diff --git a/smacc/include/smacc/impl/smacc_state_machine_impl.h b/smacc/include/smacc/impl/smacc_state_machine_impl.h
index d014127e5..01084c384 100644
--- a/smacc/include/smacc/impl/smacc_state_machine_impl.h
+++ b/smacc/include/smacc/impl/smacc_state_machine_impl.h
@@ -426,10 +426,7 @@ namespace smacc
 
     this->updateStatusMessage();
 
-    {
-      std::lock_guard<std::recursive_mutex> lock(m_mutex_);
-      stateMachineCurrentAction = StateMachineInternalAction::STATE_STEADY;
-    }
+    stateMachineCurrentAction = StateMachineInternalAction::STATE_STEADY;
   }
 
   template <typename StateType>
@@ -444,26 +441,19 @@ namespace smacc
 
     this->updateStatusMessage();
 
-    {
-      std::lock_guard<std::recursive_mutex> lock(m_mutex_);
-      stateMachineCurrentAction = StateMachineInternalAction::STATE_ENTERING;
-    }
+    stateMachineCurrentAction = StateMachineInternalAction::STATE_ENTERING;
   }
 
   template <typename StateType>
   void ISmaccStateMachine::notifyOnRuntimeConfigured(StateType *state)
   {
-    std::lock_guard<std::recursive_mutex> lock(m_mutex_);
     stateMachineCurrentAction = StateMachineInternalAction::STATE_CONFIGURING;
   }
 
   template <typename StateType>
   void ISmaccStateMachine::notifyOnStateExitting(StateType *state)
   {
-    {
-      std::lock_guard<std::recursive_mutex> lock(m_mutex_);
-      stateMachineCurrentAction = StateMachineInternalAction::STATE_EXITING;
-    }
+    stateMachineCurrentAction = StateMachineInternalAction::STATE_EXITING;
 
     auto fullname = demangleSymbol(typeid(StateType).name());
     ROS_WARN_STREAM("exiting state: " << fullname);
@@ -533,7 +523,6 @@ namespace smacc
     ROS_WARN_STREAM("state exit: " << fullname);
 
     {
-      std::lock_guard<std::recursive_mutex> lock(m_mutex_);
       currentState_ = nullptr;
       stateMachineCurrentAction = StateMachineInternalAction::TRANSITIONING;
     }
diff --git a/smacc/include/smacc/smacc_state_base.h b/smacc/include/smacc/smacc_state_base.h
index 827b4d43a..f425c3343 100644
--- a/smacc/include/smacc/smacc_state_base.h
+++ b/smacc/include/smacc/smacc_state_base.h
@@ -10,6 +10,8 @@
 #include <smacc/smacc_event_generator.h>
 #include <smacc/introspection/state_traits.h>
 
+#include <type_traits>
+
 namespace smacc
 {
   using namespace smacc::introspection;
@@ -458,7 +460,9 @@ namespace smacc
       static_cast<MostDerived *>(this)->onEntry();
 
       // here orthogonals and client behaviors are entered OnEntry
-      this->getStateMachine().notifyOnStateEntryEnd(derivedthis);
+      if (std::is_same<mpl::list<>, InnerInitial>::value) {
+        this->getStateMachine().notifyOnStateEntryEnd(derivedthis);
+      }
     }
   };
 } // namespace smacc
diff --git a/smacc/include/smacc/smacc_state_machine.h b/smacc/include/smacc/smacc_state_machine.h
index fe04c1535..9329dd197 100644
--- a/smacc/include/smacc/smacc_state_machine.h
+++ b/smacc/include/smacc/smacc_state_machine.h
@@ -8,6 +8,7 @@
 #include <boost/any.hpp>
 #include <map>
 #include <mutex>
+#include <atomic>
 
 #include <smacc/common.h>
 #include <smacc/introspection/introspection.h>
@@ -182,7 +183,7 @@ class ISmaccStateMachine
     std::recursive_mutex m_mutex_;
     std::recursive_mutex eventQueueMutex_;
 
-    StateMachineInternalAction stateMachineCurrentAction;
+    std::atomic<StateMachineInternalAction> stateMachineCurrentAction;
 
     std::list<boost::signals2::connection> stateCallbackConnections;
 
diff --git a/smacc/src/smacc/signal_detector.cpp b/smacc/src/smacc/signal_detector.cpp
index d2729bb40..16d61d1e5 100644
--- a/smacc/src/smacc/signal_detector.cpp
+++ b/smacc/src/smacc/signal_detector.cpp
@@ -196,13 +196,10 @@ void SignalDetector::pollOnce()
       }
     }
 
-    auto currentStateMachineAction = this->smaccStateMachine_->stateMachineCurrentAction;
+    auto currentStateMachineAction = this->smaccStateMachine_->stateMachineCurrentAction.load();
 
     // STATE UPDATABLE ELEMENTS
-    if (currentStateMachineAction != StateMachineInternalAction::TRANSITIONING &&
-        currentStateMachineAction != StateMachineInternalAction::STATE_CONFIGURING &&
-        currentStateMachineAction != StateMachineInternalAction::STATE_EXITING &&
-        currentStateMachineAction != StateMachineInternalAction::STATE_ENTERING)
+    if (currentStateMachineAction == StateMachineInternalAction::STATE_STEADY)
     {
       // we do not update updatable elements during trasitioning or configuration of states
       long currentStateIndex = smaccStateMachine_->getCurrentStateCounter();