diff --git a/mission/controller/acs/SensorValues.cpp b/mission/controller/acs/SensorValues.cpp
index a963f326..e4026300 100644
--- a/mission/controller/acs/SensorValues.cpp
+++ b/mission/controller/acs/SensorValues.cpp
@@ -23,8 +23,8 @@ ReturnValue_t SensorValues::updateMgm() {
   std::vector<ReturnValue_t> results;
 
   {
-    PoolReadGuard pgMgm0(&mgm0Lis3Set);
-    results.push_back(pgMgm0.getReadResult());
+    PoolReadGuard pgMgm(&mgm0Lis3Set);
+    results.push_back(pgMgm.getReadResult());
   }
   {
     PoolReadGuard pgMgm(&mgm1Rm3100Set);
@@ -51,31 +51,49 @@ ReturnValue_t SensorValues::updateMgm() {
 }
 
 ReturnValue_t SensorValues::updateSus() {
-  ReturnValue_t result;
-  PoolReadGuard pgSus0(&susSets[0]), pgSus1(&susSets[1]), pgSus2(&susSets[2]), pgSus3(&susSets[3]),
-      pgSus4(&susSets[4]), pgSus5(&susSets[5]), pgSus6(&susSets[6]), pgSus7(&susSets[7]),
-      pgSus8(&susSets[8]), pgSus9(&susSets[9]), pgSus10(&susSets[10]), pgSus11(&susSets[11]);
-
-  result = (pgSus0.getReadResult() || pgSus1.getReadResult() || pgSus2.getReadResult() ||
-            pgSus3.getReadResult() || pgSus4.getReadResult() || pgSus5.getReadResult() ||
-            pgSus6.getReadResult() || pgSus7.getReadResult() || pgSus8.getReadResult() ||
-            pgSus9.getReadResult() || pgSus10.getReadResult() || pgSus11.getReadResult());
-  return result;
+  std::vector<ReturnValue_t> results;
+  for (auto& susSet : susSets) {
+    {
+      PoolReadGuard pgSus(&susSet);
+      results.push_back(pgSus.getReadResult());
+    }
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateGyr() {
-  ReturnValue_t result;
-  PoolReadGuard pgGyr0(&gyr0AdisSet), pgGyr1(&gyr1L3gSet), pgGyr2(&gyr2AdisSet),
-      pgGyr3(&gyr3L3gSet);
-
-  result = (pgGyr0.getReadResult() || pgGyr1.getReadResult() || pgGyr2.getReadResult() ||
-            pgGyr3.getReadResult());
-  return result;
+  std::vector<ReturnValue_t> results;
+  {
+    PoolReadGuard pgGyr(&gyr0AdisSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr1L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr2AdisSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  {
+    PoolReadGuard pgGyr(&gyr3L3gSet);
+    results.push_back(pgGyr.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::updateStr() {
   PoolReadGuard pgStr(&strSet);
-
   return pgStr.getReadResult();
 }
 
@@ -85,12 +103,29 @@ ReturnValue_t SensorValues::updateGps() {
 }
 
 ReturnValue_t SensorValues::updateRw() {
-  ReturnValue_t result;
-  PoolReadGuard pgRw1(&rw1Set), pgRw2(&rw2Set), pgRw3(&rw3Set), pgRw4(&rw4Set);
-
-  result = (pgRw1.getReadResult() || pgRw2.getReadResult() || pgRw3.getReadResult() ||
-            pgRw4.getReadResult());
-  return result;
+  std::vector<ReturnValue_t> results;
+  {
+    PoolReadGuard pgRw(&rw1Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw2Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw3Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  {
+    PoolReadGuard pgRw(&rw4Set);
+    results.push_back(pgRw.getReadResult());
+  }
+  for (const auto& result : results) {
+    if (result != returnvalue::OK) {
+      return result;
+    }
+  }
+  return returnvalue::OK;
 }
 
 ReturnValue_t SensorValues::update() {