diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
index 2b69c619843b5ff7f9e6d0bca12ea1129ccd98ec..4370456d46ae8ff1eaa87efcfed140c77c2d09e7 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.cpp
@@ -74,14 +74,23 @@ Actuators::Actuators()
 }
 
 /**
- * @brief Enables all the stepperPWM
+ * @brief Dummy start for actuators
+ * @note The real enable is done by the `arm()` method
  */
-void Actuators::start()
+void Actuators::start() {}
+
+void Actuators::arm()
 {
     stepperX.enable();
     stepperY.enable();
 }
 
+void Actuators::disarm()
+{
+    stepperX.disable();
+    stepperY.disable();
+}
+
 void Actuators::setSpeed(StepperList axis, float speed)
 {
 
diff --git a/src/boards/Groundstation/Automated/Actuators/Actuators.h b/src/boards/Groundstation/Automated/Actuators/Actuators.h
index c78b9e7ab3614c0a0671280c8d62c56e282a7f21..261104845ca0330bf608d07d391ca46c90d57047 100644
--- a/src/boards/Groundstation/Automated/Actuators/Actuators.h
+++ b/src/boards/Groundstation/Automated/Actuators/Actuators.h
@@ -59,10 +59,21 @@ public:
     Actuators();
 
     /**
-     * @brief Enables all the servos PWMs
+     * @brief Dummy start for actuators
+     * @note The real enable is done by the `arm()` method
      */
     void start();
 
+    /**
+     * @brief Enables the actuators
+     */
+    void arm();
+
+    /**
+     * @brief Disables the actuators
+     */
+    void disarm();
+
     void IRQemergencyStop();
     void IRQemergencyStopRecovery();
 
diff --git a/src/boards/Groundstation/Automated/SMController/SMController.cpp b/src/boards/Groundstation/Automated/SMController/SMController.cpp
index d9c5ab6cc8d21521028fd5a47c8bdf590164dc74..fd14eb265a84cc43db96a73069653ba61f5bbf6a 100644
--- a/src/boards/Groundstation/Automated/SMController/SMController.cpp
+++ b/src/boards/Groundstation/Automated/SMController/SMController.cpp
@@ -298,6 +298,7 @@ State SMController::state_feedback(const Event& event)
         }
         case EV_EXIT:
         {
+            ModuleManager::getInstance().get<Actuators>()->disarm();
             return HANDLED;
         }
         case EV_EMPTY:
@@ -331,6 +332,7 @@ State SMController::state_no_feedback(const Event& event)
         }
         case EV_EXIT:
         {
+            ModuleManager::getInstance().get<Actuators>()->disarm();
             return HANDLED;
         }
         case EV_EMPTY:
@@ -503,6 +505,7 @@ State SMController::state_armed(const Event& event)
         case EV_ENTRY:
         {
             logStatus(SMControllerState::ARMED);
+            ModuleManager::getInstance().get<Actuators>()->arm();
             return HANDLED;
         }
         case EV_EXIT:
@@ -732,6 +735,7 @@ State SMController::state_armed_nf(const Event& event)
         case EV_ENTRY:
         {
             logStatus(SMControllerState::ARMED_NF);
+            ModuleManager::getInstance().get<Actuators>()->arm();
             return HANDLED;
         }
         case EV_EXIT: