diff --git a/mission/acs/defs.h b/mission/acs/defs.h
index 3a62b51f..67fcf024 100644
--- a/mission/acs/defs.h
+++ b/mission/acs/defs.h
@@ -66,8 +66,10 @@ enum Source : uint8_t {
 static const uint8_t SUBSYSTEM_ID = SUBSYSTEM_ID::ACS_SUBSYSTEM;
 //! [EXPORT] : [COMMENT] The limits for the rotation in safe mode were violated.
 static constexpr Event SAFE_RATE_VIOLATION = MAKE_EVENT(0, severity::MEDIUM);
-//! [EXPORT] : [COMMENT] The system has recovered from a safe rate rotation violation.
-static constexpr Event SAFE_RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The limits for the rotation in pointing mode were violated.
+static constexpr Event PTG_RATE_VIOLATION = MAKE_EVENT(10, severity::MEDIUM);
+//! [EXPORT] : [COMMENT] The system has recovered from a rate rotation violation.
+static constexpr Event RATE_RECOVERY = MAKE_EVENT(1, severity::MEDIUM);
 //! [EXPORT] : [COMMENT] Multiple RWs are invalid, uncommandable and therefore higher ACS modes
 //! cannot be maintained.
 static constexpr Event MULTIPLE_RW_INVALID = MAKE_EVENT(2, severity::HIGH);
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 4980cbcd..9ed6b1c5 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -179,22 +179,38 @@ void AcsController::performAttitudeControl() {
                               &susDataProcessed, &attitudeEstimationData, &acsParameters);
 
   if (not submode == acs::SafeSubmode::DETUMBLE) {
-    if (acsParameters.safeModeControllerParameters.useMekf) {
-      if (mgmDataProcessed.mgmVecTotDerivative.isValid() and
-          VectorOperations<double>::norm(mgmDataProcessed.mgmVecTotDerivative.value,
-                                         3) >  // units do not agree
+  }
+
+  switch (detumbleState) {
+    case DetumbleState::NO_DETUMBLE:
+      if (fusedRotRateData.rotRateTotal.isValid() and
+          VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
               acsParameters.detumbleParameter.omegaDetumbleStart) {
         detumbleCounter++;
+      } else if (detumbleCounter > 0) {
+        detumbleCounter -= 1;
       }
-    } else if (detumbleCounter > 0) {
-      detumbleCounter -= 1;
-    }
-    if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+      if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+        if (mode == acs::AcsMode::SAFE) {
+          detumbleState = DetumbleState::DETUMBLE_FROM_SAFE;
+          break;
+        }
+        detumbleState = DetumbleState::DETUMBLE_FROM_PTG;
+      }
+      break;
+    case DetumbleState::DETUMBLE_FROM_PTG:
+      triggerEvent(acs::PTG_RATE_VIOLATION);
+      break;
+    case DetumbleState::DETUMBLE_FROM_SAFE:
       detumbleCounter = 0;
       // Triggers detumble mode transition in subsystem
       triggerEvent(acs::SAFE_RATE_VIOLATION);
-      startTransition(mode, acs::SafeSubmode::DETUMBLE);  // this does not work
-    }
+      startTransition(mode, acs::SafeSubmode::DETUMBLE);
+      break;
+    case DetumbleState::IN_DETUMBLE:
+      break;
+    default:
+      sif::error << "AcsController: Invalid DetumbleState: " << detumbleState << std::endl;
   }
 
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
diff --git a/mission/controller/AcsController.h b/mission/controller/AcsController.h
index aa2b9411..2d832f4f 100644
--- a/mission/controller/AcsController.h
+++ b/mission/controller/AcsController.h
@@ -101,6 +101,9 @@ class AcsController : public ExtendedControllerBase, public ReceivesParameterMes
   enum class InternalState { STARTUP, INITIAL_DELAY, READY };
   InternalState internalState = InternalState::STARTUP;
 
+  enum class DetumbleState { NO_DETUMBLE, DETUMBLE_FROM_SAFE, DETUMBLE_FROM_PTG, IN_DETUMBLE };
+  DetumbleState detumbleState = DetumbleState::NO_DETUMBLE;
+
   /** Device command IDs */
   static const DeviceCommandId_t SOLAR_ARRAY_DEPLOYMENT_SUCCESSFUL = 0x0;
   static const DeviceCommandId_t RESET_MEKF = 0x1;