- a/linux/devices/GPSHyperionLinuxController.cpp
+++ b/linux/devices/GPSHyperionLinuxController.cpp
@@ -28,6 +28,14 @@ LocalPoolDataSetBase *GPSHyperionLinuxController::getDataSetHandle(sid_t sid) {
 
 ReturnValue_t GPSHyperionLinuxController::checkModeCommand(Mode_t mode, Submode_t submode,
                                                            uint32_t *msToReachTheMode) {
+  if(not modeCommanded) {
+    if(mode == MODE_ON or mode == MODE_OFF) {
+      // 10 minutes time to reach fix
+      *msToReachTheMode = 600000;
+      maxTimeToReachFix.resetTimer();
+      modeCommanded = true;
+    }
+  }
   return HasReturnvaluesIF::RETURN_OK;
 }
 
@@ -114,6 +122,13 @@ void GPSHyperionLinuxController::readGpsDataFromGpsd() {
   // 0: Not seen, 1: No fix, 2: 2D-Fix, 3: 3D-Fix
   gpsSet.fixMode.value = gps->fix.mode;
   if (gps->fix.mode == 0 or gps->fix.mode == 1) {
+    if(modeCommanded and maxTimeToReachFix.hasTimedOut()) {
+      // We are supposed to be on and functioning, but not fix was found
+      if(mode == MODE_ON or mode == MODE_NORMAL) {
+        mode = MODE_OFF;
+      }
+      modeCommanded = false;
+    }
     gpsSet.setValidity(false, true);
   } else if (gps->satellites_used > 0) {
     gpsSet.setValidity(true, true);
diff --git a/linux/devices/GPSHyperionLinuxController.h b/linux/devices/GPSHyperionLinuxController.h
index 3615cebd..b8ab028d 100644
--- a/linux/devices/GPSHyperionLinuxController.h
+++ b/linux/devices/GPSHyperionLinuxController.h
@@ -21,6 +21,7 @@
  */
 class GPSHyperionLinuxController : public ExtendedControllerBase {
  public:
+  static constexpr uint32_t MAX_SECONDS_TO_REACH_FIX = 600;
   GPSHyperionLinuxController(object_id_t objectId, object_id_t parentId,
                              bool debugHyperionGps = false);
   virtual ~GPSHyperionLinuxController();
@@ -46,6 +47,8 @@ class GPSHyperionLinuxController : public ExtendedControllerBase {
 
  private:
   GpsPrimaryDataset gpsSet;
+  Countdown maxTimeToReachFix = Countdown(MAX_SECONDS_TO_REACH_FIX * 1000);
+  bool modeCommanded = true;
   gpsmm myGpsmm;
   bool debugHyperionGps = false;
 
diff --git a/mission/system/AcsBoardAssembly.cpp b/mission/system/AcsBoardAssembly.cpp
index b3ef24c6..49190470 100644
--- a/mission/system/AcsBoardAssembly.cpp
+++ b/mission/system/AcsBoardAssembly.cpp
@@ -38,11 +38,32 @@ ReturnValue_t AcsBoardAssembly::commandChildren(Mode_t mode, Submode_t submode)
   helper.mgm2SideBMode = childrenMap[helper.mgm2Lis3IdSideB].mode;
   helper.mgm3SideBMode = childrenMap[helper.mgm3Rm3100IdSideB].mode;
   helper.gpsMode = childrenMap[helper.gpsId].mode;
-  if (mode == DeviceHandlerIF::MODE_NORMAL) {
-    handleNormalModeCmd(submode);
-  } else if (mode == MODE_ON) {
-  } else {
+  if (state == States::MODE_COMMANDING) {
+    if (mode == DeviceHandlerIF::MODE_NORMAL or mode == MODE_ON) {
+      powerStateMachine(submode);
+      handleNormalOrOnModeCmd(mode, submode);
+    } else {
+      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GPS].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GPS].setSubmode(SUBMODE_NONE);
+    }
   }
+
   HybridIterator<ModeListEntry> tableIter(modeTable.begin(), modeTable.end());
   executeTable(tableIter);
   return result;
@@ -116,12 +137,11 @@ bool AcsBoardAssembly::isUseable(object_id_t object, Mode_t mode) {
   return false;
 }
 
-ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
+ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode) {
   ReturnValue_t result = RETURN_OK;
   Mode_t tgtMode = DeviceHandlerIF::MODE_NORMAL;
-  powerStateMachine(submode);
-  if (state == States::MODE_COMMANDING) {
-    auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
+  auto cmdSeq = [&](object_id_t objectId, ModeTableIdx tableIdx) {
+    if(tgtMode == DeviceHandlerIF::MODE_NORMAL) {
       if (isUseable(objectId, mode)) {
         if (helper.gyro0SideAMode != MODE_OFF) {
           modeTable[tableIdx].setMode(tgtMode);
@@ -132,53 +152,61 @@ ReturnValue_t AcsBoardAssembly::handleNormalModeCmd(Submode_t submode) {
           modeTable[tableIdx].setSubmode(SUBMODE_NONE);
         }
       }
-    };
-    switch (submode) {
-      case (A_SIDE): {
-        cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
-        cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
-        cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
-        cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
-        modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
-        return result;
-      }
-      case (B_SIDE): {
-        cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
-        cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
-        cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
-        cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
-        modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
-        modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
-        modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
-        return result;
-      }
-      case (DUAL_MODE): {
-        cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
-        cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
-        cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
-        cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
-        cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
-        cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
-        cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
-        cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
-        return result;
-      }
-      default: {
-        sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
+    } else if(tgtMode == MODE_ON) {
+      if (isUseable(objectId, mode)) {
+        modeTable[tableIdx].setMode(MODE_ON);
+        modeTable[tableIdx].setSubmode(SUBMODE_NONE);
       }
     }
+  };
+  switch (submode) {
+    case (A_SIDE): {
+      cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
+      cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
+      cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
+      cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
+      cmdSeq(helper.gpsId, ModeTableIdx::GPS);
+      modeTable[ModeTableIdx::GYRO_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_3_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_2_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_2_B].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_3_B].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_3_B].setSubmode(SUBMODE_NONE);
+      return result;
+    }
+    case (B_SIDE): {
+      cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
+      cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
+      cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
+      cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
+      cmdSeq(helper.gpsId, ModeTableIdx::GPS);
+      modeTable[ModeTableIdx::GYRO_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::GYRO_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::GYRO_1_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_0_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_0_A].setSubmode(SUBMODE_NONE);
+      modeTable[ModeTableIdx::MGM_1_A].setMode(MODE_OFF);
+      modeTable[ModeTableIdx::MGM_1_A].setSubmode(SUBMODE_NONE);
+      return result;
+    }
+    case (DUAL_MODE): {
+      cmdSeq(helper.gpsId, ModeTableIdx::GPS);
+      cmdSeq(helper.gyro0AdisIdSideA, ModeTableIdx::GYRO_0_A);
+      cmdSeq(helper.gyro1L3gIdSideA, ModeTableIdx::GYRO_1_A);
+      cmdSeq(helper.gyro2AdisIdSideB, ModeTableIdx::GYRO_2_B);
+      cmdSeq(helper.gyro3L3gIdSideB, ModeTableIdx::GYRO_3_B);
+      cmdSeq(helper.mgm0Lis3IdSideA, ModeTableIdx::MGM_0_A);
+      cmdSeq(helper.mgm1Rm3100IdSideA, ModeTableIdx::MGM_1_A);
+      cmdSeq(helper.mgm2Lis3IdSideB, ModeTableIdx::MGM_2_B);
+      cmdSeq(helper.mgm3Rm3100IdSideB, ModeTableIdx::MGM_3_B);
+      return result;
+    }
+    default: {
+      sif::error << "AcsBoardAssembly::handleNormalModeCmd: Unknown submode" << std::endl;
+    }
   }
   return result;
 }
@@ -244,6 +272,6 @@ void AcsBoardAssembly::powerStateMachine(Submode_t submode) {
     state = States::SWITCHING_POWER;
   }
   if (state == States::SWITCHING_POWER) {
-    // TODO: Could check for a timeout (temporal or cycles) here and resent command
+    // TODO: Could check for a timeout (temporal or cycles) here and resend command
   }
 }
diff --git a/mission/system/AcsBoardAssembly.h b/mission/system/AcsBoardAssembly.h
index 6ff63dd5..63136393 100644
--- a/mission/system/AcsBoardAssembly.h
+++ b/mission/system/AcsBoardAssembly.h
@@ -91,7 +91,7 @@ class AcsBoardAssembly : public AssemblyBase {
    * @return
    */
   bool isUseable(object_id_t object, Mode_t mode);
-  ReturnValue_t handleNormalModeCmd(Submode_t submode);
+  ReturnValue_t handleNormalOrOnModeCmd(Mode_t mode, Submode_t submode);
   void powerStateMachine(Submode_t submode);
 };