diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 6b43bc5c..8fcbcbca 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -173,7 +173,7 @@ void AcsController::performAttitudeControl() {
                            &susDataProcessed, &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   attitudeEstimation.quest(&susDataProcessed, &mgmDataProcessed, &attitudeEstimationData);
   fusedRotationEstimation.estimateFusedRotationRate(
-      modeIsSafe, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
+      mode, &susDataProcessed, &mgmDataProcessed, &gyrDataProcessed, &sensorValues,
       &attitudeEstimationData, timeDelta, &fusedRotRateSourcesData, &fusedRotRateData);
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                               &susDataProcessed, &attitudeEstimationData, &acsParameters);
@@ -914,9 +914,6 @@ void AcsController::modeChanged(Mode_t mode, Submode_t submode) {
       PoolReadGuard pg(&rw4SpeedSet);
       rw4SpeedSet.setRwSpeed(0, 10);
     }
-    modeIsSafe = true;
-  } else {
-    modeIsSafe = false;
   }
   if (submode == acs::SafeSubmode::DETUMBLE) {
     detumbleState = DetumbleState::IN_DETUMBLE;
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index c878bb6e..e8102f35 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -62,8 +62,6 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   double timeDelta = 0.0;
   timeval oldTimeRelative;
 
-  bool modeIsSafe = true;
-
   AcsParameters acsParameters;
   SensorProcessing sensorProcessing;
   AttitudeEstimation attitudeEstimation;
diff --git a/mission/controller/acs/FusedRotationEstimation.cpp b/mission/controller/acs/FusedRotationEstimation.cpp
index 943d5733..2aea742c 100644
--- a/mission/controller/acs/FusedRotationEstimation.cpp
+++ b/mission/controller/acs/FusedRotationEstimation.cpp
@@ -5,7 +5,7 @@ FusedRotationEstimation::FusedRotationEstimation(AcsParameters *acsParameters_)
 }
 
 void FusedRotationEstimation::estimateFusedRotationRate(
-    const bool modeIsSafe, acsctrl::SusDataProcessed *susDataProcessed,
+    const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
     acsctrl::MgmDataProcessed *mgmDataProcessed, acsctrl::GyrDataProcessed *gyrDataProcessed,
     ACS::SensorValues *sensorValues, acsctrl::AttitudeEstimationData *attitudeEstimationData,
     const double timeDelta, acsctrl::FusedRotRateSourcesData *fusedRotRateSourcesData,
@@ -15,8 +15,8 @@ void FusedRotationEstimation::estimateFusedRotationRate(
   estimateFusedRotationRateSusMgm(susDataProcessed, mgmDataProcessed, gyrDataProcessed,
                                   fusedRotRateSourcesData);
 
-  if (not modeIsSafe and fusedRotRateSourcesData->rotRateTotalStr.isValid() and
-      acsParameters->onBoardParams.fusedRateFromStr) {
+  if (not(mode == acs::AcsMode::SAFE) and (fusedRotRateSourcesData->rotRateTotalStr.isValid() and
+                                           acsParameters->onBoardParams.fusedRateFromStr)) {
     PoolReadGuard pg(fusedRotRateData);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
@@ -29,8 +29,9 @@ void FusedRotationEstimation::estimateFusedRotationRate(
       fusedRotRateData->rotRateSource.value = acs::rotrate::Source::STR;
       fusedRotRateData->rotRateSource.setValid(true);
     }
-  } else if (not modeIsSafe and fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
-             acsParameters->onBoardParams.fusedRateFromQuest) {
+  } else if (not(mode == acs::AcsMode::SAFE) and
+             (fusedRotRateSourcesData->rotRateTotalQuest.isValid() and
+              acsParameters->onBoardParams.fusedRateFromQuest)) {
     PoolReadGuard pg(fusedRotRateData);
     if (pg.getReadResult() == returnvalue::OK) {
       std::memcpy(fusedRotRateData->rotRateOrthogonal.value, ZERO_VEC3, 3 * sizeof(double));
diff --git a/mission/controller/acs/FusedRotationEstimation.h b/mission/controller/acs/FusedRotationEstimation.h
index b95acd05..d8e0bdae 100644
--- a/mission/controller/acs/FusedRotationEstimation.h
+++ b/mission/controller/acs/FusedRotationEstimation.h
@@ -12,7 +12,7 @@ class FusedRotationEstimation {
  public:
   FusedRotationEstimation(AcsParameters *acsParameters_);
 
-  void estimateFusedRotationRate(const bool modeIsSafe, acsctrl::SusDataProcessed *susDataProcessed,
+  void estimateFusedRotationRate(const Mode_t mode, acsctrl::SusDataProcessed *susDataProcessed,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
                                  ACS::SensorValues *sensorValues,