diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 2bf36743..2631a628 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -683,8 +683,8 @@ void ObjectFactory::createReactionWheelComponents(LinuxLibgpioIF* gpioComIF,
                                    RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED,
                                    &rwSpiCallback::spiCallback, nullptr);
     auto* rwHandler = new RwHandler(rwIds[idx], objects::SPI_RW_COM_IF, rwCookies[idx], gpioComIF,
-                                    rwGpioIds[idx]);
-    rwCookies[idx]->setCallbackArgs(rws[idx]);
+                                    rwGpioIds[idx], idx);
+    rwCookies[idx]->setCallbackArgs(rwHandler);
 #if OBSW_TEST_RW == 1
     rws[idx]->setStartUpImmediately();
 #endif
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index e404cdf7..7e4cafeb 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -633,80 +633,80 @@ ReturnValue_t pst::pstTcsAndAcs(FixedTimeslotTaskIF *thisSequence, AcsPstCfg cfg
   }
 
   if (cfg.scheduleRws) {
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
-
-    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
-    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_WRITE);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_WRITE);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::SEND_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::SEND_READ);
+    //
+    //    thisSequence->addSlot(objects::RW1, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW2, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::GET_READ);
+    //    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::GET_READ);
   }
 
   if (cfg.scheduleRws) {
diff --git a/mission/devices/ImtqHandler.cpp b/mission/devices/ImtqHandler.cpp
index b370b7d9..93e9dae8 100644
--- a/mission/devices/ImtqHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@@ -183,22 +183,20 @@ ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
         return DeviceHandlerIF::INVALID_COMMAND_PARAMETER;
       }
       ReturnValue_t result;
-      // Commands override anything which was set in the software
-      if (commandData != nullptr) {
-        dipoleSet.setValidityBufferGeneration(false);
-        result =
-            dipoleSet.deSerialize(&commandData, &commandDataLen, SerializeIF::Endianness::NETWORK);
-        dipoleSet.setValidityBufferGeneration(true);
-        if (result != returnvalue::OK) {
-          return result;
-        }
-        result = dipoleSet.commit();
-        if (result != returnvalue::OK) {
-          sif::error << "ImtqHandler::buildCommandFromCommand: commit failed" << std::endl;
-        }
-      } else {
+      {
         // Read set dipole values from local pool
         PoolReadGuard pg(&dipoleSet);
+
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          dipoleSet.setValidityBufferGeneration(false);
+          result = dipoleSet.deSerialize(&commandData, &commandDataLen,
+                                         SerializeIF::Endianness::NETWORK);
+          dipoleSet.setValidityBufferGeneration(true);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
       }
       if (ACTUATION_WIRETAPPING) {
         sif::debug << "Actuating IMTQ with parameters x = " << dipoleSet.xDipole.value
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index 5c6914be..9d4a7255 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -7,14 +7,15 @@
 #include "OBSWConfig.h"
 
 RwHandler::RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
-                     GpioIF* gpioComIF, gpioId_t enableGpio)
+                     GpioIF* gpioComIF, gpioId_t enableGpio, uint8_t rwIdx)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       gpioComIF(gpioComIF),
       enableGpio(enableGpio),
       statusSet(this),
       lastResetStatusSet(this),
       tmDataset(this),
-      rwSpeedActuationSet(*this) {
+      rwSpeedActuationSet(*this),
+      rwIdx(rwIdx) {
   if (comCookie == nullptr) {
     sif::error << "RwHandler: Invalid com cookie" << std::endl;
   }
@@ -43,6 +44,10 @@ void RwHandler::doShutDown() {
 
 ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (internalState) {
+    case InternalState::SET_SPEED:
+      *id = RwDefinitions::SET_SPEED;
+      internalState = InternalState::GET_RESET_STATUS;
+      break;
     case InternalState::GET_RESET_STATUS:
       *id = RwDefinitions::GET_LAST_RESET_STATUS;
       internalState = InternalState::READ_TEMPERATURE;
@@ -53,10 +58,6 @@ ReturnValue_t RwHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
       break;
     case InternalState::GET_RW_SATUS:
       *id = RwDefinitions::GET_RW_STATUS;
-      internalState = InternalState::SET_SPEED;
-      break;
-    case InternalState::SET_SPEED:
-      *id = RwDefinitions::SET_SPEED;
       internalState = InternalState::CLEAR_RESET_STATUS;
       break;
     case InternalState::CLEAR_RESET_STATUS:
@@ -107,29 +108,26 @@ ReturnValue_t RwHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand
                    << " invalid length" << std::endl;
         return SET_SPEED_COMMAND_INVALID_LENGTH;
       }
-      // Commands override anything which was set in the software
-      if (commandData != nullptr) {
-        rwSpeedActuationSet.setValidityBufferGeneration(false);
-        result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
-                                                 SerializeIF::Endianness::NETWORK);
-        rwSpeedActuationSet.setValidityBufferGeneration(true);
-        if (result != returnvalue::OK) {
-          return result;
-        }
-        result = rwSpeedActuationSet.commit();
-        if (result != returnvalue::OK) {
-          sif::error << "RwHandler::buildCommandFromCommand: commit failed" << std::endl;
-        }
-      } else {
-        // Read set rw speed value from local pool
+
+      {
         PoolReadGuard pg(&rwSpeedActuationSet);
+        // Commands override anything which was set in the software
+        if (commandData != nullptr) {
+          rwSpeedActuationSet.setValidityBufferGeneration(false);
+          result = rwSpeedActuationSet.deSerialize(&commandData, &commandDataLen,
+                                                   SerializeIF::Endianness::NETWORK);
+          rwSpeedActuationSet.setValidityBufferGeneration(true);
+          if (result != returnvalue::OK) {
+            return result;
+          }
+        }
       }
       if (ACTUATION_WIRETAPPING) {
-        int32_t speed;
-        uint16_t rampTime;
+        int32_t speed = 0;
+        uint16_t rampTime = 0;
         rwSpeedActuationSet.getRwSpeed(speed, rampTime);
-        sif::debug << "Actuating RW with speed = " << speed << " and rampTime = " << rampTime
-                   << std::endl;
+        sif::debug << "Actuating RW " << static_cast<int>(rwIdx) << " with speed = " << speed
+                   << " and rampTime = " << rampTime << std::endl;
       }
       result = checkSpeedAndRampTime();
       if (result != returnvalue::OK) {
diff --git a/mission/devices/RwHandler.h b/mission/devices/RwHandler.h
index 148a6359..ee18960d 100644
--- a/mission/devices/RwHandler.h
+++ b/mission/devices/RwHandler.h
@@ -9,7 +9,7 @@
 #include "events/subsystemIdRanges.h"
 #include "returnvalues/classIds.h"
 
-static constexpr bool ACTUATION_WIRETAPPING = true;
+static constexpr bool ACTUATION_WIRETAPPING = false;
 
 class GpioIF;
 
@@ -36,7 +36,7 @@ class RwHandler : public DeviceHandlerBase {
    * 						to high to enable the device.
    */
   RwHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie, GpioIF* gpioComIF,
-            gpioId_t enableGpio);
+            gpioId_t enableGpio, uint8_t rwIdx);
 
   void setDebugMode(bool enable);
 
@@ -98,9 +98,10 @@ class RwHandler : public DeviceHandlerBase {
   RwDefinitions::RwSpeedActuationSet rwSpeedActuationSet;
 
   uint8_t commandBuffer[RwDefinitions::MAX_CMD_SIZE];
+  uint8_t rwIdx;
 
-  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>(0, false);
-  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>(10, false);
+  PoolEntry<int32_t> rwSpeed = PoolEntry<int32_t>({0});
+  PoolEntry<uint16_t> rampTime = PoolEntry<uint16_t>({10});
 
   enum class InternalState {
     GET_RESET_STATUS,