diff --git a/mission/acsDefs.h b/mission/acsDefs.h
index ca4ab77c..170305bb 100644
--- a/mission/acsDefs.h
+++ b/mission/acsDefs.h
@@ -7,7 +7,7 @@
 namespace acs {
 
 // These modes are the submodes of the ACS controller and the modes of the ACS subsystem.
-enum AcsModes {
+enum AcsMode {
   OFF = HasModesIF::MODE_OFF,
   SAFE = 10,
   DETUMBLE = 11,
diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 50f22483..14069b0a 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -426,7 +426,7 @@ ReturnValue_t AcsController::checkModeCommand(Mode_t mode, Submode_t submode,
       return INVALID_SUBMODE;
     }
   } else if ((mode == MODE_ON) || (mode == MODE_NORMAL)) {
-    if ((submode < acs::AcsModes::SAFE) or (submode > acs::AcsModes::PTG_TARGET_INERTIAL)) {
+    if ((submode < acs::AcsMode::SAFE) or (submode > acs::AcsMode::PTG_TARGET_INERTIAL)) {
       return INVALID_SUBMODE;
     } else {
       return returnvalue::OK;
diff --git a/mission/system/objects/AcsSubsystem.cpp b/mission/system/objects/AcsSubsystem.cpp
index 800c4344..dcf4e67b 100644
--- a/mission/system/objects/AcsSubsystem.cpp
+++ b/mission/system/objects/AcsSubsystem.cpp
@@ -58,7 +58,7 @@ void AcsSubsystem::handleEventMessages() {
       case EventMessage::EVENT_MESSAGE:
         if (event.getEvent() == acs::SAFE_RATE_VIOLATION) {
           CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::AcsModes::DETUMBLE, 0);
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::DETUMBLE, 0);
           ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending DETUMBLE mode cmd to self has failed" << std::endl;
@@ -66,7 +66,7 @@ void AcsSubsystem::handleEventMessages() {
         }
         if (event.getEvent() == acs::SAFE_RATE_RECOVERY) {
           CommandMessage msg;
-          ModeMessage::setCmdModeMessage(msg, acs::AcsModes::SAFE, 0);
+          ModeMessage::setCmdModeMessage(msg, acs::AcsMode::SAFE, 0);
           ReturnValue_t result = commandQueue->sendMessage(commandQueue->getId(), &msg);
           if (result != returnvalue::OK) {
             sif::error << "AcsSubsystem: sending IDLE mode cmd to self has failed" << std::endl;
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index db7d7a81..fe87dff5 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -30,69 +30,69 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& entryHelper);
 static const auto OFF = HasModesIF::MODE_OFF;
 static const auto NML = DeviceHandlerIF::MODE_NORMAL;
 
-auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsModes::OFF, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_OFF = std::make_pair(acs::AcsMode::OFF, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_OFF_TGT =
-    std::make_pair((acs::AcsModes::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 1, FixedArrayList<ModeListEntry, 1>());
 auto ACS_TABLE_OFF_TRANS_0 =
-    std::make_pair((acs::AcsModes::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 2, FixedArrayList<ModeListEntry, 1>());
 auto ACS_TABLE_OFF_TRANS_1 =
-    std::make_pair((acs::AcsModes::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::OFF << 24) | 3, FixedArrayList<ModeListEntry, 6>());
 
 auto ACS_SEQUENCE_DETUMBLE =
-    std::make_pair(acs::AcsModes::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::DETUMBLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_DETUMBLE_TGT =
-    std::make_pair((acs::AcsModes::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_DETUMBLE_TRANS_0 =
-    std::make_pair((acs::AcsModes::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_DETUMBLE_TRANS_1 =
-    std::make_pair((acs::AcsModes::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::DETUMBLE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsModes::SAFE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_SAFE = std::make_pair(acs::AcsMode::SAFE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_SAFE_TGT =
-    std::make_pair((acs::AcsModes::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 1, FixedArrayList<ModeListEntry, 4>());
 auto ACS_TABLE_SAFE_TRANS_0 =
-    std::make_pair((acs::AcsModes::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 auto ACS_TABLE_SAFE_TRANS_1 =
-    std::make_pair((acs::AcsModes::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::SAFE << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
-auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsModes::IDLE, FixedArrayList<ModeListEntry, 3>());
+auto ACS_SEQUENCE_IDLE = std::make_pair(acs::AcsMode::IDLE, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_IDLE_TGT =
-    std::make_pair((acs::AcsModes::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_0 =
-    std::make_pair((acs::AcsModes::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 2, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_IDLE_TRANS_1 =
-    std::make_pair((acs::AcsModes::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
+    std::make_pair((acs::AcsMode::IDLE << 24) | 3, FixedArrayList<ModeListEntry, 2>());
 
 auto ACS_TABLE_PTG_TRANS_0 =
-    std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 2, FixedArrayList<ModeListEntry, 5>());
 
 auto ACS_SEQUENCE_PTG_TARGET =
-    std::make_pair(acs::AcsModes::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_TGT =
-    std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_TRANS_1 =
-    std::make_pair((acs::AcsModes::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::PTG_TARGET << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_GS =
-    std::make_pair(acs::AcsModes::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET_GS, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_GS_TGT =
-    std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_GS_TRANS_1 =
-    std::make_pair((acs::AcsModes::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    std::make_pair((acs::AcsMode::PTG_TARGET_GS << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_NADIR =
-    std::make_pair(acs::AcsModes::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
-auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsModes::PTG_TARGET_NADIR << 24) | 1,
+    std::make_pair(acs::AcsMode::PTG_TARGET_NADIR, FixedArrayList<ModeListEntry, 3>());
+auto ACS_TABLE_PTG_TARGET_NADIR_TGT = std::make_pair((acs::AcsMode::PTG_TARGET_NADIR << 24) | 1,
                                                      FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_NADIR_TRANS_1 = std::make_pair(
-    (acs::AcsModes::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    (acs::AcsMode::PTG_TARGET_NADIR << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 auto ACS_SEQUENCE_PTG_TARGET_INERTIAL =
-    std::make_pair(acs::AcsModes::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
+    std::make_pair(acs::AcsMode::PTG_TARGET_INERTIAL, FixedArrayList<ModeListEntry, 3>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TGT = std::make_pair(
-    (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
+    (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 1, FixedArrayList<ModeListEntry, 6>());
 auto ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1 = std::make_pair(
-    (acs::AcsModes::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
+    (acs::AcsMode::PTG_TARGET_INERTIAL << 24) | 3, FixedArrayList<ModeListEntry, 1>());
 
 void satsystem::acs::init() {
   ModeListEntry entry;
@@ -122,7 +122,7 @@ void satsystem::acs::init() {
   buildTargetPtGsSequence(ACS_SUBSYSTEM, entry);
   buildTargetPtNadirSequence(ACS_SUBSYSTEM, entry);
   buildTargetPtInertialSequence(ACS_SUBSYSTEM, entry);
-  ACS_SUBSYSTEM.setInitialMode(::acs::AcsModes::SAFE);
+  ACS_SUBSYSTEM.setInitialMode(::acs::AcsMode::SAFE);
 }
 
 namespace {
@@ -190,7 +190,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build SAFE target
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
@@ -206,7 +206,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build SAFE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_1.second, ACS_TABLE_SAFE_TRANS_1.first, false, true),
         ctxc);
 
@@ -239,7 +239,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build DETUMBLE target
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
@@ -257,7 +257,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
         ctxc);
 
   // Build DETUMBLE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_1.second, ACS_TABLE_DETUMBLE_TRANS_1.first, false,
                     true),
         ctxc);
@@ -291,7 +291,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
     check(sequence.insert(eh), ctxc);
   };
   // Build IDLE target
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
@@ -307,7 +307,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
 
   // Build IDLE transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::IDLE, ACS_TABLE_IDLE_TRANS_1.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_1.second, ACS_TABLE_IDLE_TRANS_1.first, false, true);
 
   // Build IDLE sequence
@@ -339,7 +339,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
@@ -350,7 +350,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_TRANS_1.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TRANS_1.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, false,
                     true),
@@ -386,7 +386,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
@@ -399,7 +399,7 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_NADIR,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_NADIR,
       ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_NADIR_TRANS_1.second)),
@@ -436,7 +436,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
@@ -449,7 +449,7 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_GS,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_GS_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_GS_TRANS_1.second)),
@@ -485,7 +485,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   };
 
   // Build TARGET PT table
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::IMTQ_HANDLER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
@@ -498,7 +498,7 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Transition 0 already built
   // Build TARGET PT transition 1
-  iht(objects::ACS_CONTROLLER, NML, acs::AcsModes::PTG_TARGET_INERTIAL,
+  iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.first,
                                &ACS_TABLE_PTG_TARGET_INERTIAL_TRANS_1.second)),