diff --git a/linux/devices/AcsBoardPolling.cpp b/linux/devices/AcsBoardPolling.cpp
index 307ddebb..adcbbf19 100644
--- a/linux/devices/AcsBoardPolling.cpp
+++ b/linux/devices/AcsBoardPolling.cpp
@@ -451,95 +451,99 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
     cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
-  if (mode == acs::SimpleSensorMode::NORMAL and cdHasTimedOut) {
-    if (mustPerformStartup) {
-      uint8_t regList[6];
-      // Read configuration
-      regList[0] = adis1650x::DIAG_STAT_REG;
-      regList[1] = adis1650x::FILTER_CTRL_REG;
-      regList[2] = adis1650x::RANG_MDL_REG;
-      regList[3] = adis1650x::MSC_CTRL_REG;
-      regList[4] = adis1650x::DEC_RATE_REG;
-      regList[5] = adis1650x::PROD_ID_REG;
-      size_t transferLen =
-          adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
-      result = readAdisCfg(*gyro.cookie, transferLen);
-      if (result != returnvalue::OK) {
-        gyro.replyResult = result;
-        return;
-      }
-      result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
-      if (result != returnvalue::OK or rawReply == nullptr) {
-        gyro.replyResult = result;
-        return;
-      }
-      uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
-      if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
-          ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
-        sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
-        gyro.replyResult = returnvalue::FAILED;
-        return;
-      }
-      MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-      gyro.ownReply.cfgWasSet = true;
-      gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
-      gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
-      gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
-      gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
-      gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
-      gyro.ownReply.cfg.prodId = prodId;
-      gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
-      gyro.performStartup = false;
-    }
-    // Read regular registers
-    std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
-                adis1650x::BURST_READ_ENABLE.size());
-    std::memset(cmdBuf.data() + 2, 0, 10 * 2);
-    result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (mode == acs::SimpleSensorMode::OFF) {
+    return;
+  }
+  if (not cdHasTimedOut) {
+    return;
+  }
+  if (mustPerformStartup) {
+    uint8_t regList[6];
+    // Read configuration
+    regList[0] = adis1650x::DIAG_STAT_REG;
+    regList[1] = adis1650x::FILTER_CTRL_REG;
+    regList[2] = adis1650x::RANG_MDL_REG;
+    regList[3] = adis1650x::MSC_CTRL_REG;
+    regList[4] = adis1650x::DEC_RATE_REG;
+    regList[5] = adis1650x::PROD_ID_REG;
+    size_t transferLen =
+        adis1650x::prepareReadCommand(regList, sizeof(regList), cmdBuf.data(), cmdBuf.size());
+    result = readAdisCfg(*gyro.cookie, transferLen);
     if (result != returnvalue::OK) {
-      gyro.replyResult = returnvalue::FAILED;
+      gyro.replyResult = result;
       return;
     }
     result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
     if (result != returnvalue::OK or rawReply == nullptr) {
+      gyro.replyResult = result;
+      return;
+    }
+    uint16_t prodId = (rawReply[12] << 8) | rawReply[13];
+    if (((gyro.type == adis1650x::Type::ADIS16505) and (prodId != adis1650x::PROD_ID_16505)) or
+        ((gyro.type == adis1650x::Type::ADIS16507) and (prodId != adis1650x::PROD_ID_16507))) {
+      sif::warning << "AcsPollingTask: Invalid  ADIS product ID " << prodId << std::endl;
       gyro.replyResult = returnvalue::FAILED;
       return;
     }
-    uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
-
-    // Now verify the read checksum with the expected checksum according to datasheet p. 20
-    uint16_t calcChecksum = 0;
-    for (size_t idx = 2; idx < 20; idx++) {
-      calcChecksum += rawReply[idx];
-    }
-    if (checksum != calcChecksum) {
-      sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
-    auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
-    if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
-      sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
-                    " not implemented!"
-                 << std::endl;
-      gyro.replyResult = returnvalue::FAILED;
-      return;
-    }
-
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
-    gyro.ownReply.dataWasSet = true;
-    gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
-    gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
-    gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
-    gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
-
-    gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
-    gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
-    gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
-
-    gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
+    gyro.ownReply.cfgWasSet = true;
+    gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
+    gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
+    gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
+    gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
+    gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
+    gyro.ownReply.cfg.prodId = prodId;
+    gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
+    gyro.performStartup = false;
   }
+  // Read regular registers
+  std::memcpy(cmdBuf.data(), adis1650x::BURST_READ_ENABLE.data(),
+              adis1650x::BURST_READ_ENABLE.size());
+  std::memset(cmdBuf.data() + 2, 0, 10 * 2);
+  result = spiComIF.sendMessage(gyro.cookie, cmdBuf.data(), adis1650x::SENSOR_READOUT_SIZE);
+  if (result != returnvalue::OK) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  result = spiComIF.readReceivedMessage(gyro.cookie, &rawReply, &dummy);
+  if (result != returnvalue::OK or rawReply == nullptr) {
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+  uint16_t checksum = (rawReply[20] << 8) | rawReply[21];
+
+  // Now verify the read checksum with the expected checksum according to datasheet p. 20
+  uint16_t calcChecksum = 0;
+  for (size_t idx = 2; idx < 20; idx++) {
+    calcChecksum += rawReply[idx];
+  }
+  if (checksum != calcChecksum) {
+    sif::warning << "AcsPollingTask: Invalid ADIS reply checksum" << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  auto burstMode = adis1650x::burstModeFromMscCtrl(gyro.ownReply.cfg.mscCtrlReg);
+  if (burstMode != adis1650x::BurstModes::BURST_16_BURST_SEL_0) {
+    sif::error << "GyroADIS1650XHandler::interpretDeviceReply: Analysis for select burst mode"
+                  " not implemented!"
+               << std::endl;
+    gyro.replyResult = returnvalue::FAILED;
+    return;
+  }
+
+  MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
+  gyro.ownReply.dataWasSet = true;
+  gyro.ownReply.cfg.diagStat = rawReply[2] << 8 | rawReply[3];
+  gyro.ownReply.data.angVelocities[0] = (rawReply[4] << 8) | rawReply[5];
+  gyro.ownReply.data.angVelocities[1] = (rawReply[6] << 8) | rawReply[7];
+  gyro.ownReply.data.angVelocities[2] = (rawReply[8] << 8) | rawReply[9];
+
+  gyro.ownReply.data.accelerations[0] = (rawReply[10] << 8) | rawReply[11];
+  gyro.ownReply.data.accelerations[1] = (rawReply[12] << 8) | rawReply[13];
+  gyro.ownReply.data.accelerations[2] = (rawReply[14] << 8) | rawReply[15];
+
+  gyro.ownReply.data.temperatureRaw = (rawReply[16] << 8) | rawReply[17];
 }
 
 void AcsBoardPolling::mgmLis3Handler(MgmLis3& mgm) {
diff --git a/mission/devices/GyrAdis1650XHandler.cpp b/mission/devices/GyrAdis1650XHandler.cpp
index 73e9a0cd..7d576238 100644
--- a/mission/devices/GyrAdis1650XHandler.cpp
+++ b/mission/devices/GyrAdis1650XHandler.cpp
@@ -65,10 +65,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
     }
     case (InternalState::SHUTDOWN): {
       *id = adis1650x::REQUEST;
-      acs::Adis1650XRequest *request = reinterpret_cast<acs::Adis1650XRequest *>(cmdBuf.data());
-      request->mode = acs::SimpleSensorMode::OFF;
-      request->type = adisType;
-      return returnvalue::OK;
+      return preparePeriodicRequest(acs::SimpleSensorMode::OFF);
     }
     default: {
       return NOTHING_TO_SEND;