diff --git a/CHANGELOG.md b/CHANGELOG.md
index 92c4cc77..8084922a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -32,6 +32,8 @@ will consitute of a breaking change warranting a new major release:
   `returnvalue::FAILED` in switch state getter.
 - Wait 1 second before commanding SAFE mode. This ensures or at least increases the chance that
   the switch states were initialized.
+- Dual Lane Assemblies: The returnvalues of the dual lane power state machine FSM are not ignored
+  anymore.
 
 # [v1.37.0] 2023-03-11
 
diff --git a/bsp_q7s/core/ObjectFactory.cpp b/bsp_q7s/core/ObjectFactory.cpp
index 057c7e47..09431ea2 100644
--- a/bsp_q7s/core/ObjectFactory.cpp
+++ b/bsp_q7s/core/ObjectFactory.cpp
@@ -203,7 +203,7 @@ void ObjectFactory::createPcduComponents(LinuxLibgpioIF* gpioComIF, PowerSwitchI
   auto acuFdir = new GomspacePowerFdir(objects::ACU_HANDLER);
   ACUHandler* acuhandler =
       new ACUHandler(objects::ACU_HANDLER, objects::CSP_COM_IF, acuCspCookie, acuFdir);
-  auto pcduHandler = new PCDUHandler(objects::PCDU_HANDLER, 50);
+  auto pcduHandler = new PcduHandler(objects::PCDU_HANDLER, 50);
 
   /**
    * Setting PCDU devices to mode normal immediately after start up because PCDU is always
diff --git a/fsfw b/fsfw
index 9a8d775e..0b0a0299 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 9a8d775eb1a8788ad844215bf2a42d9f707767c0
+Subproject commit 0b0a0299bc044e67413d8912ceb76a779d76ee4e
diff --git a/mission/devices/CMakeLists.txt b/mission/devices/CMakeLists.txt
index cb6c066a..68e369a0 100644
--- a/mission/devices/CMakeLists.txt
+++ b/mission/devices/CMakeLists.txt
@@ -5,8 +5,8 @@ target_sources(
           Tmp1075Handler.cpp
           PcduHandler.cpp
           P60DockHandler.cpp
-          PDU1Handler.cpp
-          PDU2Handler.cpp
+          Pdu1Handler.cpp
+          Pdu2Handler.cpp
           ACUHandler.cpp
           SyrlinksHandler.cpp
           Max31865PT1000Handler.cpp
diff --git a/mission/devices/PcduHandler.cpp b/mission/devices/PcduHandler.cpp
index 17e2f88f..4c2f742c 100644
--- a/mission/devices/PcduHandler.cpp
+++ b/mission/devices/PcduHandler.cpp
@@ -7,7 +7,7 @@
 #include <mission/devices/PcduHandler.h>
 #include <mission/devices/devicedefinitions/GomSpacePackets.h>
 
-PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
+PcduHandler::PcduHandler(object_id_t setObjectId, size_t cmdQueueSize)
     : SystemObject(setObjectId),
       poolManager(this, nullptr),
       p60CoreHk(objects::P60DOCK_HANDLER),
@@ -22,9 +22,9 @@ PCDUHandler::PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize)
   std::memset(switchStates, SWITCH_STATE_UNKNOWN, sizeof(switchStates));
 }
 
-PCDUHandler::~PCDUHandler() {}
+PcduHandler::~PcduHandler() {}
 
-ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
+ReturnValue_t PcduHandler::performOperation(uint8_t counter) {
   if (counter == DeviceHandlerIF::PERFORM_OPERATION) {
     readCommandQueue();
   }
@@ -52,7 +52,7 @@ ReturnValue_t PCDUHandler::performOperation(uint8_t counter) {
   return returnvalue::OK;
 }
 
-ReturnValue_t PCDUHandler::initialize() {
+ReturnValue_t PcduHandler::initialize() {
   ReturnValue_t result;
 
   IPCStore = ObjectManager::instance()->get<StorageManagerIF>(objects::IPC_STORE);
@@ -100,7 +100,7 @@ ReturnValue_t PCDUHandler::initialize() {
   return returnvalue::OK;
 }
 
-void PCDUHandler::initializeSwitchStates() {
+void PcduHandler::initializeSwitchStates() {
   using namespace pcdu;
   try {
     for (uint8_t idx = 0; idx < NUMBER_OF_SWITCHES; idx++) {
@@ -117,7 +117,7 @@ void PCDUHandler::initializeSwitchStates() {
   }
 }
 
-void PCDUHandler::readCommandQueue() {
+void PcduHandler::readCommandQueue() {
   ReturnValue_t result = returnvalue::OK;
   CommandMessage command;
 
@@ -130,9 +130,9 @@ void PCDUHandler::readCommandQueue() {
   }
 }
 
-MessageQueueId_t PCDUHandler::getCommandQueue() const { return commandQueue->getId(); }
+MessageQueueId_t PcduHandler::getCommandQueue() const { return commandQueue->getId(); }
 
-void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
+void PcduHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool* clearMessage) {
   if (sid == sid_t(objects::PDU2_HANDLER, static_cast<uint32_t>(P60System::SetIds::CORE))) {
     updateHkTableDataset(storeId, &pdu2CoreHk, &timeStampPdu2HkDataset);
     updatePdu2SwitchStates();
@@ -144,7 +144,7 @@ void PCDUHandler::handleChangedDataset(sid_t sid, store_address_t storeId, bool*
   }
 }
 
-void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
+void PcduHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSetBase* dataset,
                                        CCSDSTime::CDS_short* datasetTimeStamp) {
   ReturnValue_t result;
 
@@ -170,7 +170,7 @@ void PCDUHandler::updateHkTableDataset(store_address_t storeId, LocalPoolDataSet
   }
 }
 
-void PCDUHandler::updatePdu2SwitchStates() {
+void PcduHandler::updatePdu2SwitchStates() {
   using namespace pcdu;
   using namespace PDU2;
   GOMSPACE::Pdu pdu = GOMSPACE::Pdu::PDU2;
@@ -207,7 +207,7 @@ void PCDUHandler::updatePdu2SwitchStates() {
   }
 }
 
-void PCDUHandler::updatePdu1SwitchStates() {
+void PcduHandler::updatePdu1SwitchStates() {
   using namespace pcdu;
   using namespace PDU1;
   PoolReadGuard rg0(&switcherSet);
@@ -244,9 +244,9 @@ void PCDUHandler::updatePdu1SwitchStates() {
   }
 }
 
-LocalDataPoolManager* PCDUHandler::getHkManagerHandle() { return &poolManager; }
+LocalDataPoolManager* PcduHandler::getHkManagerHandle() { return &poolManager; }
 
-ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
+ReturnValue_t PcduHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onOff) {
   using namespace pcdu;
   ReturnValue_t result;
   uint16_t memoryAddress = 0;
@@ -396,9 +396,9 @@ ReturnValue_t PCDUHandler::sendSwitchCommand(uint8_t switchNr, ReturnValue_t onO
   return result;
 }
 
-ReturnValue_t PCDUHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
+ReturnValue_t PcduHandler::sendFuseOnCommand(uint8_t fuseNr) { return returnvalue::OK; }
 
-ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
+ReturnValue_t PcduHandler::getSwitchState(uint8_t switchNr) const {
   if (switchNr >= pcdu::NUMBER_OF_SWITCHES) {
     sif::debug << "PCDUHandler::getSwitchState: Invalid switch number" << std::endl;
     return returnvalue::FAILED;
@@ -409,7 +409,7 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
     currentState = switchStates[switchNr];
   }
   if (currentState == SWITCH_STATE_UNKNOWN) {
-    return returnvalue::FAILED;
+    return PowerSwitchIF::SWITCH_UNKNOWN;
   }
   if (currentState == 1) {
     return PowerSwitchIF::SWITCH_ON;
@@ -418,13 +418,13 @@ ReturnValue_t PCDUHandler::getSwitchState(uint8_t switchNr) const {
   }
 }
 
-ReturnValue_t PCDUHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
+ReturnValue_t PcduHandler::getFuseState(uint8_t fuseNr) const { return returnvalue::OK; }
 
-uint32_t PCDUHandler::getSwitchDelayMs(void) const { return 20000; }
+uint32_t PcduHandler::getSwitchDelayMs(void) const { return 20000; }
 
-object_id_t PCDUHandler::getObjectId() const { return SystemObject::getObjectId(); }
+object_id_t PcduHandler::getObjectId() const { return SystemObject::getObjectId(); }
 
-ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
+ReturnValue_t PcduHandler::initializeLocalDataPool(localpool::DataPool& localDataPoolMap,
                                                    LocalDataPoolManager& poolManager) {
   using namespace pcdu;
   localDataPoolMap.emplace(PoolIds::PDU1_SWITCHES, &pdu1Switches);
@@ -435,7 +435,7 @@ ReturnValue_t PCDUHandler::initializeLocalDataPool(localpool::DataPool& localDat
   return returnvalue::OK;
 }
 
-ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
+ReturnValue_t PcduHandler::initializeAfterTaskCreation() {
   if (executingTask != nullptr) {
     pstIntervalMs = executingTask->getPeriodMs();
   }
@@ -446,11 +446,11 @@ ReturnValue_t PCDUHandler::initializeAfterTaskCreation() {
   return returnvalue::OK;
 }
 
-uint32_t PCDUHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
+uint32_t PcduHandler::getPeriodicOperationFrequency() const { return pstIntervalMs; }
 
-void PCDUHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
+void PcduHandler::setTaskIF(PeriodicTaskIF* task) { executingTask = task; }
 
-LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
+LocalPoolDataSetBase* PcduHandler::getDataSetHandle(sid_t sid) {
   if (sid == switcherSet.getSid()) {
     return &switcherSet;
   } else {
@@ -459,7 +459,7 @@ LocalPoolDataSetBase* PCDUHandler::getDataSetHandle(sid_t sid) {
   }
 }
 
-void PCDUHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
+void PcduHandler::checkAndUpdatePduSwitch(GOMSPACE::Pdu pdu, pcdu::Switches switchIdx,
                                           uint8_t setValue) {
   using namespace pcdu;
   if (switchStates[switchIdx] != setValue) {
diff --git a/mission/devices/PcduHandler.h b/mission/devices/PcduHandler.h
index dbd9b5e3..170c27f2 100644
--- a/mission/devices/PcduHandler.h
+++ b/mission/devices/PcduHandler.h
@@ -20,13 +20,13 @@
  * This is necessary because the FSFW manages all power related functionalities via one
  * power object. This includes for example switching on and off of devices.
  */
-class PCDUHandler : public PowerSwitchIF,
+class PcduHandler : public PowerSwitchIF,
                     public HasLocalDataPoolIF,
                     public SystemObject,
                     public ExecutableObjectIF {
  public:
-  PCDUHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
-  virtual ~PCDUHandler();
+  PcduHandler(object_id_t setObjectId, size_t cmdQueueSize = 20);
+  virtual ~PcduHandler();
 
   virtual ReturnValue_t initialize() override;
   virtual ReturnValue_t performOperation(uint8_t counter) override;
diff --git a/mission/system/objects/DualLaneAssemblyBase.cpp b/mission/system/objects/DualLaneAssemblyBase.cpp
index a55553a0..ca969dbb 100644
--- a/mission/system/objects/DualLaneAssemblyBase.cpp
+++ b/mission/system/objects/DualLaneAssemblyBase.cpp
@@ -19,7 +19,10 @@ DualLaneAssemblyBase::DualLaneAssemblyBase(object_id_t objectId, PowerSwitchIF*
 void DualLaneAssemblyBase::performChildOperation() {
   using namespace duallane;
   if (pwrStateMachine.active()) {
-    pwrStateMachineWrapper();
+    ReturnValue_t result = pwrStateMachineWrapper();
+    if (result != returnvalue::OK) {
+      handleModeTransitionFailed(result);
+    }
   }
   // Only perform the regular child operation if the power state machine is not active.
   // It does not make any sense to command device modes while the power switcher is busy
@@ -112,6 +115,7 @@ void DualLaneAssemblyBase::handleModeReached() {
     pwrStateMachine.start(targetMode, targetSubmode);
     // Now we can switch off the power. After that, the AssemblyBase::handleModeReached function
     // will be called
+    // Ignore failures for now.
     pwrStateMachineWrapper();
   } else {
     finishModeOp();