that should fix the issue

mission/system/acs/AcsBoardAssembly.cpp

@@ -112,20 +112,7 @@ ReturnValue_t AcsBoardAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t s
   using namespace duallane;
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
-  if (sideSwitchState == SideSwitchState::REQUESTED) {
+  handleSideSwitchStates(submode, needsSecondStep);
-    sideSwitchState = SideSwitchState::TO_DUAL;
-  }
-  // Switch to dual side first, and later switch back to the otherside
-  if (sideSwitchState == SideSwitchState::TO_DUAL) {
-    targetSubmodeForSideSwitch = static_cast<duallane::Submodes>(submode);
-    submode = Submodes::DUAL_MODE;
-    sideSwitchState = SideSwitchState::DISABLE_OTHER_SIDE;
-    // TODO: Ugly hack. The base class should support arbitrary number of steps..
-    needsSecondStep = true;
-  } else if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
-    dualToSingleSideTransition = true;
-    submode = targetSubmodeForSideSwitch;
-  }
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, ModeTableIdx tableIdx) {
     if (mode == devMode) {
       modeTable[tableIdx].setMode(mode);

mission/system/acs/DualLaneAssemblyBase.cpp

@@ -130,7 +130,11 @@ void DualLaneAssemblyBase::handleModeReached() {
     // For dual to single side transition, devices should be logically off, but the switch
     // handling still needs to be done.
     if (dualToSingleSideTransition) {
-      pwrStateMachine.start(targetMode, targetSubmode);
+      if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
+        pwrStateMachine.start(targetMode, targetSubmodeForSideSwitch);
+      } else {
+        pwrStateMachine.start(targetMode, targetSubmode);
+      }
       pwrStateMachineWrapper();
       return;
     }
@@ -238,6 +242,24 @@ bool DualLaneAssemblyBase::sideSwitchTransition(Mode_t mode, Submode_t submode)
   return false;
 }
 
+void DualLaneAssemblyBase::handleSideSwitchStates(uint8_t& submode, bool& needsSecondStep) {
+  if (sideSwitchState == SideSwitchState::REQUESTED) {
+    sideSwitchState = SideSwitchState::TO_DUAL;
+  }
+  // Switch to dual side first, and later switch back to the otherside
+  if (sideSwitchState == SideSwitchState::TO_DUAL) {
+    targetSubmodeForSideSwitch = static_cast<duallane::Submodes>(submode);
+    submode = duallane::Submodes::DUAL_MODE;
+    sideSwitchState = SideSwitchState::DISABLE_OTHER_SIDE;
+    // TODO: Ugly hack. The base class should support arbitrary number of steps..
+    needsSecondStep = true;
+  } else if (sideSwitchState == SideSwitchState::DISABLE_OTHER_SIDE) {
+    // Set this flag because the power needs to be switched off.
+    dualToSingleSideTransition = true;
+    submode = targetSubmodeForSideSwitch;
+  }
+}
+
 void DualLaneAssemblyBase::finishModeOp() {
   using namespace duallane;
   AssemblyBase::handleModeReached();

mission/system/acs/DualLaneAssemblyBase.h

@@ -47,6 +47,7 @@ class DualLaneAssemblyBase : public AssemblyBase, public ConfirmsFailuresIF {
   } customRecoveryStates = RecoveryCustomStates::IDLE;
 
   MessageQueueIF* eventQueue = nullptr;
+  void handleSideSwitchStates(uint8_t& submode, bool& needsSecondStep);
 
   /**
    * Check whether it makes sense to send mode commands to the device.

mission/system/acs/SusAssembly.cpp

@@ -45,6 +45,7 @@ ReturnValue_t SusAssembly::handleNormalOrOnModeCmd(Mode_t mode, Submode_t submod
   using namespace duallane;
   ReturnValue_t result = returnvalue::OK;
   bool needsSecondStep = false;
+  handleSideSwitchStates(submode, needsSecondStep);
   auto cmdSeq = [&](object_id_t objectId, Mode_t devMode, uint8_t tableIdx) {
     if (mode == devMode) {
       modeTable[tableIdx].setMode(mode);