diff --git a/mission/controller/acs/SensorProcessing.cpp b/mission/controller/acs/SensorProcessing.cpp
index c1030c7b..4cc15a16 100644
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@@ -150,7 +150,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
   }
   timeOfSavedMagFieldEst = timeOfMgmMeasurement;
 
-  if (mgmDataProcessed->mgmVecTotDerivative.isValid()) {
+  if (VectorOperations<double>::norm(mgmVecTotDerivative, 3) != 0 and
+      mgmDataProcessed->mgmVecTotDerivative.isValid()) {
     lowPassFilter(mgmVecTotDerivative, mgmDataProcessed->mgmVecTotDerivative.value,
                   mgmParameters->mgmDerivativeFilterWeight);
   }
@@ -533,7 +534,7 @@ void SensorProcessing::processGyr(
     }
   }
 
-  if (gyrDataProcessed->gyrVecTot.isValid()) {
+  if (VectorOperations<double>::norm(gyrVecTot, 3) != 0 and gyrDataProcessed->gyrVecTot.isValid()) {
     lowPassFilter(gyrVecTot, gyrDataProcessed->gyrVecTot.value, gyrParameters->gyrFilterWeight);
   }