diff --git a/fsfw b/fsfw
index 88e86652..42e74d22 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 88e8665280a0381c41b724ab035a8c3eff1a23c1
+Subproject commit 42e74d22cc1b5d4060ce9923f674bdede0babaac
diff --git a/linux/acs/StrComHandler.cpp b/linux/acs/StrComHandler.cpp
index 243cb771..2db73f35 100644
--- a/linux/acs/StrComHandler.cpp
+++ b/linux/acs/StrComHandler.cpp
@@ -54,8 +54,8 @@ ReturnValue_t StrComHandler::performOperation(uint8_t operationCode) {
     switch (state) {
       case InternalState::POLL_ONE_REPLY: {
         // Stopwatch watch;
-        replyTimeout.setTimeout(400);
-        replyResult = readOneReply(static_cast<uint32_t>(state));
+        replyTimeout.setTimeout(200);
+        readOneReply(static_cast<uint32_t>(state));
         {
           MutexGuard mg(lock);
           replyWasReceived = true;
@@ -684,7 +684,7 @@ ReturnValue_t StrComHandler::sendMessage(CookieIF* cookie, const uint8_t* sendDa
   size_t frameLen;
   datalinkLayer.encodeFrame(sendData, sendLen, &txFrame, frameLen);
   if (PACKET_WIRETAPPING) {
-    sif::debug << "Sendign STR frame" << std::endl;
+    sif::debug << "Sending STR frame" << std::endl;
     arrayprinter::print(txFrame, frameLen);
   }
   ssize_t bytesWritten = write(serialPort, txFrame, frameLen);
@@ -716,13 +716,11 @@ ReturnValue_t StrComHandler::requestReceiveMessage(CookieIF* cookie, size_t requ
 }
 
 ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buffer, size_t* size) {
-  // Consider it a configuration error if the task is not done with a command -> reply cycle
-  // in time.
   bool replyWasReceived = false;
   {
     MutexGuard mg(lock);
     if (state != InternalState::SLEEPING) {
-      return BUSY;
+      return returnvalue::OK;
     }
     replyWasReceived = this->replyWasReceived;
   }
@@ -735,7 +733,7 @@ ReturnValue_t StrComHandler::readReceivedMessage(CookieIF* cookie, uint8_t** buf
     *size = replyLen;
   }
   replyLen = 0;
-  return replyResult;
+  return returnvalue::OK;
 }
 
 ReturnValue_t StrComHandler::unlockAndEraseRegions(uint32_t from, uint32_t to) {
diff --git a/mission/acs/str/StarTrackerHandler.cpp b/mission/acs/str/StarTrackerHandler.cpp
index b9de5996..151410b2 100644
--- a/mission/acs/str/StarTrackerHandler.cpp
+++ b/mission/acs/str/StarTrackerHandler.cpp
@@ -325,7 +325,7 @@ ReturnValue_t StarTrackerHandler::buildNormalDeviceCommand(DeviceCommandId_t* id
 ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
     case InternalState::BOOT_FIRMWARE: {
-      if (bootState == FwBootState::WAIT_FOR_EXECUTION or bootState == FwBootState::VERIFY_BOOT) {
+      if (bootState == FwBootState::VERIFY_BOOT or isAwaitingReply()) {
         return NOTHING_TO_SEND;
       }
       if (bootState == FwBootState::NONE) {
@@ -350,75 +350,61 @@ ReturnValue_t StarTrackerHandler::buildTransitionDeviceCommand(DeviceCommandId_t
           return buildCommandFromCommand(*id, nullptr, 0);
         }
         case (FwBootState::SET_TIME): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::SET_TIME_FROM_SYS_TIME;
           return buildCommandFromCommand(*id, nullptr, 0);
         }
         case (FwBootState::LOGLEVEL): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGLEVEL;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::LIMITS): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LIMITS;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case (FwBootState::TRACKING): {
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::TRACKING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         }
         case FwBootState::MOUNTING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MOUNTING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::IMAGE_PROCESSOR:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::IMAGE_PROCESSOR;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::CENTROIDING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::CENTROIDING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LISA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LISA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::MATCHING:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::MATCHING;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::VALIDATION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::VALIDATION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::ALGO:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::ALGO;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::LOG_SUBSCRIPTION:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::LOGSUBSCRIPTION;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
         case FwBootState::DEBUG_CAMERA:
-          bootState = FwBootState::WAIT_FOR_EXECUTION;
           *id = startracker::DEBUG_CAMERA;
           return buildCommandFromCommand(
               *id, reinterpret_cast<const uint8_t*>(paramJsonFile.c_str()), paramJsonFile.size());
@@ -688,7 +674,7 @@ void StarTrackerHandler::fillCommandAndReplyMap() {
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::CAMERA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
-  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 3, nullptr,
+  this->insertInCommandAndReplyMap(startracker::CENTROIDING, 2, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
   this->insertInCommandAndReplyMap(startracker::LISA, 3, nullptr,
                                    startracker::MAX_FRAME_SIZE * 2 + 2);
diff --git a/mission/acs/str/StarTrackerHandler.h b/mission/acs/str/StarTrackerHandler.h
index 10397148..34a10746 100644
--- a/mission/acs/str/StarTrackerHandler.h
+++ b/mission/acs/str/StarTrackerHandler.h
@@ -281,6 +281,7 @@ class StarTrackerHandler : public DeviceHandlerBase {
     LOG_SUBSCRIPTION,
     DEBUG_CAMERA,
     WAIT_FOR_EXECUTION,
+    RETRY_CFG_CMD
   };
   FwBootState bootState = FwBootState::NONE;
 
diff --git a/mission/pollingSeqTables.cpp b/mission/pollingSeqTables.cpp
index e18046d5..758361e3 100644
--- a/mission/pollingSeqTables.cpp
+++ b/mission/pollingSeqTables.cpp
@@ -341,6 +341,8 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
                           DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::GET_READ);
+    thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
+                          DeviceHandlerIF::PERFORM_OPERATION);
     thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
                           DeviceHandlerIF::SEND_WRITE);
     thisSequence->addSlot(objects::STAR_TRACKER, length * config::spiSched::SCHED_BLOCK_2_PERIOD,
diff --git a/mission/system/acs/StrFdir.cpp b/mission/system/acs/StrFdir.cpp
index 97a4162a..74284d55 100644
--- a/mission/system/acs/StrFdir.cpp
+++ b/mission/system/acs/StrFdir.cpp
@@ -3,7 +3,9 @@
 #include "mission/acs/defs.h"
 
 StrFdir::StrFdir(object_id_t strObject)
-    : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {}
+    : DeviceHandlerFailureIsolation(strObject, objects::NO_OBJECT) {
+  missedReplyCount.setFailureThreshold(30);
+}
 
 ReturnValue_t StrFdir::eventReceived(EventMessage* event) {
   if (event->getEvent() == acs::MEKF_INVALID_MODE_VIOLATION) {
diff --git a/tmtc b/tmtc
index 62bd5356..26cf1121 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 62bd5356220bab1ce9f3ddaa7aaf75963b8bd596
+Subproject commit 26cf112121782e730057cda0766d435ee2077b6d