diff --git a/linux/fsfwconfig/OBSWConfig.h.in b/linux/fsfwconfig/OBSWConfig.h.in
index b3002cf4..ce1a7526 100644
--- a/linux/fsfwconfig/OBSWConfig.h.in
+++ b/linux/fsfwconfig/OBSWConfig.h.in
@@ -20,6 +20,7 @@ debugging. */
 #define OBSW_PRINT_MISSED_DEADLINES     1
 #define OBSW_ADD_TEST_CODE              1
 #define OBSW_ADD_TEST_PST               1
+#define OBSW_ADD_GPS	                0
 
 #define TEST_LIBGPIOD                   0
 #define TEST_RADIATION_SENSOR_HANDLER   0
@@ -43,6 +44,7 @@ debugging. */
 #define DEBUG_SUS                       1
 #define DEBUG_RTD                       1
 #define IMTQ_DEBUG                      1
+#define RW_DEBUG                        1
 
 // Leave at one as the BSP is linux. Used by the ADIS16507 device handler
 #define OBSW_ADIS16507_LINUX_COM_IF     1
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 6ba4083d..9bb73857 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -432,50 +432,61 @@ ReturnValue_t pst::pstI2c(FixedTimeslotTaskIF *thisSequence) {
 ReturnValue_t pst::pstUart(FixedTimeslotTaskIF *thisSequence) {
     // Length of a communication cycle
     uint32_t length = thisSequence->getPeriodMs();
+
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
+#if OBSW_ADD_GPS == 1
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0,
             DeviceHandlerIF::PERFORM_OPERATION);
+#endif
 
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
+#if OBSW_ADD_GPS == 1
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.2,
             DeviceHandlerIF::SEND_WRITE);
+#endif
 
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
+#if OBSW_ADD_GPS == 1
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.4,
             DeviceHandlerIF::GET_WRITE);
+#endif
 
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
+#if OBSW_ADD_GPS == 1
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.6,
             DeviceHandlerIF::SEND_READ);
+#endif
 
     thisSequence->addSlot(objects::PLOC_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::SYRLINKS_HK_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
+#if OBSW_ADD_GPS == 1
     thisSequence->addSlot(objects::GPS0_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
     thisSequence->addSlot(objects::GPS1_HANDLER, length * 0.8,
             DeviceHandlerIF::GET_READ);
+#endif
 
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "UART PST initialization failed" << std::endl;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 23c49eba..a9d9dde3 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -208,7 +208,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
         return INVALID_SPEED;
     }
 
-    uint16_t rampTime = *commandData << 8 | *(commandData + 1);
+    uint16_t rampTime = *(commandData + 4) << 8 | *(commandData + 5);
 
     if (rampTime < 10 || rampTime > 10000) {
         sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid ramp time"
@@ -238,8 +238,8 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
     commandBuffer[3] = *(commandData + 1);
     commandBuffer[4] = *commandData;
     /** Ramp time (ms) */
-    commandBuffer[5] = *(commandData + 1);
-    commandBuffer[6] = *commandData;
+    commandBuffer[5] = *(commandData + 5);
+    commandBuffer[6] = *(commandData + 4);
 
     uint16_t crc = CRC::crc16ccitt(commandBuffer, 7, 0xFFFF);
     commandBuffer[7] = static_cast<uint8_t>(crc & 0xFF);
@@ -251,10 +251,10 @@ void RwHandler::prepareSetSpeedCmd(const uint8_t * commandData, size_t commandDa
 void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
     uint8_t offset = 2;
     statusSet.currSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
-            | *(packet + offset + 1) << 1 | *(packet + offset);
+            | *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
     statusSet.referenceSpeed = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
-            | *(packet + offset + 1) << 1 | *(packet + offset);
+            | *(packet + offset + 1) << 8 | *(packet + offset);
     offset += 4;
     statusSet.state = *(packet + offset);
     offset += 1;
@@ -275,7 +275,7 @@ void RwHandler::handleGetRwStatusReply(const uint8_t* packet) {
 void RwHandler::handleTemperatureReply(const uint8_t* packet) {
     uint8_t offset = 2;
     temperatureSet.temperatureCelcius = *(packet + offset + 3) << 24 | *(packet + offset + 2) << 16
-            | *(packet + offset + 1) << 1 | *(packet + offset);
+            | *(packet + offset + 1) << 8 | *(packet + offset);
 #if OBSW_VERBOSE_LEVEL >= 1 && RW_DEBUG == 1
     sif::info << "RwHandler::handleTemperatureReply: Temperature: "
             << temperatureSet.temperatureCelcius << " °C" << std::endl;
diff --git a/tmtc b/tmtc
index 899cd942..19b76d96 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 899cd942ce7136f371e93d270a6c6c149c0698cb
+Subproject commit 19b76d961c61966a0093d3768f62d99196e1c9b2