diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6658e0b5..2418be71 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,8 @@ will consitute of a breaking change warranting a new major release:
 
 ## Changed
 
+- Adapt EM configuration to include all GomSpace PCDU devices except the ACU. For the ACU
+  (which broke), a dummy will still be used.
 - Event Manager queue depth is configurable now.
 - Do not construct and schedule broken TMP1075 device anymore.
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 358dd8ab..919516c9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -146,8 +146,11 @@ set(OBSW_ADD_TMP_DEVICES
     ${INIT_VAL}
     CACHE STRING "Add TMP devices")
 set(OBSW_ADD_GOMSPACE_PCDU
-    ${INIT_VAL}
+    1
     CACHE STRING "Add GomSpace PCDU modules")
+set(OBSW_ADD_GOMSPACE_ACU
+    ${INIT_VAL}
+    CACHE STRING "Add GomSpace ACU submodule")
 set(OBSW_ADD_RW
     ${INIT_VAL}
     CACHE STRING "Add RW modules")
diff --git a/bsp_q7s/OBSWConfig.h.in b/bsp_q7s/OBSWConfig.h.in
index 3502a7bb..51ed8828 100644
--- a/bsp_q7s/OBSWConfig.h.in
+++ b/bsp_q7s/OBSWConfig.h.in
@@ -22,6 +22,9 @@
 #define OBSW_COMMAND_SAFE_MODE_AT_STARTUP           1
 
 #define OBSW_ADD_GOMSPACE_PCDU                      @OBSW_ADD_GOMSPACE_PCDU@
+// This define is necessary because the EM setup has the P60 dock module, but no ACU on the P60
+// module because it broke.
+#define OBSW_ADD_GOMSPACE_ACU                       @OBSW_ADD_GOMSPACE_ACU@
 #define OBSW_ADD_MGT                                @OBSW_ADD_MGT@
 #define OBSW_ADD_BPX_BATTERY_HANDLER                @OBSW_ADD_BPX_BATTERY_HANDLER@
 #define OBSW_ADD_STAR_TRACKER                       @OBSW_ADD_STAR_TRACKER@
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 964d728b..dd363e3d 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -189,7 +189,6 @@ void ObjectFactory::createCommunicationInterfaces(LinuxLibgpioIF** gpioComIF,
   *i2cComIF = new I2cComIF(objects::I2C_COM_IF);
   *uartComIF = new SerialComIF(objects::UART_COM_IF);
   *spiMainComIF = new SpiComIF(objects::SPI_MAIN_COM_IF, q7s::SPI_DEFAULT_DEV, **gpioComIF);
-  //*spiRWComIF = new SpiComIF(objects::SPI_RW_COM_IF, q7s::SPI_RW_DEV, **gpioComIF);
 }
 
 void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchIF** pwrSwitcher,
@@ -197,7 +196,6 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   CspCookie* p60DockCspCookie = new CspCookie(P60Dock::MAX_REPLY_SIZE, addresses::P60DOCK, 500);
   CspCookie* pdu1CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU1, 500);
   CspCookie* pdu2CspCookie = new CspCookie(PDU::MAX_REPLY_SIZE, addresses::PDU2, 500);
-  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
 
   auto p60Fdir = new GomspacePowerFdir(objects::P60DOCK_HANDLER);
   P60DockHandler* p60dockhandler = new P60DockHandler(objects::P60DOCK_HANDLER, objects::CSP_COM_IF,
@@ -211,9 +209,12 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   Pdu2Handler* pdu2handler = new Pdu2Handler(objects::PDU2_HANDLER, objects::CSP_COM_IF,
                                              pdu2CspCookie, pdu2Fdir, enableHkSets);
 
+#if OBSW_ADD_GOMSPACE_ACU == 1
+  CspCookie* acuCspCookie = new CspCookie(ACU::MAX_REPLY_SIZE, addresses::ACU, 500);
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler = new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie,
                                           acuFdir, enableHkSets);
+#endif
   auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
@@ -223,7 +224,9 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   p60dockhandler->setModeNormal();
   pdu1handler->setModeNormal();
   pdu2handler->setModeNormal();
+#if OBSW_ADD_GOMSPACE_ACU == 1
   acuhandler->setModeNormal();
+#endif
   if (pwrSwitcher != nullptr) {
     *pwrSwitcher = pcduHandler;
   }
diff --git a/bsp_q7s/em/emObjectFactory.cpp b/bsp_q7s/em/emObjectFactory.cpp
index 0859b520..67dec96d 100644
--- a/bsp_q7s/em/emObjectFactory.cpp
+++ b/bsp_q7s/em/emObjectFactory.cpp
@@ -57,6 +57,8 @@ void ObjectFactory::produce(void* args) {
 #endif
 #if OBSW_ADD_GOMSPACE_PCDU == 1
   dummyCfg.addPowerDummies = false;
+  // The ACU broke.
+  dummyCfg.addOnlyAcuDummy = true;
 #endif
 #if OBSW_ADD_BPX_BATTERY_HANDLER == 1
   dummyCfg.addBpxBattDummy = false;
@@ -93,7 +95,7 @@ void ObjectFactory::produce(void* args) {
   // createRadSensorComponent(gpioComIF);
 
 #if OBSW_ADD_ACS_BOARD == 1
-  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher);
+  createAcsBoardComponents(*spiMainComIF, gpioComIF, uartComIF, *pwrSwitcher, true);
 #else
   // Still add all GPIOs for EM.
   GpioCookie* acsBoardGpios = new GpioCookie();
diff --git a/dummies/helperFactory.cpp b/dummies/helperFactory.cpp
index e517426a..73be6940 100644
--- a/dummies/helperFactory.cpp
+++ b/dummies/helperFactory.cpp
@@ -77,8 +77,9 @@ void dummy::createDummies(DummyCfg cfg, PowerSwitchIF& pwrSwitcher, GpioIF* gpio
   auto* imtqDummy = new ImtqDummy(objects::IMTQ_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
   imtqDummy->enableThermalModule(ThermalStateCfg());
   imtqDummy->connectModeTreeParent(*imtqAssy);
-  if (cfg.addPowerDummies) {
+  if (cfg.addOnlyAcuDummy) {
     new AcuDummy(objects::ACU_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
+  } else if (cfg.addPowerDummies) {
     new PduDummy(objects::PDU1_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new PduDummy(objects::PDU2_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
     new P60DockDummy(objects::P60DOCK_HANDLER, objects::DUMMY_COM_IF, comCookieDummy);
diff --git a/dummies/helperFactory.h b/dummies/helperFactory.h
index dc272650..83456e96 100644
--- a/dummies/helperFactory.h
+++ b/dummies/helperFactory.h
@@ -6,8 +6,11 @@ class GpioIF;
 
 namespace dummy {
 
+// Default values targeted towards EM.
 struct DummyCfg {
   bool addCoreCtrlCfg = true;
+  // Special variant because the ACU broke. Overrides addPowerDummies, only ACU dummy will be added.
+  bool addOnlyAcuDummy = false;
   bool addPowerDummies = true;
   bool addBpxBattDummy = true;
   bool addSyrlinksDummies = true;
diff --git a/mission/system/acs/DualLaneAssemblyBase.cpp b/mission/system/acs/DualLaneAssemblyBase.cpp
index 7d22fbd1..dd9cef3c 100644
--- a/mission/system/acs/DualLaneAssemblyBase.cpp
+++ b/mission/system/acs/DualLaneAssemblyBase.cpp
@@ -183,11 +183,11 @@ void DualLaneAssemblyBase::handleModeTransitionFailed(ReturnValue_t result) {
   // transition to dual mode.
   if (not tryingOtherSide) {
     triggerEvent(CANT_KEEP_MODE, mode, submode);
-    startTransition(mode, nextSubmode);
+    startTransition(targetMode, nextSubmode);
     tryingOtherSide = true;
   } else {
-    triggerEvent(transitionOtherSideFailedEvent, mode, targetSubmode);
-    startTransition(mode, Submodes::DUAL_MODE);
+    triggerEvent(transitionOtherSideFailedEvent, targetMode, targetSubmode);
+    startTransition(targetMode, Submodes::DUAL_MODE);
   }
 }