diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index 15e7767c..c1030c7b 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -141,7 +141,7 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   double mgmVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool mgmVecTotDerivativeValid = false;
   double timeDiff = timevalOperations::toDouble(timeOfMgmMeasurement - timeOfSavedMagFieldEst);
-  if (timeOfSavedMagFieldEst.tv_sec != 0) {
+  if (timeOfSavedMagFieldEst.tv_sec != 0 and timeDiff > 0) {
     for (uint8_t i = 0; i < 3; i++) {
       mgmVecTotDerivative[i] = (mgmVecTot[i] - savedMgmVecTot[i]) / timeDiff;
       savedMgmVecTot[i] = mgmVecTot[i];
@@ -394,7 +394,7 @@ void SensorProcessing::processSus(
   double susVecTotDerivative[3] = {0.0, 0.0, 0.0};
   bool susVecTotDerivativeValid = false;
   double timeDiff = timevalOperations::toDouble(timeOfSusMeasurement - timeOfSavedSusDirEst);
-  if (timeOfSavedSusDirEst.tv_sec != 0) {
+  if (timeOfSavedSusDirEst.tv_sec != 0 and timeDiff > 0) {
     for (uint8_t i = 0; i < 3; i++) {
       susVecTotDerivative[i] = (susVecTot[i] - savedSusVecTot[i]) / timeDiff;
       savedSusVecTot[i] = susVecTot[i];
@@ -581,8 +581,9 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
     // Calculation of the satellite velocity in earth fixed frame
     double deltaDistance[3] = {0, 0, 0};
     MathOperations<double>::cartesianFromLatLongAlt(latitudeRad, gdLongitude, altitude, posSatE);
-    if (validSavedPosSatE &&
-        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax)) {
+    if (validSavedPosSatE and
+        (gpsUnixSeconds - timeOfSavedPosSatE) < (gpsParameters->timeDiffVelocityMax) and
+        (gpsUnixSeconds - timeOfSavedPosSatE) > 0) {
       VectorOperations<double>::subtract(posSatE, savedPosSatE, deltaDistance, 3);
       double timeDiffGpsMeas = gpsUnixSeconds - timeOfSavedPosSatE;
       VectorOperations<double>::mulScalar(deltaDistance, 1. / timeDiffGpsMeas, gpsVelocityE, 3);