diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 3bf89d77..45ad4d91 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -185,8 +185,8 @@ void AcsController::performSafe() {
              VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
                  acsParameters.detumbleParameter.omegaDetumbleStart) {
     detumbleCounter++;
-  } else {
-    detumbleCounter = 0;
+  } else if (detumbleCounter > 0) {
+    detumbleCounter -= 1;
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;
@@ -235,8 +235,8 @@ void AcsController::performDetumble() {
              VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) <
                  acsParameters.detumbleParameter.omegaDetumbleEnd) {
     detumbleCounter++;
-  } else {
-    detumbleCounter = 0;
+  } else if (detumbleCounter > 0) {
+    detumbleCounter -= 1;
   }
   if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
     detumbleCounter = 0;