diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 8e7ae8d4..41ff69dd 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -178,6 +178,24 @@ void AcsController::performAttitudeControl() {
   result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,
                               &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) >
+              acsParameters.detumbleParameter.omegaDetumbleStart) {
+        detumbleCounter++;
+      }
+    } else if (detumbleCounter > 0) {
+      detumbleCounter -= 1;
+    }
+    if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
+      detumbleCounter = 0;
+      // Triggers detumble mode transition in subsystem
+      triggerEvent(acs::SAFE_RATE_VIOLATION);
+      startTransition(mode, acs::SafeSubmode::DETUMBLE);
+    }
+  }
+
   if (result != MultiplicativeKalmanFilter::MEKF_RUNNING and
       result != MultiplicativeKalmanFilter::MEKF_INITIALIZED) {
     if (not mekfInvalidFlag) {
@@ -284,33 +302,6 @@ void AcsController::performSafe() {
   actuatorCmd.cmdDipoleMtq(*acsParameters.magnetorquerParameter.inverseAlignment,
                            acsParameters.magnetorquerParameter.dipoleMax, magMomMtq, cmdDipoleMtqs);
 
-  // detumble check and switch
-  if (acsParameters.safeModeControllerParameters.useMekf) {
-    if (attitudeEstimationData.satRotRateMekf.isValid() and
-        VectorOperations<double>::norm(attitudeEstimationData.satRotRateMekf.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (acsParameters.safeModeControllerParameters.useGyr) {
-    if (gyrDataProcessed.gyrVecTot.isValid() and
-        VectorOperations<double>::norm(gyrDataProcessed.gyrVecTot.value, 3) >
-            acsParameters.detumbleParameter.omegaDetumbleStart) {
-      detumbleCounter++;
-    }
-  } else if (fusedRotRateData.rotRateTotal.isValid() and
-             VectorOperations<double>::norm(fusedRotRateData.rotRateTotal.value, 3) >
-                 acsParameters.detumbleParameter.omegaDetumbleStart) {
-    detumbleCounter++;
-  } else if (detumbleCounter > 0) {
-    detumbleCounter -= 1;
-  }
-  if (detumbleCounter > acsParameters.detumbleParameter.detumblecounter) {
-    detumbleCounter = 0;
-    // Triggers detumble mode transition in subsystem
-    triggerEvent(acs::SAFE_RATE_VIOLATION);
-    startTransition(mode, acs::SafeSubmode::DETUMBLE);
-  }
-
   updateCtrlValData(errAng, safeCtrlStrat);
   updateActuatorCmdData(cmdDipoleMtqs);
   commandActuators(cmdDipoleMtqs[0], cmdDipoleMtqs[1], cmdDipoleMtqs[2],