diff --git a/CHANGELOG.md b/CHANGELOG.md
index d686359d..7b54f7c4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -20,6 +20,8 @@ will consitute of a breaking change warranting a new major release:
 
 # [v3.0.0] to be released
 
+- `eive-tmtc` version v4.0.0
+
 ## Changed
 
 - Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
@@ -55,7 +57,9 @@ will consitute of a breaking change warranting a new major release:
   commands.
 - The Directory Listing direct dumper now has a state machine to stagger the directory listing dump.
   This is required because very large dumps will overload the queue capacities in the framework.
-- The PUS Service 8 now has larger queue sizes to handle more action replies.
+- The PUS Service 8 now has larger queue sizes to handle more action replies. The PUS Service 1
+  also has a larger queue size to handle a lot of step replies now.
+- Moved PDU `vcc` and `vbat` variable from auxiliary dataset to core dataset.
 
 ## Added
 
@@ -66,9 +70,12 @@ will consitute of a breaking change warranting a new major release:
 - IMTQ HK sets
 - IMTQ dummy now handles power switch
 - Added some new ACS parameters
+- Enabled decimation filter for the ADIS GYRs
+- Enabled second low-pass filter for L3GD20H GYRs
 
 ## Fixed
 
+- CFDP low level protocol bugfix. Requires `fsfw` update and `tmtc` update.
 - Compile fix if SCEX is compiled for the EM.
 - Set up Rad Sensor chip select even for EM to avoid SPI bus issues.
 - Correct ADIS Gyroscope type configuration for the EM, where the 16507 type is used instead of the
@@ -102,6 +109,7 @@ will consitute of a breaking change warranting a new major release:
   quaternion.
 - Various fixes for the pointing modes of the `ACS Controller`. All modes should work now as
   intended.
+- The variance for the ADIS GYRs now represents the used `-3` version and not the `-1` version
 
 # [v2.0.5] 2023-05-11
 
diff --git a/fsfw b/fsfw
index b442ca09..5322de05 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit b442ca09b91d0cfdc6acd5a30349a25c4051972c
+Subproject commit 5322de059916efcf874b10ccc766b46e53d2470b
diff --git a/linux/acs/AcsBoardPolling.cpp b/linux/acs/AcsBoardPolling.cpp
index e525bf53..b8539a8f 100644
--- a/linux/acs/AcsBoardPolling.cpp
+++ b/linux/acs/AcsBoardPolling.cpp
@@ -113,6 +113,7 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != adis.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         adis.type = req->type;
+        adis.decRate = req->cfg.decRateReg;
         // The initial countdown is handled by the device handler now.
         // adis.countdown.setTimeout(adis1650x::START_UP_TIME);
         if (adis.type == adis1650x::Type::ADIS16507) {
@@ -376,6 +377,80 @@ void AcsBoardPolling::gyroL3gHandler(GyroL3g& l3g) {
   }
 }
 
+ReturnValue_t AcsBoardPolling::writeAdisReg(SpiCookie& cookie) {
+  ReturnValue_t result = returnvalue::OK;
+  int retval = 0;
+  // Prepare transfer
+  int fileDescriptor = 0;
+  std::string device = spiComIF.getSpiDev();
+  UnixFileGuard fileHelper(device, fileDescriptor, O_RDWR, "SpiComIF::sendMessage");
+  if (fileHelper.getOpenResult() != returnvalue::OK) {
+    return spi::OPENING_FILE_FAILED;
+  }
+  spi::SpiModes spiMode = spi::SpiModes::MODE_0;
+  uint32_t spiSpeed = 0;
+  cookie.getSpiParameters(spiMode, spiSpeed, nullptr);
+  spiComIF.setSpiSpeedAndMode(fileDescriptor, spiMode, spiSpeed);
+  cookie.assignWriteBuffer(cmdBuf.data());
+  cookie.setTransferSize(2);
+
+  gpioId_t gpioId = cookie.getChipSelectPin();
+  MutexIF::TimeoutType timeoutType = MutexIF::TimeoutType::WAITING;
+  uint32_t timeoutMs = 0;
+  MutexIF* mutex = spiComIF.getCsMutex();
+  cookie.getMutexParams(timeoutType, timeoutMs);
+  if (mutex == nullptr) {
+    sif::warning << "GyroADIS16507Handler::spiSendCallback: "
+                    "Mutex or GPIO interface invalid"
+                 << std::endl;
+    return returnvalue::FAILED;
+  }
+
+  size_t idx = 0;
+  spi_ioc_transfer* transferStruct = cookie.getTransferStructHandle();
+  uint64_t origTx = transferStruct->tx_buf;
+  uint64_t origRx = transferStruct->rx_buf;
+  for (idx = 0; idx < 4; idx += 2) {
+    result = mutex->lockMutex(timeoutType, timeoutMs);
+    if (result != returnvalue::OK) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+      sif::error << "AcsBoardPolling: Failed to lock mutex" << std::endl;
+#endif
+      return result;
+    }
+    // Pull SPI CS low. For now, no support for active high given
+    if (gpioId != gpio::NO_GPIO) {
+      gpioIF.pullLow(gpioId);
+    }
+
+    // Execute transfer
+    // Initiate a full duplex SPI transfer.
+    retval = ioctl(fileDescriptor, SPI_IOC_MESSAGE(1), cookie.getTransferStructHandle());
+    if (retval < 0) {
+      utility::handleIoctlError("SpiComIF::sendMessage: ioctl error.");
+      result = spi::FULL_DUPLEX_TRANSFER_FAILED;
+    }
+#if FSFW_HAL_SPI_WIRETAPPING == 1
+    comIf->performSpiWiretapping(cookie);
+#endif /* FSFW_LINUX_SPI_WIRETAPPING == 1 */
+
+    if (gpioId != gpio::NO_GPIO) {
+      gpioIF.pullHigh(gpioId);
+    }
+    mutex->unlockMutex();
+
+    transferStruct->tx_buf += 2;
+    transferStruct->rx_buf += 2;
+    if (idx < 4) {
+      usleep(adis1650x::STALL_TIME_MICROSECONDS);
+    }
+  }
+  transferStruct->tx_buf = origTx;
+  transferStruct->rx_buf = origRx;
+  cookie.setTransferSize(0);
+  return returnvalue::OK;
+}
+
 ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen) {
   ReturnValue_t result = returnvalue::OK;
   int retval = 0;
@@ -455,15 +530,20 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
   acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
   bool mustPerformStartup = false;
+  uint16_t decRate = 0;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = gyro.mode;
+    decRate = gyro.decRate;
     mustPerformStartup = gyro.performStartup;
   }
   if (mode == acs::SimpleSensorMode::OFF) {
     return;
   }
   if (mustPerformStartup) {
+    adis1650x::prepareWriteRegCommand(adis1650x::DEC_RATE_REG, decRate, cmdBuf.data(),
+                                      cmdBuf.size());
+    writeAdisReg(*gyro.cookie);
     uint8_t regList[6];
     // Read configuration
     regList[0] = adis1650x::DIAG_STAT_REG;
@@ -491,13 +571,21 @@ void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
       gyro.replyResult = returnvalue::FAILED;
       return;
     }
+    uint16_t decRateReadBack = (rawReply[10] << 8) | rawReply[11];
+    sif::debug << "AcsPollingTask: DEC rate configuration. Read " << decRateReadBack
+               << ", expected " << decRate << std::endl;
+    if (decRateReadBack != decRate) {
+      sif::warning << "AcsPollingTask: DEC rate configuration failed. Read " << decRateReadBack
+                   << ", expected " << decRate << std::endl;
+      gyro.replyResult = returnvalue::FAILED;
+    }
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     gyro.ownReply.cfgWasSet = true;
     gyro.ownReply.cfg.diagStat = (rawReply[2] << 8) | rawReply[3];
     gyro.ownReply.cfg.filterSetting = (rawReply[4] << 8) | rawReply[5];
     gyro.ownReply.cfg.rangMdl = (rawReply[6] << 8) | rawReply[7];
     gyro.ownReply.cfg.mscCtrlReg = (rawReply[8] << 8) | rawReply[9];
-    gyro.ownReply.cfg.decRateReg = (rawReply[10] << 8) | rawReply[11];
+    gyro.ownReply.cfg.decRateReg = decRateReadBack;
     gyro.ownReply.cfg.prodId = prodId;
     gyro.ownReply.data.sensitivity = adis1650x::rangMdlToSensitivity(gyro.ownReply.cfg.rangMdl);
     gyro.performStartup = false;
diff --git a/linux/acs/AcsBoardPolling.h b/linux/acs/AcsBoardPolling.h
index 794c9c47..5b4d0390 100644
--- a/linux/acs/AcsBoardPolling.h
+++ b/linux/acs/AcsBoardPolling.h
@@ -37,6 +37,7 @@ class AcsBoardPolling : public SystemObject,
 
   struct GyroAdis : public DevBase {
     adis1650x::Type type;
+    uint16_t decRate;
     Countdown countdown;
     acs::Adis1650XReply ownReply;
     acs::Adis1650XReply readerReply;
@@ -84,6 +85,8 @@ class AcsBoardPolling : public SystemObject,
   void gyroAdisHandler(GyroAdis& gyro);
   void mgmLis3Handler(MgmLis3& mgm);
   void mgmRm3100Handler(MgmRm3100& mgm);
+  // This fumction configures the register as specified on p.21 of the datasheet.
+  ReturnValue_t writeAdisReg(SpiCookie& cookie);
   // Special readout: 16us stall time between small 2 byte transfers.
   ReturnValue_t readAdisCfg(SpiCookie& spiCookie, size_t transferLen);
 };
diff --git a/mission/acs/GyrAdis1650XHandler.cpp b/mission/acs/GyrAdis1650XHandler.cpp
index c61187ce..fe10c214 100644
--- a/mission/acs/GyrAdis1650XHandler.cpp
+++ b/mission/acs/GyrAdis1650XHandler.cpp
@@ -15,7 +15,7 @@ GyrAdis1650XHandler::GyrAdis1650XHandler(object_id_t objectId, object_id_t devic
 }
 
 void GyrAdis1650XHandler::doStartUp() {
-  if (internalState != InternalState::STARTUP) {
+  if (internalState == InternalState::NONE) {
     internalState = InternalState::STARTUP;
     commandExecuted = false;
   }
@@ -24,13 +24,14 @@ void GyrAdis1650XHandler::doStartUp() {
     if (not commandExecuted) {
       warningSwitch = true;
       breakCountdown.setTimeout(adis1650x::START_UP_TIME);
+      updatePeriodicReply(true, adis1650x::REPLY);
       commandExecuted = true;
     }
-    if (breakCountdown.hasTimedOut()) {
-      updatePeriodicReply(true, adis1650x::REPLY);
-      setMode(MODE_ON);
-      internalState = InternalState::NONE;
-    }
+  }
+  if (internalState == InternalState::STARTUP_DONE) {
+    setMode(MODE_ON);
+    commandExecuted = false;
+    internalState = InternalState::NONE;
   }
 }
 
@@ -61,6 +62,7 @@ ReturnValue_t GyrAdis1650XHandler::buildTransitionDeviceCommand(DeviceCommandId_
         return NOTHING_TO_SEND;
       }
       *id = adis1650x::REQUEST;
+      adisRequest.cfg.decRateReg = adis1650x::DEC_RATE;
       return preparePeriodicRequest(acs::SimpleSensorMode::NORMAL);
     }
     case (InternalState::SHUTDOWN): {
@@ -91,6 +93,9 @@ ReturnValue_t GyrAdis1650XHandler::scanForReply(const uint8_t *start, size_t rem
       getMode() == _MODE_POWER_DOWN) {
     return IGNORE_FULL_PACKET;
   }
+  if (internalState == InternalState::STARTUP) {
+    internalState = InternalState::STARTUP_DONE;
+  }
   *foundLen = remainingSize;
   if (remainingSize != sizeof(acs::Adis1650XReply)) {
     return returnvalue::FAILED;
diff --git a/mission/acs/GyrAdis1650XHandler.h b/mission/acs/GyrAdis1650XHandler.h
index 5d906f61..308d472b 100644
--- a/mission/acs/GyrAdis1650XHandler.h
+++ b/mission/acs/GyrAdis1650XHandler.h
@@ -48,7 +48,7 @@ class GyrAdis1650XHandler : public DeviceHandlerBase {
 
   bool warningSwitch = true;
 
-  enum class InternalState { NONE, STARTUP, SHUTDOWN };
+  enum class InternalState { NONE, STARTUP, STARTUP_DONE, SHUTDOWN };
 
   InternalState internalState = InternalState::STARTUP;
   bool commandExecuted = false;
diff --git a/mission/acs/acsBoardPolling.h b/mission/acs/acsBoardPolling.h
index 90f0f19c..9f794fb0 100644
--- a/mission/acs/acsBoardPolling.h
+++ b/mission/acs/acsBoardPolling.h
@@ -8,11 +8,6 @@
 
 namespace acs {
 
-struct Adis1650XRequest {
-  SimpleSensorMode mode;
-  adis1650x::Type type;
-};
-
 struct Adis1650XConfig {
   uint16_t diagStat;
   uint16_t filterSetting;
@@ -22,6 +17,12 @@ struct Adis1650XConfig {
   uint16_t prodId;
 };
 
+struct Adis1650XRequest {
+  SimpleSensorMode mode;
+  adis1650x::Type type;
+  Adis1650XConfig cfg;
+};
+
 struct Adis1650XData {
   double sensitivity = 0.0;
   // Angular velocities in all axes (X, Y and Z)
diff --git a/mission/acs/gyroAdisHelpers.cpp b/mission/acs/gyroAdisHelpers.cpp
index 0f41b058..5c1446cc 100644
--- a/mission/acs/gyroAdisHelpers.cpp
+++ b/mission/acs/gyroAdisHelpers.cpp
@@ -52,3 +52,14 @@ double adis1650x::rangMdlToSensitivity(uint16_t rangMdl) {
     }
   }
 }
+
+void adis1650x::prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf,
+                                       size_t maxLen) {
+  if (maxLen < 4) {
+    return;
+  }
+  outBuf[0] = regStart | adis1650x::WRITE_MASK;
+  outBuf[1] = val & 0xff;
+  outBuf[2] = (regStart + 1) | adis1650x::WRITE_MASK;
+  outBuf[3] = (val >> 8) & 0xff;
+}
diff --git a/mission/acs/gyroAdisHelpers.h b/mission/acs/gyroAdisHelpers.h
index 09f0aa1e..f360db76 100644
--- a/mission/acs/gyroAdisHelpers.h
+++ b/mission/acs/gyroAdisHelpers.h
@@ -16,6 +16,8 @@ enum class BurstModes {
 };
 
 size_t prepareReadCommand(const uint8_t* regList, size_t len, uint8_t* outBuf, size_t maxLen);
+void prepareWriteRegCommand(uint8_t regStart, uint16_t val, uint8_t* outBuf, size_t maxLen);
+
 BurstModes burstModeFromMscCtrl(uint16_t mscCtrl);
 double rangMdlToSensitivity(uint16_t rangMdl);
 
@@ -92,6 +94,9 @@ static constexpr size_t SENSOR_READOUT_SIZE = 20 + 2;
 static constexpr uint32_t ADIS_DATASET_ID = READ_SENSOR_DATA;
 static constexpr uint32_t ADIS_CFG_DATASET_ID = READ_OUT_CONFIG;
 
+static constexpr uint16_t FILT_CTRL = 0x0000;
+static constexpr uint16_t DEC_RATE = 0x00C7;
+
 enum GlobCmds : uint8_t {
   FACTORY_CALIBRATION = 0b0000'0010,
   SENSOR_SELF_TEST = 0b0000'0100,
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 9c91399c..15725f2f 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -781,9 +781,9 @@ class AcsParameters : public HasParametersIF {
 
     /* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
      * assumed to be equal for the same class of sensors */
-    float gyr02variance[3] = {pow(3.0e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(3.0e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
-                              pow(4.3e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
+    float gyr02variance[3] = {pow(4.6e-3, 2),   // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(4.6e-3, 2),   // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
+                              pow(6.1e-3, 2)};  // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
     float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
     uint8_t preferAdis = false;
     float gyrFilterWeight = 0.6;
diff --git a/mission/power/GomspaceDeviceHandler.cpp b/mission/power/GomspaceDeviceHandler.cpp
index 89fca8ee..c20ac4e9 100644
--- a/mission/power/GomspaceDeviceHandler.cpp
+++ b/mission/power/GomspaceDeviceHandler.cpp
@@ -595,8 +595,8 @@ ReturnValue_t GomspaceDeviceHandler::parsePduHkTable(PDU::PduCoreHk& coreHk, PDU
   for (uint8_t idx = 0; idx < PDU::CHANNELS_LEN; idx++) {
     coreHk.voltages[idx] = as<uint16_t>(packet + 0x12 + (idx * 2));
   }
-  auxHk.vcc.value = as<int16_t>(packet + 0x24);
-  auxHk.vbat.value = as<int16_t>(packet + 0x26);
+  coreHk.vcc.value = as<int16_t>(packet + 0x24);
+  coreHk.vbat.value = as<int16_t>(packet + 0x26);
   coreHk.temperature = as<int16_t>(packet + 0x28) * 0.1;
 
   for (uint8_t idx = 0; idx < 3; idx++) {
diff --git a/mission/power/gsDefs.h b/mission/power/gsDefs.h
index d42cabd2..00bdf589 100644
--- a/mission/power/gsDefs.h
+++ b/mission/power/gsDefs.h
@@ -404,6 +404,11 @@ class PduCoreHk : public StaticLocalDataSet<9> {
   /** Battery mode: 1 = Critical, 2 = Safe, 3 = Normal, 4 = Full */
   lp_var_t<uint8_t> battMode = lp_var_t<uint8_t>(sid.objectId, pool::PDU_BATT_MODE, this);
   lp_var_t<float> temperature = lp_var_t<float>(sid.objectId, pool::PDU_TEMPERATURE, this);
+
+  /** Measured VCC */
+  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
+  /** Measured VBAT */
+  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
 };
 
 class PduConfig : public StaticLocalDataSet<32> {
@@ -451,11 +456,6 @@ class PduAuxHk : public StaticLocalDataSet<36> {
 
   PduAuxHk(object_id_t objectId, uint32_t setId) : StaticLocalDataSet(sid_t(objectId, setId)) {}
 
-  /** Measured VCC */
-  lp_var_t<int16_t> vcc = lp_var_t<int16_t>(sid.objectId, pool::PDU_VCC, this);
-  /** Measured VBAT */
-  lp_var_t<int16_t> vbat = lp_var_t<int16_t>(sid.objectId, pool::PDU_VBAT, this);
-
   /** Output converter enable status */
   lp_vec_t<uint8_t, 3> converterEnable =
       lp_vec_t<uint8_t, 3>(sid.objectId, pool::PDU_CONV_EN, this);
diff --git a/tmtc b/tmtc
index 6182369e..8804a4e8 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit 6182369e4f40872c5c26e59be25d5fa79339176a
+Subproject commit 8804a4e8e9fce1d45fcf62314affb791114d1517