diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index 7ba8dc13..dcfc17b0 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -30,10 +30,12 @@ static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
 //!< MEKF was not able to compute a solution.
 static constexpr Event MEKF_INVALID_INFO = MAKE_EVENT(3, severity::INFO);
+//!< MEKF is able to compute a solution again.
+static constexpr Event MEKF_RECOVERY = MAKE_EVENT(4, severity::INFO);
 //!< MEKF was not able to compute a solution during any pointing ACS mode for a prolonged time.
-static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(4, severity::HIGH);
+static constexpr Event MEKF_INVALID_MODE_VIOLATION = MAKE_EVENT(5, severity::HIGH);
 //!< The ACS safe mode controller was not able to compute a solution and has failed.
-static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(5, severity::HIGH);
+static constexpr Event SAFE_MODE_CONTROLLER_FAILURE = MAKE_EVENT(6, severity::HIGH);
 
 extern const char* getModeStr(AcsMode mode);
 
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index b275960b..4b865ee3 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -289,6 +289,7 @@ void AcsController::performPointingCtrl() {
                                             &susDataProcessed, &mekfData, &acsParameters);
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING &&
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
+    mekfInvalidCounter++;
     if (not mekfInvalidFlag) {
       triggerEvent(acs::MEKF_INVALID_INFO);
       mekfInvalidFlag = true;
@@ -299,15 +300,18 @@ void AcsController::performPointingCtrl() {
     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;
     }
-    mekfInvalidCounter++;
     //    commandActuators(0, 0, 0, acsParameters.magnetorquesParameter.torqueDuration,
     //    cmdSpeedRws[0],
     //                     cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
     //                     acsParameters.rwHandlingParameters.rampTime);
     return;
   } else {
-    mekfInvalidFlag = false;
+    if (mekfInvalidFlag) {
+      triggerEvent(acs::MEKF_RECOVERY);
+      mekfInvalidFlag = false;
+    }
     mekfInvalidCounter = 0;
   }
   uint8_t enableAntiStiction = true;