diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 5a606304..8b484fb4 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -169,23 +169,24 @@ void AcsController::performAttitudeControl() {
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                               &susDataProcessed, &mekfData, &acsParameters);
 
+  if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
+      result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
+    if (not mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_INVALID_INFO, static_cast<uint32_t>(mekfData.mekfStatus.value));
+      mekfInvalidFlag = true;
+    }
+    if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
+      triggerEvent(acs::MEKF_AUTOMATIC_RESET);
+      navigation.resetMekf(&mekfData);
+      mekfLost = true;
+    }
+  } else if (mekfInvalidFlag) {
+    triggerEvent(acs::MEKF_RECOVERY);
+    mekfInvalidFlag = false;
+  }
+
   switch (mode) {
     case acs::SAFE:
-      if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
-          result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-        if (not mekfInvalidFlag) {
-          triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-          mekfInvalidFlag = true;
-        }
-        if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
-          triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-          navigation.resetMekf(&mekfData);
-          mekfLost = true;
-        }
-      } else if (mekfInvalidFlag) {
-        triggerEvent(acs::MEKF_RECOVERY);
-        mekfInvalidFlag = false;
-      }
       switch (submode) {
         case SUBMODE_NONE:
           performSafe();
@@ -200,35 +201,6 @@ void AcsController::performAttitudeControl() {
     case acs::PTG_TARGET_GS:
     case acs::PTG_NADIR:
     case acs::PTG_INERTIAL:
-      if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
-          result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
-        mekfInvalidCounter++;
-        if (not mekfInvalidFlag) {
-          triggerEvent(acs::MEKF_INVALID_INFO, (uint32_t)mekfData.mekfStatus.value);
-          mekfInvalidFlag = true;
-        }
-        if (result == MultiplicativeKalmanFilter::MEKF_NOT_FINITE and not mekfLost) {
-          triggerEvent(acs::MEKF_AUTOMATIC_RESET);
-          navigation.resetMekf(&mekfData);
-          mekfLost = true;
-        }
-        if (mekfInvalidCounter > acsParameters.onBoardParams.mekfViolationTimer) {
-          // Trigger this so STR FDIR can set the device faulty.
-          EventManagerIF::triggerEvent(objects::STAR_TRACKER, acs::MEKF_INVALID_MODE_VIOLATION, 0,
-                                       0);
-          mekfInvalidCounter = 0;
-        }
-        commandActuators(0, 0, 0, acsParameters.magnetorquerParameter.torqueDuration,
-                         cmdSpeedRws[0], cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
-                         acsParameters.rwHandlingParameters.rampTime);
-        return;
-      } else {
-        if (mekfInvalidFlag) {
-          triggerEvent(acs::MEKF_RECOVERY);
-          mekfInvalidFlag = false;
-        }
-        mekfInvalidCounter = 0;
-      }
       performPointingCtrl();
       break;
   }