diff --git a/MainModesArbiter.c b/MainModesArbiter.c
index 191e2ad..0207e27 100644
--- a/MainModesArbiter.c
+++ b/MainModesArbiter.c
@@ -40,11 +40,6 @@ static bool isActuatorCommandSet_in_Model() {
     return false;
 }
 
-static void clearActuatorCommand_in_Model() {
-    for (uint8_t i = 0; i < LIN0_ISSR_ALL; ++i) {
-        rtY.Out1.COM[i] = 0;
-    }
-}
 
 static _Noreturn void Mma_Thread(tMma *env) {
 
@@ -78,6 +73,11 @@ static _Noreturn void Mma_Thread(tMma *env) {
                     env->linTaskActuator0.linCommandActuator[i].POS = env->rtY_local.Out1.POS[i];
                     env->linTaskActuator0.linCommandActuator[i].BUS_ADR = env->rtY_local.Out1.BUS_ADR[i];
                     env->linTaskActuator0.linCommandActuator[i].MODE = env->rtY_local.Out1.MODE[i];
+
+                    if (env->linTaskActuator0.linCommandActuator[i].COM == LIN_ACT_CFR_SUCCESSFUL) {
+                        env->rtY_local.Out1.COM[i] = LIN_ACT_CFR_NONE;
+                    }
+
                     env->linTaskActuator0.linCommandActuator[i].COM = env->rtY_local.Out1.COM[i];
                     env->linTaskActuator0.linCommandActuator[i].Stall_SET = env->rtY_local.Out1.Stall_SET[i];
                     env->linTaskActuator0.linCommandActuator[i].Lnoise_SET = env->rtY_local.Out1.Lnoise_SET[i];
@@ -109,10 +109,14 @@ static _Noreturn void Mma_Thread(tMma *env) {
 
         if (osMutexAcquire(env->ModelTask.access, 5000) == osOK) {
 
+            if (env->ModelTask.isActuatorOverrideBusy == true) {
+                env->rtU_local.in_Busy_Ch0 = 1;
+            }
+
             memcpy(&rtU, &env->rtU_local, sizeof(ExtU));
 
+
             if ((isActuatorCommandSet_in_Model() == true) && (isActuatorBusy == false)) {
-                clearActuatorCommand_in_Model();
                 isActuatorBusy = true;
                 memcpy(&env->rtY_local.Out1, &rtY.Out1, sizeof(rtY.Out1));
             }