diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 220ba178..e3a5ed5e 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -180,9 +180,11 @@ void AcsController::performSafe() {
     safeCtrlFailureCounter++;
     if (safeCtrlFailureCounter > 50) {
       safeCtrlFailureFlag = false;
+      safeCtrlFailureCounter = 0;
     }
   } else {
     safeCtrlFailureFlag = false;
+    safeCtrlFailureCounter = 0;
   }
 
   actuatorCmd.cmdDipolMtq(magMomMtq, cmdDipolMtqs,