diff --git a/bsp_q7s/ObjectFactory.cpp b/bsp_q7s/ObjectFactory.cpp
index a84e314f..84c26605 100644
--- a/bsp_q7s/ObjectFactory.cpp
+++ b/bsp_q7s/ObjectFactory.cpp
@@ -588,8 +588,6 @@ void ObjectFactory::produce(void* args){
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
     auto rw4SpiCookie = new SpiCookie(addresses::RW4, gpioIds::CS_RW4, "/dev/spidev2.0",
             RwDefinitions::MAX_REPLY_SIZE, spi::RW_MODE, spi::RW_SPEED, &rwSpiCallback, nullptr);
-    (void) rw3SpiCookie;
-    (void) rw4SpiCookie;
 
 	auto rwHandler1 = new RwHandler(objects::RW1, objects::SPI_COM_IF, rw1SpiCookie, gpioComIF,
 			gpioIds::EN_RW1);
@@ -599,9 +597,22 @@ void ObjectFactory::produce(void* args){
 
     auto rwHandler2 = new RwHandler(objects::RW2, objects::SPI_COM_IF, rw2SpiCookie, gpioComIF,
 			gpioIds::EN_RW2);
-    rwHandler2->setStartUpImmediately();
+//    rwHandler2->setStartUpImmediately();
+    (void) rwHandler2;
     rw2SpiCookie->setCallbackArgs(rwHandler2);
 
+    auto rwHandler3 = new RwHandler(objects::RW3, objects::SPI_COM_IF, rw3SpiCookie, gpioComIF,
+			gpioIds::EN_RW3);
+//    rwHandler3->setStartUpImmediately();
+    (void) rwHandler3;
+//    rw3SpiCookie->setCallbackArgs(rwHandler3);
+
+    auto rwHandler4 = new RwHandler(objects::RW4, objects::SPI_COM_IF, rw4SpiCookie, gpioComIF,
+			gpioIds::EN_RW4);
+//    (void) rwHandler4;
+    rwHandler4->setStartUpImmediately();
+    rw4SpiCookie->setCallbackArgs(rwHandler4);
+
 #endif /* TE0720 == 0 */
 
     new UdpTmTcBridge(objects::UDP_BRIDGE, objects::CCSDS_PACKET_DISTRIBUTOR);
diff --git a/bsp_q7s/gpio/gpioCallbacks.cpp b/bsp_q7s/gpio/gpioCallbacks.cpp
index 49e22249..5499517b 100644
--- a/bsp_q7s/gpio/gpioCallbacks.cpp
+++ b/bsp_q7s/gpio/gpioCallbacks.cpp
@@ -232,12 +232,12 @@ void spiCsDecoderCallback(gpioId_t gpioId, gpio::GpioOperation gpioOp, int value
         }
         case(gpioIds::CS_RW3): {
             enableRwDecoder();
-            selectY3();
+            selectY2();
             break;
         }
         case(gpioIds::CS_RW4): {
             enableRwDecoder();
-            selectY4();
+            selectY3();
             break;
         }
         default:
diff --git a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
index 35f38919..be184b6b 100644
--- a/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
+++ b/linux/fsfwconfig/pollingsequence/pollingSequenceFactory.cpp
@@ -413,6 +413,18 @@ ReturnValue_t pst::pstSpi(FixedTimeslotTaskIF *thisSequence) {
     thisSequence->addSlot(objects::RW2, length * 0.6, DeviceHandlerIF::SEND_READ);
     thisSequence->addSlot(objects::RW2, length * 0.8, DeviceHandlerIF::GET_READ);
 
+    thisSequence->addSlot(objects::RW3, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW3, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW3, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW3, length * 0.8, DeviceHandlerIF::GET_READ);
+
+    thisSequence->addSlot(objects::RW4, length * 0, DeviceHandlerIF::PERFORM_OPERATION);
+    thisSequence->addSlot(objects::RW4, length * 0.2, DeviceHandlerIF::SEND_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.4, DeviceHandlerIF::GET_WRITE);
+    thisSequence->addSlot(objects::RW4, length * 0.6, DeviceHandlerIF::SEND_READ);
+    thisSequence->addSlot(objects::RW4, length * 0.8, DeviceHandlerIF::GET_READ);
+
     if (thisSequence->checkSequence() != HasReturnvaluesIF::RETURN_OK) {
         sif::error << "SPI PST initialization failed" << std::endl;
         return HasReturnvaluesIF::RETURN_FAILED;
diff --git a/mission/devices/RwHandler.cpp b/mission/devices/RwHandler.cpp
index c789fb64..d423aac1 100644
--- a/mission/devices/RwHandler.cpp
+++ b/mission/devices/RwHandler.cpp
@@ -298,7 +298,7 @@ ReturnValue_t RwHandler::checkSpeedAndRampTime(const uint8_t* commandData, size_
     int32_t speed = *commandData << 24 | *(commandData + 1) << 16 | *(commandData + 2) << 8
             | *(commandData + 3);
 
-    if (speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) {
+    if ((speed < -65000 || speed > 65000 || (speed > -1000 && speed < 1000)) && (speed != 0)) {
         sif::error << "RwHandler::checkSpeedAndRampTime: Command has invalid speed" << std::endl;
         return INVALID_SPEED;
     }