diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 7f69936c..1f9df068 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -146,10 +146,10 @@ void AcsController::performControlOperation() {
     {
       PoolReadGuard pg(&ctrlValData);
       if (pg.getReadResult() == returnvalue::OK) {
-        double zeroQuat[4] = {0, 0, 0, 0};
-        std::memcpy(ctrlValData.tgtQuat.value, zeroQuat, 4 * sizeof(double));
+        double unitQuat[4] = {0, 0, 0, 1};
+        std::memcpy(ctrlValData.tgtQuat.value, unitQuat, 4 * sizeof(double));
         ctrlValData.tgtQuat.setValid(false);
-        std::memcpy(ctrlValData.errQuat.value, zeroQuat, 4 * sizeof(double));
+        std::memcpy(ctrlValData.errQuat.value, unitQuat, 4 * sizeof(double));
         ctrlValData.errQuat.setValid(false);
         ctrlValData.errAng.value = errAng;
         ctrlValData.errAng.setValid(true);
@@ -178,10 +178,9 @@ void AcsController::performControlOperation() {
     {
       PoolReadGuard pg(&actuatorCmdData);
       if (pg.getReadResult() == returnvalue::OK) {
-        int32_t zeroVec[4] = {0, 0, 0, 0};
-        std::memcpy(actuatorCmdData.rwTargetTorque.value, zeroVec, 4 * sizeof(int32_t));
+        std::memset(actuatorCmdData.rwTargetTorque.value, 0, 4 * sizeof(int32_t));
         actuatorCmdData.rwTargetTorque.setValid(false);
-        std::memcpy(actuatorCmdData.rwTargetSpeed.value, zeroVec, 4 * sizeof(int32_t));
+        std::memset(actuatorCmdData.rwTargetSpeed.value, 0, 4 * sizeof(int32_t));
         actuatorCmdData.rwTargetSpeed.setValid(false);
         std::memcpy(actuatorCmdData.mtqTargetDipole.value, dipolCmdUnits, 3 * sizeof(int16_t));
         actuatorCmdData.mtqTargetDipole.setValid(true);
diff --git a/mission/controller/acs/control/SafeCtrl.cpp b/mission/controller/acs/control/SafeCtrl.cpp
index 88f4de9b..aa04cbb6 100644
--- a/mission/controller/acs/control/SafeCtrl.cpp
+++ b/mission/controller/acs/control/SafeCtrl.cpp
@@ -87,7 +87,7 @@ ReturnValue_t SafeCtrl::safeMekf(timeval now, double *quatBJ, bool quatBJValid,
   return returnvalue::OK;
 }
 
-// Will be the version in worst case scenario in event of no working MEKF (nor RMUs)
+// Will be the version in worst case scenario in event of no working MEKF (nor GYRs)
 void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, double *sunRateB,
                           bool sunRateBValid, double *magFieldB, bool magFieldBValid,
                           double *magRateB, bool magRateBValid, double *sunDirRef,
@@ -127,18 +127,17 @@ void SafeCtrl::safeNoMekf(timeval now, double *susDirB, bool susDirBValid, doubl
   VectorOperations<double>::mulScalar(estSatRate, 0.5, estSatRate, 3);
 
   /* Only valid if angle between sun direction and magnetic field direction
-     is sufficiently large */
-
+   * is sufficiently large */
   double angleSunMag = acos(cosAngleSunMag);
   if (angleSunMag < safeModeControllerParameters->sunMagAngleMin) {
     return;
   }
 
-  //    Rate for Torque Calculation
+  // Rate for Torque Calculation
   double diffRate[3] = {0, 0, 0}; /* ADD TO MONITORING */
   VectorOperations<double>::subtract(estSatRate, satRateRef, diffRate, 3);
 
-  //    Torque Align calculation
+  // Torque Align calculation
   double kRateNoMekf = 0, kAlignNoMekf = 0;
   kRateNoMekf = safeModeControllerParameters->k_rate_no_mekf;
   kAlignNoMekf = safeModeControllerParameters->k_align_no_mekf;