diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index 02c0e094..73000234 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -167,6 +167,7 @@ void AcsController::performSafe() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  navigation.useSpg4(now, &gpsDataProcessed);
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
@@ -292,6 +293,7 @@ void AcsController::performDetumble() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  navigation.useSpg4(now, &gpsDataProcessed);
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   fusedRotationEstimation.estimateFusedRotationRateSafe(&susDataProcessed, &mgmDataProcessed,
@@ -378,6 +380,7 @@ void AcsController::performPointingCtrl() {
   timeval now;
   Clock::getClock_timeval(&now);
 
+  navigation.useSpg4(now, &gpsDataProcessed);
   sensorProcessing.process(now, &sensorValues, &mgmDataProcessed, &susDataProcessed,
                            &gyrDataProcessed, &gpsDataProcessed, &acsParameters);
   ReturnValue_t result = navigation.useMekf(&sensorValues, &gyrDataProcessed, &mgmDataProcessed,