diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 027dc61f..c87f460c 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -239,7 +239,7 @@ void AcsController::performDetumble() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
       navigation.resetMekf(&mekfData);
     }
   } else {
@@ -293,7 +293,7 @@ void AcsController::performPointingCtrl() {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
     }
-    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE) {
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE && !mekfLost) {
       navigation.resetMekf(&mekfData);
     }
     if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {