diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 74af9564..deee8c53 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -70,7 +70,7 @@
 #include "mission/devices/BpxBatteryHandler.h"
 #include "mission/devices/GyroADIS1650XHandler.h"
 #include "mission/devices/HeaterHandler.h"
-#include "mission/devices/IMTQHandler.h"
+#include <mission/devices/ImtqHandler.h>
 #include "mission/devices/Max31865PT1000Handler.h"
 #include "mission/devices/P60DockHandler.h"
 #include "mission/devices/PCDUHandler.h"
@@ -889,7 +889,7 @@ void ObjectFactory::createStrComponents(PowerSwitchIF* pwrSwitcher) {
 void ObjectFactory::createImtqComponents(PowerSwitchIF* pwrSwitcher) {
   I2cCookie* imtqI2cCookie =
       new I2cCookie(addresses::IMTQ, IMTQ::MAX_REPLY_SIZE, q7s::I2C_DEFAULT_DEV);
-  auto imtqHandler = new IMTQHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
+  auto imtqHandler = new ImtqHandler(objects::IMTQ_HANDLER, objects::I2C_COM_IF, imtqI2cCookie,
                                      pcdu::Switches::PDU1_CH3_MGT_5V);
   imtqHandler->setPowerSwitcher(pwrSwitcher);
   static_cast<void>(imtqHandler);
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index 56184ea4..0bfb1a2d 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -11,7 +11,7 @@ target_sources(
           SyrlinksHkHandler.cpp
           Max31865PT1000Handler.cpp
           Max31865EiveHandler.cpp
-          IMTQHandler.cpp
+          ImtqHandler.cpp
           HeaterHandler.cpp
           RadiationSensorHandler.cpp
           GyroADIS1650XHandler.cpp
diff --git a/mission/devices/IMTQHandler.cpp b/mission/devices/ImtqHandler.cpp
similarity index 97%
rename from mission/devices/IMTQHandler.cpp
rename to mission/devices/ImtqHandler.cpp
index f6047c48..adb9f83b 100644
--- a/mission/devices/IMTQHandler.cpp
+++ b/mission/devices/ImtqHandler.cpp
@@ -1,13 +1,16 @@
-#include "IMTQHandler.h"
-
 #include <fsfw/datapool/PoolReadGuard.h>
 #include <fsfw/globalfunctions/CRC.h>
+#include <mission/devices/ImtqHandler.h>
 
 #include <cmath>
 
 #include "OBSWConfig.h"
 
-IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+MutexIF* ImtqHandler::TORQUE_LOCK = nullptr;
+bool ImtqHandler::TORQUEING = false;
+Countdown ImtqHandler::TORQUE_COUNTDOWN = Countdown();
+
+ImtqHandler::ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
                          power::Switch_t pwrSwitcher)
     : DeviceHandlerBase(objectId, comIF, comCookie),
       engHkDataset(this),
@@ -24,11 +27,12 @@ IMTQHandler::IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comC
   if (comCookie == nullptr) {
     sif::error << "IMTQHandler: Invalid com cookie" << std::endl;
   }
+  TORQUE_LOCK = MutexFactory::instance()->createMutex();
 }
 
-IMTQHandler::~IMTQHandler() {}
+ImtqHandler::~ImtqHandler() {}
 
-void IMTQHandler::doStartUp() {
+void ImtqHandler::doStartUp() {
   if (goToNormalMode) {
     setMode(MODE_NORMAL);
   } else {
@@ -36,9 +40,9 @@ void IMTQHandler::doStartUp() {
   }
 }
 
-void IMTQHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
+void ImtqHandler::doShutDown() { setMode(_MODE_POWER_DOWN); }
 
-ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t ImtqHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   switch (communicationStep) {
     case CommunicationStep::GET_ENG_HK_DATA:
       *id = IMTQ::GET_ENG_HK_DATA;
@@ -64,11 +68,11 @@ ReturnValue_t IMTQHandler::buildNormalDeviceCommand(DeviceCommandId_t* id) {
   return buildCommandFromCommand(*id, NULL, 0);
 }
 
-ReturnValue_t IMTQHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
+ReturnValue_t ImtqHandler::buildTransitionDeviceCommand(DeviceCommandId_t* id) {
   return NOTHING_TO_SEND;
 }
 
-ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
+ReturnValue_t ImtqHandler::buildCommandFromCommand(DeviceCommandId_t deviceCommand,
                                                    const uint8_t* commandData,
                                                    size_t commandDataLen) {
   switch (deviceCommand) {
@@ -174,7 +178,7 @@ ReturnValue_t IMTQHandler::buildCommandFromCommand(DeviceCommandId_t deviceComma
   return returnvalue::FAILED;
 }
 
-void IMTQHandler::fillCommandAndReplyMap() {
+void ImtqHandler::fillCommandAndReplyMap() {
   this->insertInCommandAndReplyMap(IMTQ::POS_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
   this->insertInCommandAndReplyMap(IMTQ::NEG_X_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
   this->insertInCommandAndReplyMap(IMTQ::POS_Y_SELF_TEST, 1, nullptr, IMTQ::SIZE_STATUS_REPLY);
@@ -197,7 +201,7 @@ void IMTQHandler::fillCommandAndReplyMap() {
                                    IMTQ::SIZE_GET_RAW_MTM_MEASUREMENT);
 }
 
-ReturnValue_t IMTQHandler::scanForReply(const uint8_t* start, size_t remainingSize,
+ReturnValue_t ImtqHandler::scanForReply(const uint8_t* start, size_t remainingSize,
                                         DeviceCommandId_t* foundId, size_t* foundLen) {
   ReturnValue_t result = returnvalue::OK;
 
@@ -243,7 +247,7 @@ ReturnValue_t IMTQHandler::scanForReply(const uint8_t* start, size_t remainingSi
   return result;
 }
 
-ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
+ReturnValue_t ImtqHandler::interpretDeviceReply(DeviceCommandId_t id, const uint8_t* packet) {
   ReturnValue_t result = returnvalue::OK;
 
   result = parseStatusByte(packet);
@@ -287,9 +291,9 @@ ReturnValue_t IMTQHandler::interpretDeviceReply(DeviceCommandId_t id, const uint
   return returnvalue::OK;
 }
 
-void IMTQHandler::setNormalDatapoolEntriesInvalid() {}
+void ImtqHandler::setNormalDatapoolEntriesInvalid() {}
 
-LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* ImtqHandler::getDataSetHandle(sid_t sid) {
   if (sid == engHkDataset.getSid()) {
     return &engHkDataset;
   } else if (sid == calMtmMeasurementSet.getSid()) {
@@ -314,9 +318,9 @@ LocalPoolDataSetBase* IMTQHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-uint32_t IMTQHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
+uint32_t ImtqHandler::getTransitionDelayMs(Mode_t modeFrom, Mode_t modeTo) { return 5000; }
 
-ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t ImtqHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
   /** Entries of engineering housekeeping dataset */
   localDataPoolMap.emplace(IMTQ::DIGITAL_VOLTAGE_MV, new PoolEntry<uint16_t>({0}));
@@ -612,7 +616,7 @@ ReturnValue_t IMTQHandler::initializeLocalDataPool(localpool::DataPool& localDat
   return returnvalue::OK;
 }
 
-ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
+ReturnValue_t ImtqHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
   DeviceCommandId_t commandId = getPendingCommand();
   switch (commandId) {
     case IMTQ::POS_X_SELF_TEST:
@@ -631,7 +635,7 @@ ReturnValue_t IMTQHandler::getSelfTestCommandId(DeviceCommandId_t* id) {
   return returnvalue::OK;
 }
 
-ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
+ReturnValue_t ImtqHandler::parseStatusByte(const uint8_t* packet) {
   uint8_t cmdErrorField = *(packet + 1) & 0xF;
   switch (cmdErrorField) {
     case 0:
@@ -662,7 +666,7 @@ ReturnValue_t IMTQHandler::parseStatusByte(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
+void ImtqHandler::fillEngHkDataset(const uint8_t* packet) {
   PoolReadGuard rg(&engHkDataset);
   uint8_t offset = 2;
   engHkDataset.digitalVoltageMv = *(packet + offset + 1) << 8 | *(packet + offset);
@@ -709,9 +713,9 @@ void IMTQHandler::fillEngHkDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
+void ImtqHandler::setToGoToNormal(bool enable) { this->goToNormalMode = enable; }
 
-void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
+void ImtqHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCommandId_t replyId) {
   if (wiretappingMode == RAW) {
     /* Data already sent in doGetRead() */
     return;
@@ -735,7 +739,7 @@ void IMTQHandler::handleDeviceTM(const uint8_t* data, size_t dataSize, DeviceCom
   }
 }
 
-void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
+void ImtqHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
   uint8_t tmData[6];
   /* Switching endianess of received dipole values */
   tmData[0] = *(packet + 3);
@@ -747,7 +751,7 @@ void IMTQHandler::handleGetCommandedDipoleReply(const uint8_t* packet) {
   handleDeviceTM(tmData, sizeof(tmData), IMTQ::GET_COMMANDED_DIPOLE);
 }
 
-void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
+void ImtqHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&calMtmMeasurementSet);
   calMtmMeasurementSet.setValidity(true, true);
   int8_t offset = 2;
@@ -777,7 +781,7 @@ void IMTQHandler::fillCalibratedMtmDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
+void ImtqHandler::fillRawMtmDataset(const uint8_t* packet) {
   PoolReadGuard rg(&rawMtmMeasurementSet);
   unsigned int offset = 2;
   size_t deSerLen = 16;
@@ -825,7 +829,7 @@ void IMTQHandler::fillRawMtmDataset(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleSelfTestReply(const uint8_t* packet) {
   uint16_t offset = 2;
   checkErrorByte(*(packet + offset), *(packet + offset + 1));
 
@@ -859,7 +863,7 @@ void IMTQHandler::handleSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1071,7 +1075,7 @@ void IMTQHandler::handlePositiveXSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1283,7 +1287,7 @@ void IMTQHandler::handleNegativeXSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1495,7 +1499,7 @@ void IMTQHandler::handlePositiveYSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1707,7 +1711,7 @@ void IMTQHandler::handleNegativeYSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -1919,7 +1923,7 @@ void IMTQHandler::handlePositiveZSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
+void ImtqHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   PoolReadGuard rg(&posXselfTestDataset);
 
   uint16_t offset = 2;
@@ -2131,9 +2135,9 @@ void IMTQHandler::handleNegativeZSelfTestReply(const uint8_t* packet) {
   }
 }
 
-void IMTQHandler::setDebugMode(bool enable) { this->debugMode = enable; }
+void ImtqHandler::setDebugMode(bool enable) { this->debugMode = enable; }
 
-void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
+void ImtqHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   std::string stepString("");
   if (step < 8) {
     stepString = makeStepString(step);
@@ -2191,7 +2195,7 @@ void IMTQHandler::checkErrorByte(const uint8_t errorByte, const uint8_t step) {
   }
 }
 
-std::string IMTQHandler::makeStepString(const uint8_t step) {
+std::string ImtqHandler::makeStepString(const uint8_t step) {
   std::string stepString("");
   switch (step) {
     case IMTQ::SELF_TEST_STEPS::INIT:
@@ -2226,7 +2230,7 @@ std::string IMTQHandler::makeStepString(const uint8_t step) {
   return stepString;
 }
 
-ReturnValue_t IMTQHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
+ReturnValue_t ImtqHandler::getSwitches(const uint8_t** switches, uint8_t* numberOfSwitches) {
   if (switcher != power::NO_SWITCH) {
     *numberOfSwitches = 1;
     *switches = &switcher;
@@ -2234,3 +2238,11 @@ ReturnValue_t IMTQHandler::getSwitches(const uint8_t** switches, uint8_t* number
   }
   return DeviceHandlerBase::NO_SWITCH;
 }
+
+bool ImtqHandler::mgtIsTorqueing(dur_millis_t *remainingTorqueDuration) {
+  MutexGuard mg(TORQUE_LOCK);
+  if (TORQUEING and remainingTorqueDuration != nullptr) {
+    *remainingTorqueDuration = TORQUE_COUNTDOWN.getRemainingMillis() + TORQUE_BUFFER_TIME_MS;
+  }
+  return TORQUEING;
+}
diff --git a/mission/devices/IMTQHandler.h b/mission/devices/ImtqHandler.h
similarity index 95%
rename from mission/devices/IMTQHandler.h
rename to mission/devices/ImtqHandler.h
index 92df8aae..612eff7f 100644
--- a/mission/devices/IMTQHandler.h
+++ b/mission/devices/ImtqHandler.h
@@ -13,11 +13,11 @@
  *
  * @author	J. Meier
  */
-class IMTQHandler : public DeviceHandlerBase {
+class ImtqHandler : public DeviceHandlerBase {
  public:
-  IMTQHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
+  ImtqHandler(object_id_t objectId, object_id_t comIF, CookieIF* comCookie,
               power::Switch_t pwrSwitcher);
-  virtual ~IMTQHandler();
+  virtual ~ImtqHandler();
 
   /**
    * @brief   Sets mode to MODE_NORMAL. Can be used for debugging.
@@ -206,6 +206,16 @@ class IMTQHandler : public DeviceHandlerBase {
   void checkErrorByte(const uint8_t errorByte, const uint8_t step);
 
   std::string makeStepString(const uint8_t step);
+
+  static MutexIF* TORQUE_LOCK;
+  static bool TORQUEING;
+  static Countdown TORQUE_COUNTDOWN;
+  // Additional buffer time to accont for time until I2C command arrives and ramp up / ramp down
+  // time of the MGT
+  static constexpr dur_millis_t TORQUE_BUFFER_TIME_MS = 20;
+
+  static bool mgtIsTorqueing(dur_millis_t* remainingTorqueDuration);
+
 };
 
 #endif /* MISSION_DEVICES_IMTQHANDLER_H_ */