diff --git a/mission/controller/ThermalController.cpp b/mission/controller/ThermalController.cpp
index 562a665b..ebbb42a3 100644
--- a/mission/controller/ThermalController.cpp
+++ b/mission/controller/ThermalController.cpp
@@ -988,13 +988,15 @@ void ThermalController::ctrlAcsBoard() {
   sensors[4].first = sensorTemperatures.tcsBoard.isValid();
   sensors[4].second = sensorTemperatures.tcsBoard.value;
   numSensors = 5;
-  if (selectAndReadSensorTemp()) {
-    if (chooseHeater(switchNr, redSwitchNr)) {
-      HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
-      checkLimitsAndCtrlHeater(htrCtx);
+  {
+    HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
+    if (selectAndReadSensorTemp(htrCtx)) {
+      if (chooseHeater(switchNr, redSwitchNr)) {
+        checkLimitsAndCtrlHeater(htrCtx);
+      }
+      resetSensorsArray();
+      return;
     }
-    resetSensorsArray();
-    return;
   }
   resetSensorsArray();
   // B side
@@ -1007,15 +1009,18 @@ void ThermalController::ctrlAcsBoard() {
   sensors[3].first = sensorTemperatures.tcsBoard.isValid();
   sensors[3].second = sensorTemperatures.tcsBoard.value;
   numSensors = 4;
-  if (selectAndReadSensorTemp()) {
-    if (chooseHeater(switchNr, redSwitchNr)) {
-      HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
-      checkLimitsAndCtrlHeater(htrCtx);
-    }
-  } else {
-    if (chooseHeater(switchNr, redSwitchNr)) {
-      if (heaterHandler.getSwitchState(switchNr)) {
-        heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+
+  {
+    HeaterContext htrCtx(switchNr, redSwitchNr, acsBoardLimits);
+    if (selectAndReadSensorTemp(htrCtx)) {
+      if (chooseHeater(switchNr, redSwitchNr)) {
+        checkLimitsAndCtrlHeater(htrCtx);
+      }
+    } else {
+      if (chooseHeater(switchNr, redSwitchNr)) {
+        if (heaterHandler.getSwitchState(switchNr)) {
+          heaterHandler.switchHeater(switchNr, HeaterHandler::SwitchState::OFF);
+        }
       }
     }
   }
@@ -1546,7 +1551,7 @@ void ThermalController::performThermalModuleCtrl(const HeaterSwitchStates& heate
   heaterTransitionControl(heaterSwitchStates);
 }
 void ThermalController::ctrlComponentTemperature(HeaterContext& htrCtx) {
-  if (selectAndReadSensorTemp()) {
+  if (selectAndReadSensorTemp(htrCtx)) {
     if (chooseHeater(htrCtx.switchNr, htrCtx.redSwitchNr)) {
       checkLimitsAndCtrlHeater(htrCtx);
     }
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index 9ad72ed0..d531e813 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -31,8 +31,8 @@
  * limit is exceeded to avoid reaching NOP limit
  */
 struct TempLimits {
-  TempLimits(float opLowerLimit, float cutOffLimit, float opUpperLimit,
-             float nopUpperLimit, float sanityUpperLimit)
+  TempLimits(float nopLowerLimit, float opLowerLimit, float cutOffLimit, float opUpperLimit,
+             float nopUpperLimit)
       : opLowerLimit(opLowerLimit),
         opUpperLimit(opUpperLimit),
         cutOffLimit(cutOffLimit),
@@ -91,8 +91,8 @@ class ThermalController : public ExtendedControllerBase {
  public:
   static const uint16_t INVALID_TEMPERATURE = 999;
   static const uint8_t NUMBER_OF_SENSORS = 16;
-  static constexpr uint16_t SANITY_LIMIT_LOWER_TEMP = -80;
-  static constexpr uint16_t SANITY_LIMIT_UPPER_TEMP = 160;
+  static constexpr int16_t SANITY_LIMIT_LOWER_TEMP = -80;
+  static constexpr int16_t SANITY_LIMIT_UPPER_TEMP = 160;
 
   ThermalController(object_id_t objectId, HeaterHandler& heater);
 
@@ -220,7 +220,7 @@ class ThermalController : public ExtendedControllerBase {
   lp_var_t<float> tempAdcPayloadPcdu = lp_var_t<float>(objects::PLPCDU_HANDLER, plpcdu::TEMP);
 
   // TempLimits
-  TempLimits acsBoardLimits = TempLimits(5-40.0, -40.0, 80.0, 85.0, 85.0);
+  TempLimits acsBoardLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits mgtLimits = TempLimits(-40.0, -40.0, 65.0, 70.0, 70.0);
   TempLimits rwLimits = TempLimits(-40.0, -40.0, 80.0, 85.0, 85.0);
   TempLimits strLimits = TempLimits(-30.0, -20.0, 65.0, 70.0, 80.0);