diff --git a/CHANGELOG.md b/CHANGELOG.md
index dfa460bd..a79f1cf9 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,27 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Changed
+
+- Reverted lower OP limit of `PLOC` to -10°C.
+- All pointing laws are now allowed to use the `MEKF` per default.
+
+# [v7.7.4] 2024-03-21
+
+## Changed
+
+- Rotational rate limit for the GS target pointing is now seperated from controller limit. It
+  is also reduced to 0.75°/s now.
+- PUS time service: Now dumps the time before and after relative timeshift or setting absolute time
+
+## Fixed
+
+- Fixed wrong sign in calculation of total current within the `PWR Controller`.
+
+## Added
+
+- PUS timeservice relative timeshift.
+
 # [v7.7.3] 2024-03-18
 
 - Bumped `eive-fsfw`
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54d804b0..b4314754 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,7 @@ cmake_minimum_required(VERSION 3.13)
 
 set(OBSW_VERSION_MAJOR 7)
 set(OBSW_VERSION_MINOR 7)
-set(OBSW_VERSION_REVISION 3)
+set(OBSW_VERSION_REVISION 4)
 
 # set(CMAKE_VERBOSE TRUE)
 
diff --git a/bsp_hosted/fsfwconfig/events/translateEvents.cpp b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
index 5cd42682..a787b609 100644
--- a/bsp_hosted/fsfwconfig/events/translateEvents.cpp
+++ b/bsp_hosted/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 320 translations.
+ * @brief    Auto-generated event translation file. Contains 321 translations.
  * @details
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateEvents.h"
 
@@ -82,8 +82,9 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
-const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
+const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
@@ -483,9 +484,11 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
-      return CLOCK_DUMP_STRING;
+      return CLOCK_DUMP_LEGACY_STRING;
     case (8902):
       return CLOCK_SET_FAILURE_STRING;
+    case (8903):
+      return CLOCK_DUMP_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
     case (9700):
diff --git a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
index 46c7481b..3af7f2d3 100644
--- a/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
+++ b/bsp_hosted/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 175 translations.
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateObjects.h"
 
diff --git a/fsfw b/fsfw
index 43ea29cb..a229748a 160000
--- a/fsfw
+++ b/fsfw
@@ -1 +1 @@
-Subproject commit 43ea29cb845d4a7d190c87df490eb53c4992618b
+Subproject commit a229748aa4c1ff8e2b9f7e268259b857fb8f9051
diff --git a/generators/bsp_hosted_events.csv b/generators/bsp_hosted_events.csv
index 200cbdb1..34aa9343 100644
--- a/generators/bsp_hosted_events.csv
+++ b/generators/bsp_hosted_events.csv
@@ -75,9 +75,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
diff --git a/generators/bsp_q7s_events.csv b/generators/bsp_q7s_events.csv
index 200cbdb1..34aa9343 100644
--- a/generators/bsp_q7s_events.csv
+++ b/generators/bsp_q7s_events.csv
@@ -75,9 +75,10 @@ Event ID (dec); Event ID (hex); Name; Severity; Description; File Path
 7902;0x1ede;BIT_LOCK;INFO;A Bit Lock signal. Was detected. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7903;0x1edf;BIT_LOCK_LOST;INFO;A previously found Bit Lock signal was lost. P1: raw BLO state, P2: 0;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
 7905;0x1ee1;FRAME_PROCESSING_FAILED;LOW;The CCSDS Board could not interpret a TC;fsfw/src/fsfw/datalinklayer/DataLinkLayer.h
-8900;0x22c4;CLOCK_SET;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8901;0x22c5;CLOCK_DUMP;INFO;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
-8902;0x22c6;CLOCK_SET_FAILURE;LOW;No description;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8900;0x22c4;CLOCK_SET;INFO;Clock has been set. P1: old timeval seconds. P2: new timeval seconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8901;0x22c5;CLOCK_DUMP_LEGACY;INFO;Clock dump event. P1: timeval seconds P2: timeval milliseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8902;0x22c6;CLOCK_SET_FAILURE;LOW;Clock could not be set. P1: Returncode.;fsfw/src/fsfw/pus/Service9TimeManagement.h
+8903;0x22c7;CLOCK_DUMP;INFO;Clock dump event. P1: timeval seconds P2: timeval microseconds.;fsfw/src/fsfw/pus/Service9TimeManagement.h
 9100;0x238c;TC_DELETION_FAILED;MEDIUM;Deletion of a TC from the map failed. P1: First 32 bit of request ID, P2. Last 32 bit of Request ID;fsfw/src/fsfw/pus/Service11TelecommandScheduling.h
 9700;0x25e4;TEST;INFO;No description;fsfw/src/fsfw/pus/Service17Test.h
 10600;0x2968;CHANGE_OF_SETUP_PARAMETER;LOW;No description;fsfw/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.h
diff --git a/generators/events/translateEvents.cpp b/generators/events/translateEvents.cpp
index 5cd42682..a787b609 100644
--- a/generators/events/translateEvents.cpp
+++ b/generators/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 320 translations.
+ * @brief    Auto-generated event translation file. Contains 321 translations.
  * @details
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateEvents.h"
 
@@ -82,8 +82,9 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
-const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
+const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
@@ -483,9 +484,11 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
-      return CLOCK_DUMP_STRING;
+      return CLOCK_DUMP_LEGACY_STRING;
     case (8902):
       return CLOCK_SET_FAILURE_STRING;
+    case (8903):
+      return CLOCK_DUMP_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
     case (9700):
diff --git a/generators/objects/translateObjects.cpp b/generators/objects/translateObjects.cpp
index 6230d3db..110c5c62 100644
--- a/generators/objects/translateObjects.cpp
+++ b/generators/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 179 translations.
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateObjects.h"
 
diff --git a/linux/fsfwconfig/events/translateEvents.cpp b/linux/fsfwconfig/events/translateEvents.cpp
index 5cd42682..a787b609 100644
--- a/linux/fsfwconfig/events/translateEvents.cpp
+++ b/linux/fsfwconfig/events/translateEvents.cpp
@@ -1,7 +1,7 @@
 /**
- * @brief    Auto-generated event translation file. Contains 320 translations.
+ * @brief    Auto-generated event translation file. Contains 321 translations.
  * @details
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateEvents.h"
 
@@ -82,8 +82,9 @@ const char *BIT_LOCK_STRING = "BIT_LOCK";
 const char *BIT_LOCK_LOST_STRING = "BIT_LOCK_LOST";
 const char *FRAME_PROCESSING_FAILED_STRING = "FRAME_PROCESSING_FAILED";
 const char *CLOCK_SET_STRING = "CLOCK_SET";
-const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
+const char *CLOCK_DUMP_LEGACY_STRING = "CLOCK_DUMP_LEGACY";
 const char *CLOCK_SET_FAILURE_STRING = "CLOCK_SET_FAILURE";
+const char *CLOCK_DUMP_STRING = "CLOCK_DUMP";
 const char *TC_DELETION_FAILED_STRING = "TC_DELETION_FAILED";
 const char *TEST_STRING = "TEST";
 const char *CHANGE_OF_SETUP_PARAMETER_STRING = "CHANGE_OF_SETUP_PARAMETER";
@@ -483,9 +484,11 @@ const char *translateEvents(Event event) {
     case (8900):
       return CLOCK_SET_STRING;
     case (8901):
-      return CLOCK_DUMP_STRING;
+      return CLOCK_DUMP_LEGACY_STRING;
     case (8902):
       return CLOCK_SET_FAILURE_STRING;
+    case (8903):
+      return CLOCK_DUMP_STRING;
     case (9100):
       return TC_DELETION_FAILED_STRING;
     case (9700):
diff --git a/linux/fsfwconfig/objects/translateObjects.cpp b/linux/fsfwconfig/objects/translateObjects.cpp
index 6230d3db..110c5c62 100644
--- a/linux/fsfwconfig/objects/translateObjects.cpp
+++ b/linux/fsfwconfig/objects/translateObjects.cpp
@@ -2,7 +2,7 @@
  * @brief  Auto-generated object translation file.
  * @details
  * Contains 179 translations.
- * Generated on: 2024-02-29 13:15:00
+ * Generated on: 2024-04-08 13:37:59
  */
 #include "translateObjects.h"
 
diff --git a/mission/controller/PowerController.cpp b/mission/controller/PowerController.cpp
index 8fb774dc..e4ad9f81 100644
--- a/mission/controller/PowerController.cpp
+++ b/mission/controller/PowerController.cpp
@@ -182,7 +182,7 @@ void PowerController::calculateStateOfCharge() {
   }
 
   // calculate total battery current
-  iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.dischargeCurrent.value;
+  iBat = p60CoreHk.batteryCurrent.value - bpxBatteryHk.dischargeCurrent.value;
 
   result = calculateOpenCircuitVoltageCharge();
   if (result != returnvalue::OK) {
diff --git a/mission/controller/ThermalController.h b/mission/controller/ThermalController.h
index 6b6d9cde..1062fe97 100644
--- a/mission/controller/ThermalController.h
+++ b/mission/controller/ThermalController.h
@@ -197,9 +197,9 @@ class ThermalController : public ExtendedControllerBase {
   tcsCtrl::TempLimits pcduAcuLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
   tcsCtrl::TempLimits pcduPduLimits = tcsCtrl::TempLimits(-35.0, -35.0, 80.0, 85.0, 85.0);
   tcsCtrl::TempLimits plPcduBoardLimits = tcsCtrl::TempLimits(-55.0, -40.0, 80.0, 85.0, 125.0);
-  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60);
+  tcsCtrl::TempLimits plocMissionBoardLimits = tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60);
   tcsCtrl::TempLimits plocProcessingBoardLimits =
-      tcsCtrl::TempLimits(-30.0, -5.0, 40.0, 45.0, 60.0);
+      tcsCtrl::TempLimits(-30.0, -10.0, 40.0, 45.0, 60.0);
   tcsCtrl::TempLimits dacLimits = tcsCtrl::TempLimits(-65.0, -40.0, 113.0, 118.0, 150.0);
   tcsCtrl::TempLimits cameraLimits = tcsCtrl::TempLimits(-40.0, -30.0, 60.0, 65.0, 85.0);
   tcsCtrl::TempLimits droLimits = tcsCtrl::TempLimits(-40.0, -30.0, 75.0, 80.0, 90.0);
diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index 3a7aa726..a9f806ec 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -554,6 +554,9 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
         case 0xE:
           parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
           break;
+        case 0xF:
+          parameterWrapper->set(gsTargetModeControllerParameters.rotRateLimit);
+          break;
         default:
           return INVALID_IDENTIFIER_ID;
       }
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 965878e7..dfb99c2c 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -866,7 +866,7 @@ class AcsParameters : public HasParametersIF {
     double desatMomentumRef[3] = {0, 0, 0};
     double deSatGainFactor = 1000;
     uint8_t desatOn = true;
-    uint8_t useMekf = false;
+    uint8_t useMekf = true;
   } pointingLawParameters;
 
   struct IdleModeControllerParameters : PointingLawParameters {
@@ -898,6 +898,7 @@ class AcsParameters : public HasParametersIF {
     double latitudeTgt = 48.7495 * DEG2RAD;   // [rad] Latitude
     double longitudeTgt = 9.10384 * DEG2RAD;  // [rad] Longitude
     double altitudeTgt = 500;                 // [m]
+    double rotRateLimit = .75 * DEG2RAD;
   } gsTargetModeControllerParameters;
 
   struct NadirModeControllerParameters : PointingLawParameters {
diff --git a/mission/controller/acs/Guidance.cpp b/mission/controller/acs/Guidance.cpp
index a6559db3..2c1b3c63 100644
--- a/mission/controller/acs/Guidance.cpp
+++ b/mission/controller/acs/Guidance.cpp
@@ -251,7 +251,7 @@ void Guidance::limitReferenceRotation(const double xAxisIX[3], double quatIX[4])
   QuaternionOperations::inverse(quatIXprev, quatXprevI);
   QuaternionOperations::multiply(quatIX, quatXprevI, quatXprevX);
   QuaternionOperations::normalize(quatXprevX);
-  double phiMax = acsParameters->gsTargetModeControllerParameters.omMax *
+  double phiMax = acsParameters->gsTargetModeControllerParameters.rotRateLimit *
                   acsParameters->onBoardParams.sampleTime;
   if (2 * std::acos(quatXprevX[3]) < phiMax) {
     return;
diff --git a/tmtc b/tmtc
index c843356c..5a0edbef 160000
--- a/tmtc
+++ b/tmtc
@@ -1 +1 @@
-Subproject commit c843356c8af22bf45a04c71c93813716c9d743ec
+Subproject commit 5a0edbefa8449f4796d7d0976822c8fda139c598