diff --git a/CHANGELOG.md b/CHANGELOG.md
index bfcb003c..e8e4aaca 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -26,6 +26,8 @@ will consitute of a breaking change warranting a new major release:
   create full initial state for SD card manager are core controller as early as possible, turn
   execution of setup file update blocking. This might solve the issue with the SD card manager
   sometimes blocking for a long time.
+- Request raw MTM measurement twice for IMTQ, might reduce number of times measurement could not
+  be retrieved.
 
 # [v1.36.0] 2023-03-08
 
diff --git a/bsp_q7s/core/scheduling.cpp b/bsp_q7s/core/scheduling.cpp
index ec47232d..616e7fe9 100644
--- a/bsp_q7s/core/scheduling.cpp
+++ b/bsp_q7s/core/scheduling.cpp
@@ -235,7 +235,6 @@ void scheduling::initTasks() {
 
   PeriodicTaskIF* acsSysTask = factory->createPeriodicTask(
       "ACS_SYS_TASK", 55, PeriodicTaskIF::MINIMUM_STACK_SIZE * 2, 0.4, missedDeadlineFunc);
-  static_cast<void>(acsSysTask);
   result = acsSysTask->addComponent(objects::ACS_SUBSYSTEM);
   if (result != returnvalue::OK) {
     scheduling::printAddObjectError("ACS_SUBSYSTEM", objects::ACS_SUBSYSTEM);
diff --git a/linux/devices/ImtqPollingTask.cpp b/linux/devices/ImtqPollingTask.cpp
index ad4b80ac..fbd5f847 100644
--- a/linux/devices/ImtqPollingTask.cpp
+++ b/linux/devices/ImtqPollingTask.cpp
@@ -120,6 +120,11 @@ void ImtqPollingTask::handleMeasureStep() {
     }
   }
 
+  // The I2C IP core on EIVE sometimes glitches out. Send start MTM measurement twice.
+  cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
+  if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
   cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
   if (i2cCmdExecMeasure(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
@@ -177,6 +182,11 @@ void ImtqPollingTask::handleActuateStep() {
   TaskFactory::delayTask(10);
 
   cmdLen = 1;
+  // The I2C IP core on EIVE sometimes glitches out. Send start MTM measurement twice.
+  cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
+  if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
+    return;
+  }
   cmdBuf[0] = imtq::CC::START_MTM_MEASUREMENT;
   if (i2cCmdExecActuate(imtq::CC::START_MTM_MEASUREMENT) != returnvalue::OK) {
     return;
diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp
index e4969ac1..3bab5273 100644
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@@ -56,6 +56,7 @@ ReturnValue_t AcsSubsystem::initialize() {
 }
 
 void AcsSubsystem::performChildOperation() {
+  // sif::debug << "ACS system thread running" << std::endl;
   handleEventMessages();
   return Subsystem::performChildOperation();
 }